diff --git a/08_Designing_Kalman_Filters/Designing_Kalman_Filters.ipynb b/08_Designing_Kalman_Filters/Designing_Kalman_Filters.ipynb
index 9582e50..547a5f0 100644
--- a/08_Designing_Kalman_Filters/Designing_Kalman_Filters.ipynb
+++ b/08_Designing_Kalman_Filters/Designing_Kalman_Filters.ipynb
@@ -1,7 +1,7 @@
 {
  "metadata": {
   "name": "",
-  "signature": "sha256:d7093e4e68ab277cdf9c863a616b65419ddcbbd2b8607abd8a043e73048fdf03"
+  "signature": "sha256:94fc7a6878c4e0d59e4a1f38278285a034bc499fafe124ac9caa33b209cf1ce5"
  },
  "nbformat": 3,
  "nbformat_minor": 0,
@@ -261,7 +261,7 @@
        "output_type": "pyout",
        "prompt_number": 1,
        "text": [
-        "<IPython.core.display.HTML at 0x7f07c9bf9400>"
+        "<IPython.core.display.HTML at 0x7f8959eac128>"
        ]
       }
      ],
@@ -1137,7 +1137,7 @@
      "cell_type": "markdown",
      "metadata": {},
      "source": [
-      "On this run I got a standard deviation of 0.523 vs the value of 0.422 for the fused measurements. "
+      "On this run I got a standard deviation of 0.523 vs the value of 0.391 for the fused measurements. "
      ]
     },
     {
@@ -1242,7 +1242,7 @@
      "cell_type": "markdown",
      "metadata": {},
      "source": [
-      "So to create a trajectory starting at (0,15) with a velocity of $60 \\frac{m}{s}$ and an angle of $65^\\circ$ we would write:\n",
+      "So to create a trajectory starting at (0,15) with a velocity of $100 \\frac{m}{s}$ and an angle of $60^\\circ$ we would write:\n",
       "\n",
       "    traj = BallTrajectory2D (x0=0, y0=15, velocity=100, theta_deg=60)\n",
       "    \n",
diff --git a/clean_book b/clean_book
new file mode 100755
index 0000000..5616678
--- /dev/null
+++ b/clean_book
@@ -0,0 +1,17 @@
+#! /bin/bash
+rm --f *.tex
+rm --f *.toc
+rm --f *.aux
+rm --f *.log
+rm --f *.out
+rm --f ./*_files/*.png
+rm --f Kalman_and_Bayesian_Filters_in_Python.ipynb
+rm --f Kalman_and_Bayesian_Filters_in_Python.toc
+rm --f Kalman_and_Bayesian_Filters_in_Python.tex
+rmdir  ./*_files/ 2> /dev/null
+
+if (( $# == 1)); then
+  if [ "@1" == all ]; then
+    rm Kalman_and_Bayesian_Filters_in_Python.pdf;
+  fi 
+fi