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+## Second iteration
+
+### Current status of implementation
+The implementation of the end-effector showed us that it was too difficult to implement it in this research.
+That means that it was a good thing we did that as a first step.
+As the End-effector was difficult to implement we have to simplify the design and the SCARA will now hold the marker.
+
+### Features
+Therefore we are left with two feature we can choose from.
+Furthermore, we lose one test and we have no dependencies anymore.
+Which makes the selection even easier.
+
+### Selection table
+We constructed the following table to select a feature.
+
+| Feature      | Dependency   | Test Coverage | Risk   | Time   | Risk/Time factor |
+|--------------|--------------|---------------|--------|--------|------------------|
+| Scara        | -            | 2             | medium | medium | 1                |
+| Carriage     | -            | 2             | low    | medium | 0.5              |
+
+From this we will select the SCARA as the next step for the iteration.