1. New stuff in Loc(beta-003)
- Vfunc : the model of Vector functions, having root finder, extreme finder, parameter estimator.
- EqSys : the model of multi-valued nonlinear equation system, having solver
- Mat : linear algebra stuff with the linear equations solver (LUdecomp)
- Vec : linear algebra stuff, with the polynomial equation solver(DKA)
- zip includes some test drivers
2. New functionality in Wrj4P5(alpha-005)
- changeable IR-sensitivity
- stablePitch/Roll calculator in rimokon and nunchaku
New stuffs in Loc and wrj4P5 
classiclll) 