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) two more sets of field tests have 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 (3) about 97% of the development work for the roof geology mapping program, MRGIS, has completed, (4) A special version of the geology mapping program for a limestone mine has been developed. The field test for the software and hardware has been successfully finished.