diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 1740626..c29611d 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -64,3 +64,19 @@ feature_definition:
       - tags
     changes:
       - features/*
+
+feature_selection:
+  stage: typeset
+  image: pandoc/latex:latest
+  script:
+    - pandoc feature_selection/selection.md $(ls feature_selection/*-iteration.md) -o feature_selection.pdf
+  artifacts:
+    paths:
+      - feature_selection.pdf
+  only:
+    refs:
+      - web
+      - branches
+      - tags
+    changes:
+      - feature_selection/*
diff --git a/feature_selection/01-iteration.md b/feature_selection/01-iteration.md
new file mode 100644
index 0000000..ade207a
--- /dev/null
+++ b/feature_selection/01-iteration.md
@@ -0,0 +1,18 @@
+## First iteration
+
+### Features
+We have three features, the Scara which is the hardware arm that move the marker locally.
+The end-effector is connected to the end of the Scara and has the task to lift the marker from the board and to release it.
+And the last feature is the carriage which has the task to move the Scara with the end-effector.
+Sub feature of the carriage will be some kind of base structure where the Scara will be mounted on.
+In this base we will also store the different tools.
+
+### Selection table
+We constructed the following table to select a feature.
+From this we can derive that the end-effector is prefered over the carriage.
+
+| Feature      | Dependency   | Test Coverage | Risk   | Time   | Risk/Time factor |
+|--------------|--------------|---------------|--------|--------|------------------|
+| Scara        | End-effector | 3             | medium | medium | 1                |
+| End-effector | -            | 2             | high   | medium | 2                |
+| Carriage     | -            | 2             | low    | medium | 0.5              |
diff --git a/feature_selection/selection.md b/feature_selection/selection.md
new file mode 100644
index 0000000..385c55d
--- /dev/null
+++ b/feature_selection/selection.md
@@ -0,0 +1,46 @@
+# Feature selection procedure
+
+## Introduction
+The goal of this document is to record the decisions during the feature development.
+To make this document more readable the following section will explain the selection procedure.
+
+## Selection procedure
+There are three criteria that are applied in the selection procedure.
+These are: dependency, test coverage and risk/time analysis.
+Each criterion is a hard selection. We will only select on dependencies first.
+If any of the features have an equal amount of dependencies then we will look which one completes more tests.
+And the last is a risk/time analysis.
+
+### Dependency
+With the dependency criteria we count the number of other features each feature depends on.
+The feature with the highest number of dependencies will be implemented first.
+
+This is often a design dependency. For example, the engine in a car must be able to pull the weight of the car.
+Therefore, we need to know the weight of the car before we can design the engine.
+This can be a dependency, however we rather solve this by setting the specifications correctly.
+That the car itself has a maximum mass of something. Therefore, the engine has to be able to pull that maximum mass.
+Now we solved the dependency.
+
+However, at some point, we might have to test something before we can specify the mass of the complete car.
+In that case, a feature that can help us define the mass of the car better should get priority as other features depend on it.
+
+### Test coverage
+To see how the different systems work together we have designed multiple tests.
+Each test that can be resolved by implementing the feature gives us more information about the system.
+And if tests fail early, we can change the design earlier in the design.
+
+### Risk/Time procedure
+If we still have multiple features that have a draw in dependency and in test coverage we can assess the risk/time factor.
+We want to clear the most amount of risk per time period.
+In practice we will clear all the high risk features which have a short implementation time.
+And eventually we end up with low risk long implementation time.
+By moving al this risk forward we can clear more risk in an early stage of the development.
+
+The time and risk factor will be given _high_, _medium_, or _low_ as factor.
+Where _high_ = 3, _medium_ = 2, and _low_ = 1 point.
+We divide the risk points by the time points and note down the factor.
+The feature with the highest score will be implemented first.
+
+
+
+