diff --git a/is/mpi_session/Untitled.ipynb b/is/mpi_session/Untitled.ipynb
new file mode 100644
index 0000000..5f593d2
--- /dev/null
+++ b/is/mpi_session/Untitled.ipynb
@@ -0,0 +1,34 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {
+    "collapsed": true
+   },
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 2",
+   "language": "python",
+   "name": "python2"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 2
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython2",
+   "version": "2.7.9"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 0
+}
diff --git a/mr/ub10/A2.m b/mr/ub10/A2.m
new file mode 100644
index 0000000..7ab588c
--- /dev/null
+++ b/mr/ub10/A2.m
@@ -0,0 +1,131 @@
+start=[3,7]
+%start= [8,2]
+goal=[8,8]
+
+d=[-1,-1,-1,-1,-1,-1,-1,-1,-1,-1
+    -1,-1,inf,inf,-1,inf,inf,inf,inf,-1
+    -1,inf,inf,inf,-1,inf,inf,inf,inf,-1
+    -1,inf,inf,inf,-1,-1,inf,inf,inf,-1
+    -1,inf,-1,inf,inf,-1,-1,inf,-1,-1
+    -1,inf,-1,inf,-1,-1,-1,inf,-1,-1
+    -1,inf,-1,inf,inf,inf,inf,inf,inf,-1
+    -1,inf,-1,inf,inf,inf,inf,inf,inf,-1
+    -1,-1,-1,-1,-1,-1,-1,-1,-1,-1];
+
+d(start(1),start(2))= 0;
+d
+%make d template to show changes
+dvt= d;
+for e= 1:size(d,1)
+    for f= 1:size(d,2)
+        if dvt(e,f)>-1
+            dvt(e,f)= NaN;
+        end
+    end    
+end    
+dvt
+d
+changed = true;
+s2= sqrt(2);
+step=-1;
+while changed 
+    step=step+1
+    changed= false;
+    dv= dvt;
+    for y = size(d,1)-1:-1:2%forward scan
+        for x = 2:size(d,2)-1
+            if(d(y,x) >-1)
+                a=[d(y,x)];
+                if(d(y,x-1) >-1)
+                    a=[a d(y,x-1)+1];
+                end
+                if(d(y,x+1) >-1)
+                    a=[a d(y,x+1)+s2];
+                end
+                if(d(y+1,x)>-1)
+                    a=[a d(y+1,x)+1];
+                end
+                if d(y+1,x-1) >-1
+                    a=[a d(y+1,x-1)+s2];
+                end
+                
+                mi = min(a);
+                if(mi~=d(y,x));
+                    changed = true;
+                end
+                if(d(y,x)~=mi)
+                     dv(y,x)=mi;
+                end    
+                d(y,x) = mi;
+               
+                
+            end
+        end
+    end
+    forward=0
+    d
+    dv
+    dv=dvt;
+    for y = 2:size(d,1)-1%backward scan
+        for x = size(d,2)-1:-1:2
+            if(d(y,x) >-1)
+                a=[d(y,x)];
+                if(d(y,x+1) >-1)
+                    a=[a d(y,x+1)+1];
+                end
+                if(d(y-1,x-1) >-1)
+                    a=[a d(y-1,x-1)+s2];
+                end
+                if(d(y-1,x)>-1)
+                    a=[a d(y-1,x)+1];
+                end
+                if d(y-1,x+1) >-1
+                    a=[a d(y-1,x+1)+s2];
+                end
+                mi = min(a);
+                if(mi~=d(y,x))
+                    changed = true;
+                end
+                if(d(y,x)~=mi)
+                     dv(y,x)=mi;
+                end   
+                d(y,x) = mi;
+                
+            end
+        end
+    end
+    backward=0
+    step
+    d
+    dv
+end
+%plot gradient
+colormap(summer)
+imagesc(d)
+
+%get gradient path.
+cp= goal;
+path =goal;
+
+while  ~isequal(cp,start)
+       neighbours=[];
+       for x = [cp(1)-1:cp(1)+1]
+           for y=[cp(2)-1:cp(2)+1]
+               if  ~isequal([x,y],cp) && (d(x,y)>-1) 
+                   neighbours = cat(1,neighbours,[x,y]);
+               end
+           end    
+       end
+       nv=[];
+       for i = 1:size(neighbours,1)
+        yy=neighbours(i,:);
+            nv = [nv d(yy(1),yy(2))];
+       end 
+       [m,minindex] = min(nv);
+       m;
+       cp= neighbours(minindex,:);
+       path = cat(1,cp,path);
+end    
+path
+
+
diff --git a/mr/ub10/A4/gradientA.png b/mr/ub10/A4/gradientA.png
new file mode 100644
index 0000000..26eb5f3
--- /dev/null
+++ b/mr/ub10/A4/gradientA.png
Binary files differ
diff --git a/mr/ub10/A4/gradientB.png b/mr/ub10/A4/gradientB.png
new file mode 100644
index 0000000..1556b73
--- /dev/null
+++ b/mr/ub10/A4/gradientB.png
Binary files differ
diff --git a/mr/ub10/DTA.m b/mr/ub10/DTA.m
new file mode 100644
index 0000000..de78d16
--- /dev/null
+++ b/mr/ub10/DTA.m
@@ -0,0 +1,82 @@
+function [ output_args ] = DTA(map,start,aim)
+%UNTITLED4 Summary of this function goes here
+%   Detailed explanation goes here
+
+d=[-1,-1,-1,-1,-1,-1,-1,-1,-1,-1
+    -1,-1,inf,inf,-1,inf,inf,inf,inf,-1
+    -1,inf,inf,inf,-1,inf,inf,inf,inf,-1
+    -1,inf,inf,inf,-1,-1,inf,inf,inf,-1
+    -1,inf,-1,inf,inf,-1,-1,inf,-1,-1
+    -1,inf,-1,inf,-1,-1,-1,inf,-1,-1
+    -1,inf,-1,inf,inf,inf,inf,inf,inf,-1
+    -1,0,-1,inf,inf,inf,inf,inf,inf,-1
+    -1,-1,-1,-1,-1,-1,-1,-1,-1,-1]
+dvt= d
+
+changed = true;
+s2= sqrt(2);
+step=-1;
+while changed 
+    step=step+1
+    changed= false;
+    for y = size(d,1)-1:-1:2
+        for x = 2:size(d,2)-1
+            x
+            y
+            d(y,x)
+            if(d(y,x) >-1)
+                a=[d(y,x)]
+                if(d(y,x-1) >-1)
+                    a=[a d(y,x-1)+1];
+                end
+                if(d(y,x+1) >-1)
+                    a=[a d(y,x+1)+s2];
+                end
+                if(d(y+1,x)>-1)
+                    a=[a d(y+1,x)+1];
+                end
+                if d(y+1,x-1) >-1
+                    a=[a d(y+1,x-1)+s2];
+                end
+                mi = min(a);
+                if(mi~=d(y,x));
+                    changed = true;
+                end
+                d(y,x) = mi;
+                
+            end
+        end
+    end
+    forward=0
+    d
+    for y = 2:size(d,1)-1
+        for x = size(d,2)-1:-1:2
+            if(d(y,x) >-1)
+                a=[d(y,x)];
+                if(d(y,x+1) >-1)
+                    a=[a d(y,x+1)+1];
+                end
+                if(d(y-1,x-1) >-1)
+                    a=[a d(y-1,x-1)+s2];
+                end
+                if(d(y-1,x)>-1)
+                    a=[a d(y-1,x)+1];
+                end
+                if d(y-1,x+1) >-1
+                    a=[a d(y-1,x+1)+s2];
+                end
+                mi = min(a);
+                if(mi~=d(y,x))
+                    changed = true;
+                end
+                d(y,x) = mi;
+            end
+        end
+    end
+    backward=0
+    step
+    d
+end
+
+end
+
diff --git a/mr/ub10/Sublime Text 2.0.2.dmg b/mr/ub10/Sublime Text 2.0.2.dmg
new file mode 100644
index 0000000..0a894e9
--- /dev/null
+++ b/mr/ub10/Sublime Text 2.0.2.dmg
Binary files differ
diff --git a/mr/ub10/untitled5.m b/mr/ub10/untitled5.m
new file mode 100644
index 0000000..df48b26
--- /dev/null
+++ b/mr/ub10/untitled5.m
@@ -0,0 +1,10 @@
+a= [1,1]
+b=[1,1]
+
+a~=b
+a=[1 2 3
+   4 5 6 
+   7 8 9
+]
+colormap(summer)
+imagesc( a )