In this quarter, the field, theoretical and programming works have been performed toward achieving the research goals set in the proposal. The main accomplishments in this quarter included: (1) one more field test has been conducted in an underground coal mine, (2) optimization studies of the control parameters have been conducted, (3) method to use torque to thrust ratio as indicator of rock relative hardness has also been explored, and (4) about 98% of the development work for the roof geology mapping program, MRGIS, has completed, (5) A real time roof geology mapping system for roof bolters in limestone mine, including a special version of the geology mapping program and hardware, has already been verified to perform very well in underground production condition.