moved Implementation to its own file. Shuffled around in Introduction and Background.

abstract.tex

-\begin{abstract}
-
-Abstract blablabla
-
-\end{abstract}

chapters/background.tex

 It is imperative to check the width of the mineshaft as it is being used, as wear and erosion can widen the walls to unsafe levels.
 Each mineshaft must be checked at regular intervals.
 Problems occur as the mineshaft is off-limits for personnel due to risk of falling rocks, so alternate solutions must be employed. %TODO: ?
-The current method is to drill a hole from different shaft and insert sensors.
-As this is expensive and time-consuming, alternate methods are investigated.
+The current method is to drill a hole from a different shaft and insert sensors through the hole.
+This method is very expensive and time-consuming, and LKAB would like to find a cheaper method.
 \subsection{Assignment}
     We are to build a solution for scanning the mineshaft using a remote-operated quadcopter drone.
     An onboard laser should map the walls of the shaft, and some collision avoidance should be implemented to facilitate semi-autonomous operation.
     Data should be passed on to a base station using UWB radio, which also acts as control for the drone.
+    The base station should receive sensor data and, using LabVIEW, construct an easily understandable representation of the mine shaft.
+    It should also be able to issue high-level control of the drone, using only simple commands.
 \subsection{Problem Formulation}
-    Is it feasible to use a drone with laser measuring to measure a tilted mineshaft width, cheaper than current methods?
+    Is it feasible to use a drone with laser measuring to measure a tilted mineshaft width, and for the process to be cheaper than current methods?
 \subsection{Assignment limitations}
-    No investigation into recovery of crashed drones will be made, as personnel are not allowed within the area.
+    No investigation into recovery of crashed drones will be made. 
+    Personnel are not allowed within the area, making recovery difficult.
+
+    The project is intended to check the feasibility of mapping mine shafts with this method and not to construct a complete product.
+    Thus, unit degradation from dust or other wear is disregarded.
 
     %TODO: Further limitations?
     %No consideration of falling rocks should be made.

chapters/introduction.tex

 %TODO: Rewrite this as needed.
 Within the LKAB mine, ore is dumped down slanted mine shafts in order to transport them to further handling %?
 These ore shafts should conform to a maximum width of $\SI{3}{\meter}$, but dumped ore can erode the walls of the shaft to unsafe levels.
-This erosion must be measured, as it can become a safety and efficiency issue.
+This erosion must be measured, as it can become a safety and efficiency issue, should it undermine other tunnels.
 
 
 This report will document the creation of a semi-autonomous drone, equipped to scan the insides of the tunnel and report the findings to a base station.
@@ -10,6 +10,7 @@ This report will document the creation of a semi-autonomous drone, equipped to s
     
     \subsubsection{LKAB}
         LKAB is interested in alternative methods of detecting mine shaft erosion.
+        The current methods are time and manpower-intensive.
     \subsubsection{Conex}
         Conex was brought on by LKAB to develop a new solution for erosion detection.
     \subsubsection{LTU}

implementation.tex

+\subsection{Working Model}
+    The project group is divided into two subgroups; Hardware and Software, and assignments are distributed respectively.\newline
+    The workflow is an implementation of the waterfall model, where different tasks are to be done within a set time. These tasks are distributed via a Gantt schedule that is set by the project leader.
+    \subsection{Implementation - Gitflow workflow} 
+    The gitflow workflow defines a strict branching model designed around the project release.
+    Instead of one main branch called master, we will work with two; master and develop.\newline
+    The master branch is used to store the release history while {\it develop} is used as a feature integration branch for the software developers. 
+
+    \begin{figure}[h!]
+        \centering
+        \makebox[\textwidth][c]{\includegraphics[width = 1.2\textwidth]{Pictures/gitWorkflow.png}}
+        \caption{GitFlow Workflow}
+        \label{fig:gitflow}
+    \end{figure}
+
+
+    
+    \subsection{Resource and activity planning}
+    \subsection{Time monitoring}
\ No newline at end of file

main.tex

@@ -143,25 +143,7 @@
 
 \newpage
 \section{Implementation}
-    \subsection{Working Model}
-    The project group is divided into two subgroups; Hardware and Software, and assignments are distributed respectively.\newline
-    The workflow is an implementation of the waterfall model, where different tasks are to be done within a set time. These tasks are distributed via a Gantt schedule that is set by the project leader.
-    \subsection{Implementation - Gitflow workflow} 
-    The gitflow workflow defines a strict branching model designed around the project release.
-    Instead of one main branch called master, we will work with two; master and develop.\newline
-    The master branch is used to store the release history while {\it develop} is used as a feature integration branch for the software developers. 
-
-    \begin{figure}[h!]
-        \centering
-        \makebox[\textwidth][c]{\includegraphics[width = 1.2\textwidth]{Pictures/gitWorkflow.png}}
-        \caption{GitFlow Workflow}
-        \label{fig:my_label}
-    \end{figure}
-
-
-    
-    \subsection{Resource and activity planning}
-    \subsection{Time monitoring}
+    \input{./implementation}
 
 \newpage
 \section{Result}

q.tex

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