diff --git a/kalman/compute_errors_kalman.py b/kalman/compute_errors_kalman.py
index 17b4d62..5e48288 100644
--- a/kalman/compute_errors_kalman.py
+++ b/kalman/compute_errors_kalman.py
@@ -6,8 +6,7 @@ def compute_relative_error(vcur,vref):
     for i in range(len(vref)):
         eps += ((vcur[i] - vref[i])/vref[i])**2
     
-    return np.sqrt(eps)
-
+    return np.sqrt(eps)/len(vcur)
 
 
 
@@ -15,57 +14,117 @@ def compute_relative_error(vcur,vref):
 vref = [10, 250, 250, 250, 30]
 
 #case 1
-v_no_case1 = [  10.05 , 248.34,  250.52 , 254.43 , 29.82]
+v_120_case1 = [ 10.22 , 249.1 , 254.37 , 259.15  , 29.81 ]
 v_70_case1 = [20.38, 211.19, 189.01, 207.09, 28.78]
 v_50_case1 = [90.45, 240.98, 241.03, 316.89, 21.27]
+v_25_case1 = [2012.53, 1004.3, 1172.01, 1755.02, 12.69]
+
+vnew_120_case1 =  [  10.26 , 249.84, 254.6, 259.69 ,  29.81]
 vnew_70_case1 =  [  10.26 , 250.73, 252.78, 256.62 ,  29.77]
 vnew_50_case1 = [ 10.27 , 248.41 ,254.71 ,253.01 , 29.82]
+vnew_25_case1 = [ 10.18 , 251.13 ,253.78 ,257.4 , 29.82]
+
 
 
 
 #case 2
-v_no_case2 = [  9.77, 249.7 , 251.94, 254.91 , 29.82]
-v_70_case2 =  [ 20.7 , 214.77 ,196.47 ,209.31 , 28.76]
-v_50_case2 = [ 88.4,  236.73 ,240.39 ,312.85,  21.22]
+v_120_case2 = [ 9.95,   248.5,   254.4,  253.4,  29.80]
+v_70_case2 =  [ 20.7  , 214.77 , 196.47 , 209.31 , 28.76]
+v_50_case2 = [ 88.40,   236.7,   240.4,  312.9,  21.22]
+v_25_case2 = [ 880.4,   747.2,   822.7,   1380,   9.37]
 
-vnew_70_case2 = [ 10  , 250.24 ,252.05 ,254.98 , 29.76]
-vnew_50_case2 =  [  9.92 ,247.61 ,253.35 ,250.64  ,29.81]
+vnew_120_case2 = [ 10,   246.6,   250.5,  254.5,  29.80]
+vnew_70_case2 = [ 10.00,   250.2,   252.1,  255.0,  29.76]
+vnew_50_case2 =  [ 9.92,   247.6,   253.4,  250.6,  29.81]
+vnew_25_case2 = [ 10.04 , 247.95 , 250.51 , 253.49 , 29.8 ]
 
 
 
-eps_ref_case1 = compute_relative_error(v_no_case1,vref)
+
+#case 3
+v_120_case3 =  [  9.91 , 236.69 , 236.44 , 224.36  ,30.15]
+v_70_case3 =  [ 16.48 , 192.8  , 155.69 , 148.34  , 29.01]
+v_50_case3 =  [231.07 , 369.12 , 521.28 , 458.69  , 23.66]
+v_25_case3 = [ 0,   0,   0,   0,  0]
+
+vnew_120_case3 = [ 10.17 , 247.95,  249.76 , 248.29  ,29.91]
+vnew_70_case3 = [  9.98 , 249.29 , 248.97 , 251.16  ,29.8 ]
+vnew_50_case3 =  [  9.98 , 246.89 , 251.51 , 245.14 , 29.89]
+vnew_25_case3 = [  9.6 ,  244.93 , 244.42 , 245.22  ,29.84]
+
+
+#######################################################################
+
+eps_120_case1 = compute_relative_error(v_120_case1,vref)
 eps_70_case1 = compute_relative_error(v_70_case1,vref)
-eps_new70_case1 = compute_relative_error(vnew_70_case1,vref)
 eps_50_case1 = compute_relative_error(v_50_case1,vref)
+eps_25_case1 = compute_relative_error(v_25_case1,vref)
+
+eps_new120_case1 = compute_relative_error(vnew_120_case1,vref)
+eps_new70_case1 = compute_relative_error(vnew_70_case1,vref)
 eps_new50_case1 = compute_relative_error(vnew_50_case1,vref)
+eps_new25_case1 = compute_relative_error(vnew_25_case1,vref)
 
 
 
-eps_ref_case2 = compute_relative_error(v_no_case2,vref)
+eps_120_case2 = compute_relative_error(v_120_case2,vref)
 eps_70_case2 = compute_relative_error(v_70_case2,vref)
-eps_new70_case2 = compute_relative_error(vnew_70_case2,vref)
 eps_50_case2 = compute_relative_error(v_50_case2,vref)
+eps_25_case2 = compute_relative_error(v_25_case2,vref)
+
+eps_new120_case2 = compute_relative_error(vnew_120_case2,vref)
+eps_new70_case2 = compute_relative_error(vnew_70_case2,vref)
 eps_new50_case2 = compute_relative_error(vnew_50_case2,vref)
+eps_new25_case2 = compute_relative_error(vnew_25_case2,vref)
 
 
+eps_120_case3 = compute_relative_error(v_120_case3,vref)
+eps_70_case3 = compute_relative_error(v_70_case3,vref)
+eps_50_case3 = compute_relative_error(v_50_case3,vref)
+eps_25_case3 = compute_relative_error(v_25_case3,vref)
 
+eps_new120_case3 = compute_relative_error(vnew_120_case3,vref)
+eps_new70_case3 = compute_relative_error(vnew_70_case3,vref)
+eps_new50_case3 = compute_relative_error(vnew_50_case3,vref)
+eps_new25_case3 = compute_relative_error(vnew_25_case3,vref)
 
 
 
 
 print('--------- CASE 1 ---------')
 
-print('reference error = {e}'.format(e=np.round(100*eps_ref_case1,2)))
+print('venc 120% error = {e}'.format(e=np.round(100*eps_120_case1,2)))
 print('venc 70%  error = {e}'.format(e=np.round(100*eps_70_case1,2)))
-print('odv venc 70% error = {e}'.format(e=np.round(100*eps_new70_case1,2)))
 print('venc 50%  error = {e}'.format(e=np.round(100*eps_50_case1,2)))
+print('venc 25%  error = {e}'.format(e=np.round(100*eps_25_case1,2)))
+
+print('odv venc 120% error = {e}'.format(e=np.round(100*eps_new120_case1,2)))
+print('odv venc 70% error = {e}'.format(e=np.round(100*eps_new70_case1,2)))
 print('odv venc 50% error = {e}'.format(e=np.round(100*eps_new50_case1,2)))
+print('odv venc 25% error = {e}'.format(e=np.round(100*eps_new25_case1,2)))
 
 
 print('--------- CASE 2 ---------')
-print('reference error = {e}'.format(e=np.round(100*eps_ref_case2,2)))
-print('venc 70%  error = {e}'.format(e=np.round(100*eps_70_case2,2)))
-print('odv venc 70% error = {e}'.format(e=np.round(100*eps_new70_case2,2)))
-print('venc 50%  error = {e}'.format(e=np.round(100*eps_50_case2,2)))
-print('odv venc 50% error = {e}'.format(e=np.round(100*eps_new50_case2,2)))
 
+print('venc 120% error = {e}'.format(e=np.round(100*eps_120_case2,2)))
+print('venc 70%  error = {e}'.format(e=np.round(100*eps_70_case2,2)))
+print('venc 50%  error = {e}'.format(e=np.round(100*eps_50_case2,2)))
+print('venc 25%  error = {e}'.format(e=np.round(100*eps_25_case2,2)))
+
+print('odv venc 120% error = {e}'.format(e=np.round(100*eps_new120_case2,2)))
+print('odv venc 70% error = {e}'.format(e=np.round(100*eps_new70_case2,2)))
+print('odv venc 50% error = {e}'.format(e=np.round(100*eps_new50_case2,2)))
+print('odv venc 25% error = {e}'.format(e=np.round(100*eps_new25_case2,2)))
+
+
+print('--------- CASE 3 ---------')
+
+print('venc 120% error = {e}'.format(e=np.round(100*eps_120_case3,2)))
+print('venc 70%  error = {e}'.format(e=np.round(100*eps_70_case3,2)))
+print('venc 50%  error = {e}'.format(e=np.round(100*eps_50_case3,2)))
+print('venc 25%  error = {e}'.format(e=np.round(100*eps_25_case3,2)))
+
+print('odv venc 120% error = {e}'.format(e=np.round(100*eps_new120_case3,2)))
+print('odv venc 70% error = {e}'.format(e=np.round(100*eps_new70_case3,2)))
+print('odv venc 50% error = {e}'.format(e=np.round(100*eps_new50_case3,2)))
+print('odv venc 25% error = {e}'.format(e=np.round(100*eps_new25_case3,2)))
\ No newline at end of file
diff --git a/kalman/input_files/aorta.yaml b/kalman/input_files/aorta.yaml
index 1a162a2..6e36f84 100755
--- a/kalman/input_files/aorta.yaml
+++ b/kalman/input_files/aorta.yaml
@@ -25,28 +25,28 @@ boundary_conditions:
         type: 'dirichlet'
         value: ['0','0','-U*sin(DOLFIN_PI*t/Th)*(t<=Th) + (Th<t)*(-3.67949466208*U*sin(9*DOLFIN_PI*t/Th)*exp(-t*10))']
         parameters:
-            U: 60
+            U: 1
             Th: 0.35
             t: 0   
     - 
         id: 3
         type: 'windkessel'
-        value: [20,0,0]
+        value: [10,0,0]
         p0: [0,1333.223874]
     - 
         id: 4
         type: 'windkessel'
-        value: [500,0,0]
+        value: [250,0,0]
         p0: [0,1333.223874]
     - 
         id: 5
         type: 'windkessel'
-        value: [500,0,0]
+        value: [250,0,0]
         p0: [0,1333.223874]
     - 
         id: 6
         type: 'windkessel'
-        value: [500,0,0]
+        value: [250,0,0]
         p0: [0,1333.223874]
 
 timemarching:
@@ -136,12 +136,10 @@ estimation:
 
     measurements:
         -
-            mesh: './meshes/coaortaH3_leo2.0.h5'
+            mesh: '/home/yeye/NuMRI/kalman/meshes/coaortaH3_leo2.0.h5'
             fe_degree: 1
-            xdmf_file: 'results/aorta/measurements/Perturbation/Ks12V50/u_all.xdmf'
-            file_root: 'results/aorta/measurements/Perturbation/Ks12V50/u{i}.h5'
-            #xdmf_file: 'results/aorta/measurements/u_all.xdmf'
-            #file_root: 'results/aorta/measurements/u{i}.h5'
+            xdmf_file: 'measurements/aorta/Perturbation/Ks12V120/u.xdmf'
+            file_root: 'measurements/aorta/Perturbation/Ks12V120/u{i}.h5'
             indices: 0 # indices of checkpoints to be processed. 0 == all
             velocity_direction: ~
             noise_stddev: 15     # standard deviation of Gaussian noise
@@ -151,5 +149,5 @@ estimation:
         observation_operator: 'postprocessing'         #state or postprocessing
         reparameterize: True
         ODV_functional:
-            enable: True
-            VENC: 42    # cm/s  ref: 59 for 70% and 42 for 50%
+            enable: False
+            VENC: 102    #  102,120%   59,70%   42 50%,   21,25%
diff --git a/kalman/measurements/aorta/Perturbation/Ks12V120/u.h5 b/kalman/measurements/aorta/Perturbation/Ks12V120/u.h5
new file mode 100644
index 0000000..f7905f7
Binary files /dev/null and b/kalman/measurements/aorta/Perturbation/Ks12V120/u.h5 differ
diff --git a/kalman/measurements/aorta/Perturbation/Ks12V120/u.xdmf b/kalman/measurements/aorta/Perturbation/Ks12V120/u.xdmf
new file mode 100644
index 0000000..e936dfb
--- /dev/null
+++ b/kalman/measurements/aorta/Perturbation/Ks12V120/u.xdmf
@@ -0,0 +1,260 @@
+<?xml version="1.0"?>
+<!DOCTYPE Xdmf SYSTEM "Xdmf.dtd" []>
+<Xdmf Version="3.0" xmlns:xi="http://www.w3.org/2001/XInclude">
+  <Domain>
+    <Grid Name="TimeSeries_velocity" GridType="Collection" CollectionType="Temporal">
+      <Grid Name="mesh" GridType="Uniform">
+        <Topology NumberOfElements="28742" TopologyType="Tetrahedron" NodesPerElement="4">
+          <DataItem Dimensions="28742 4" NumberType="UInt" Format="HDF">u.h5:/Mesh/0/mesh/topology</DataItem>
+        </Topology>
+        <Geometry GeometryType="XYZ">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/Mesh/0/mesh/geometry</DataItem>
+        </Geometry>
+        <Time Value="0.000000000000000e+00" />
+        <Attribute Name="velocity" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/VisualisationVector/0</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid Name="mesh" GridType="Uniform">
+        <Topology NumberOfElements="28742" TopologyType="Tetrahedron" NodesPerElement="4">
+          <DataItem Dimensions="28742 4" NumberType="UInt" Format="HDF">u.h5:/Mesh/1/mesh/topology</DataItem>
+        </Topology>
+        <Geometry GeometryType="XYZ">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/Mesh/1/mesh/geometry</DataItem>
+        </Geometry>
+        <Time Value="4.000000000000000e-02" />
+        <Attribute Name="velocity" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/VisualisationVector/1</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid Name="mesh" GridType="Uniform">
+        <Topology NumberOfElements="28742" TopologyType="Tetrahedron" NodesPerElement="4">
+          <DataItem Dimensions="28742 4" NumberType="UInt" Format="HDF">u.h5:/Mesh/2/mesh/topology</DataItem>
+        </Topology>
+        <Geometry GeometryType="XYZ">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/Mesh/2/mesh/geometry</DataItem>
+        </Geometry>
+        <Time Value="8.000000000000000e-02" />
+        <Attribute Name="velocity" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/VisualisationVector/2</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid Name="mesh" GridType="Uniform">
+        <Topology NumberOfElements="28742" TopologyType="Tetrahedron" NodesPerElement="4">
+          <DataItem Dimensions="28742 4" NumberType="UInt" Format="HDF">u.h5:/Mesh/3/mesh/topology</DataItem>
+        </Topology>
+        <Geometry GeometryType="XYZ">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/Mesh/3/mesh/geometry</DataItem>
+        </Geometry>
+        <Time Value="1.200000000000000e-01" />
+        <Attribute Name="velocity" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/VisualisationVector/3</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid Name="mesh" GridType="Uniform">
+        <Topology NumberOfElements="28742" TopologyType="Tetrahedron" NodesPerElement="4">
+          <DataItem Dimensions="28742 4" NumberType="UInt" Format="HDF">u.h5:/Mesh/4/mesh/topology</DataItem>
+        </Topology>
+        <Geometry GeometryType="XYZ">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/Mesh/4/mesh/geometry</DataItem>
+        </Geometry>
+        <Time Value="1.600000000000000e-01" />
+        <Attribute Name="velocity" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/VisualisationVector/4</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid Name="mesh" GridType="Uniform">
+        <Topology NumberOfElements="28742" TopologyType="Tetrahedron" NodesPerElement="4">
+          <DataItem Dimensions="28742 4" NumberType="UInt" Format="HDF">u.h5:/Mesh/5/mesh/topology</DataItem>
+        </Topology>
+        <Geometry GeometryType="XYZ">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/Mesh/5/mesh/geometry</DataItem>
+        </Geometry>
+        <Time Value="2.000000000000000e-01" />
+        <Attribute Name="velocity" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/VisualisationVector/5</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid Name="mesh" GridType="Uniform">
+        <Topology NumberOfElements="28742" TopologyType="Tetrahedron" NodesPerElement="4">
+          <DataItem Dimensions="28742 4" NumberType="UInt" Format="HDF">u.h5:/Mesh/6/mesh/topology</DataItem>
+        </Topology>
+        <Geometry GeometryType="XYZ">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/Mesh/6/mesh/geometry</DataItem>
+        </Geometry>
+        <Time Value="2.400000000000000e-01" />
+        <Attribute Name="velocity" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/VisualisationVector/6</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid Name="mesh" GridType="Uniform">
+        <Topology NumberOfElements="28742" TopologyType="Tetrahedron" NodesPerElement="4">
+          <DataItem Dimensions="28742 4" NumberType="UInt" Format="HDF">u.h5:/Mesh/7/mesh/topology</DataItem>
+        </Topology>
+        <Geometry GeometryType="XYZ">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/Mesh/7/mesh/geometry</DataItem>
+        </Geometry>
+        <Time Value="2.800000000000000e-01" />
+        <Attribute Name="velocity" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/VisualisationVector/7</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid Name="mesh" GridType="Uniform">
+        <Topology NumberOfElements="28742" TopologyType="Tetrahedron" NodesPerElement="4">
+          <DataItem Dimensions="28742 4" NumberType="UInt" Format="HDF">u.h5:/Mesh/8/mesh/topology</DataItem>
+        </Topology>
+        <Geometry GeometryType="XYZ">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/Mesh/8/mesh/geometry</DataItem>
+        </Geometry>
+        <Time Value="3.200000000000000e-01" />
+        <Attribute Name="velocity" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/VisualisationVector/8</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid Name="mesh" GridType="Uniform">
+        <Topology NumberOfElements="28742" TopologyType="Tetrahedron" NodesPerElement="4">
+          <DataItem Dimensions="28742 4" NumberType="UInt" Format="HDF">u.h5:/Mesh/9/mesh/topology</DataItem>
+        </Topology>
+        <Geometry GeometryType="XYZ">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/Mesh/9/mesh/geometry</DataItem>
+        </Geometry>
+        <Time Value="3.600000000000000e-01" />
+        <Attribute Name="velocity" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/VisualisationVector/9</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid Name="mesh" GridType="Uniform">
+        <Topology NumberOfElements="28742" TopologyType="Tetrahedron" NodesPerElement="4">
+          <DataItem Dimensions="28742 4" NumberType="UInt" Format="HDF">u.h5:/Mesh/10/mesh/topology</DataItem>
+        </Topology>
+        <Geometry GeometryType="XYZ">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/Mesh/10/mesh/geometry</DataItem>
+        </Geometry>
+        <Time Value="4.000000000000000e-01" />
+        <Attribute Name="velocity" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/VisualisationVector/10</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid Name="mesh" GridType="Uniform">
+        <Topology NumberOfElements="28742" TopologyType="Tetrahedron" NodesPerElement="4">
+          <DataItem Dimensions="28742 4" NumberType="UInt" Format="HDF">u.h5:/Mesh/11/mesh/topology</DataItem>
+        </Topology>
+        <Geometry GeometryType="XYZ">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/Mesh/11/mesh/geometry</DataItem>
+        </Geometry>
+        <Time Value="4.400000000000000e-01" />
+        <Attribute Name="velocity" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/VisualisationVector/11</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid Name="mesh" GridType="Uniform">
+        <Topology NumberOfElements="28742" TopologyType="Tetrahedron" NodesPerElement="4">
+          <DataItem Dimensions="28742 4" NumberType="UInt" Format="HDF">u.h5:/Mesh/12/mesh/topology</DataItem>
+        </Topology>
+        <Geometry GeometryType="XYZ">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/Mesh/12/mesh/geometry</DataItem>
+        </Geometry>
+        <Time Value="4.800000000000000e-01" />
+        <Attribute Name="velocity" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/VisualisationVector/12</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid Name="mesh" GridType="Uniform">
+        <Topology NumberOfElements="28742" TopologyType="Tetrahedron" NodesPerElement="4">
+          <DataItem Dimensions="28742 4" NumberType="UInt" Format="HDF">u.h5:/Mesh/13/mesh/topology</DataItem>
+        </Topology>
+        <Geometry GeometryType="XYZ">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/Mesh/13/mesh/geometry</DataItem>
+        </Geometry>
+        <Time Value="5.200000000000000e-01" />
+        <Attribute Name="velocity" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/VisualisationVector/13</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid Name="mesh" GridType="Uniform">
+        <Topology NumberOfElements="28742" TopologyType="Tetrahedron" NodesPerElement="4">
+          <DataItem Dimensions="28742 4" NumberType="UInt" Format="HDF">u.h5:/Mesh/14/mesh/topology</DataItem>
+        </Topology>
+        <Geometry GeometryType="XYZ">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/Mesh/14/mesh/geometry</DataItem>
+        </Geometry>
+        <Time Value="5.600000000000001e-01" />
+        <Attribute Name="velocity" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/VisualisationVector/14</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid Name="mesh" GridType="Uniform">
+        <Topology NumberOfElements="28742" TopologyType="Tetrahedron" NodesPerElement="4">
+          <DataItem Dimensions="28742 4" NumberType="UInt" Format="HDF">u.h5:/Mesh/15/mesh/topology</DataItem>
+        </Topology>
+        <Geometry GeometryType="XYZ">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/Mesh/15/mesh/geometry</DataItem>
+        </Geometry>
+        <Time Value="6.000000000000000e-01" />
+        <Attribute Name="velocity" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u.h5:/VisualisationVector/15</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid Name="mesh" GridType="Uniform">
+        <Topology NumberOfElements="28742" TopologyType="Tetrahedron" NodesPerElement="4">
+          <DataItem Dimensions="28742 4" NumberType="UInt" Format="HDF">u.h5:/Mesh/16/mesh/topology</DataItem>
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diff --git a/kalman/measurements/aorta/input.yaml b/kalman/measurements/aorta/input.yaml
new file mode 100755
index 0000000..e3002bb
--- /dev/null
+++ b/kalman/measurements/aorta/input.yaml
@@ -0,0 +1,155 @@
+
+mesh: './meshes/coaortaH1.h5'
+# Physical parameters of the fluid
+fluid:
+    density: 1.2
+    dynamic_viscosity: 0.035
+
+io:
+    write_path: 'results/aorta'
+    restart:
+        path: ''  # './projects/nse_coa3d/results/test_restart2/' 
+        time: 0
+    write_xdmf: True
+    write_checkpoints: True
+    write_hdf5_timeseries: False
+    write_velocity: 'update'     # update or tentative
+
+boundary_conditions:
+    - 
+        id: 1
+        type: 'dirichlet'
+        value: ['0','0','0']
+    - 
+        id: 2
+        type: 'dirichlet'
+        value: ['0','0','-U*sin(DOLFIN_PI*t/Th)*(t<=Th) + (Th<t)*(-3.67949466208*U*sin(9*DOLFIN_PI*t/Th)*exp(-t*10))']
+        parameters:
+            U: 60
+            Th: 0.35
+            t: 0   
+    - 
+        id: 3
+        type: 'windkessel'
+        value: [20,0,0]
+        p0: [0,1333.223874]
+    - 
+        id: 4
+        type: 'windkessel'
+        value: [500,0,0]
+        p0: [0,1333.223874]
+    - 
+        id: 5
+        type: 'windkessel'
+        value: [500,0,0]
+        p0: [0,1333.223874]
+    - 
+        id: 6
+        type: 'windkessel'
+        value: [500,0,0]
+        p0: [0,1333.223874]
+
+timemarching:
+    velocity_pressure_coupling: 'fractionalstep'    # monolithic, fractionalstep
+
+    monolithic:
+        timescheme: 'gmp'   # generalized midpoint, steady FIXME TODO
+        theta: 1            # 1: Euler, 0.5: implicit midpoint rule (one-legged)
+        nonlinear:
+            method: 'constant_extrapolation'   # constant_extrapolation, linear_extrapolation, newton, picard, snes
+            maxit: 20
+            init_steps: 30
+            use_aitken: 1   #  0: False, 1: Picard only, 2: all
+            report: 1       # 0: None, 1: residuals, 2: residuals and energy (inflow/driving/forcing via ESSENTIAL Dbcs!)
+            atol: 1.e-6    # note: dot required!!
+            rtol: 1.e-16
+            stol: 0.0
+
+    fractionalstep:
+        scheme: 'CT'      # CT, IPCS
+        coupled_velocity: False     # False faster, True needed if robin_bc implicit
+        robin_bc_velocity_scheme: 'implicit' # explicit, semi-implicit, implicit
+        transpiration_bc_projection: 'robin'      # robin, dirichlet
+        flux_report_normalize_boundary: 1
+
+    T: 0.8       # end time
+    dt: 0.01
+    write_dt: 0.04
+    checkpoint_dt:  0.04 # <= 0: only last; else value + last
+    report: 1   # 0: print nothing, 1: print time step and writeout, 2: 1 + flux
+
+# solver setup
+fem:
+    velocity_space: p1  # p1 p1b/p1+ p2
+    pressure_space: p1  # p1 p0/dg0 dg1
+
+    strain_symmetric: False
+    convection_skew_symmetric: True    # aka Temam term
+    stabilization:
+        forced_normal:
+            enabled: True
+            boundaries: [6]
+            gamma: 10
+        backflow_boundaries: [3,4,5,6]
+        streamline_diffusion:
+            enabled: False
+            parameter: 'standard'   # standard, shakib, codina, klr
+            length_scale: 'metric' # average, max, metric
+            parameter_element_constant: True
+            Cinv: ~
+        monolithic:
+            infsup: 'pspg'    # pspg, pressure-stabilization
+            graddiv: False
+            consistent: False
+            pressure_stab_constant: 1.
+
+    fix_pressure: False
+    fix_pressure_point: [0., 0. , 0.]
+
+linear_solver:
+    method: 'lu'
+
+estimation:
+    boundary_conditions:
+        - 
+            id: 3
+            type: 'windkessel'
+            initial_stddev: 1
+        - 
+            id: 4
+            type: 'windkessel'
+            initial_stddev: 1
+        - 
+            id: 5
+            type: 'windkessel'
+            initial_stddev: 1
+        - 
+            id: 6
+            type: 'windkessel'
+            initial_stddev: 1
+        - 
+            id: 2
+            type: 'dirichlet'
+            parameters: 'U'
+            initial_stddev: 1
+
+
+    measurements:
+        -
+            mesh: './meshes/coaortaH3_leo2.0.h5'
+            fe_degree: 1
+            #xdmf_file: 'results/aorta/measurements/Perturbation/SNRinfV70/u_all.xdmf'
+            #file_root: 'results/aorta/measurements/Perturbation/SNRinfV70/u{i}.h5'
+            xdmf_file: 'results/aorta/measurements/u_all.xdmf'
+            file_root: 'results/aorta/measurements/u{i}.h5'
+            indices: 0 # indices of checkpoints to be processed. 0 == all
+            velocity_direction: ~
+            noise_stddev: 0     # standard deviation of Gaussian noise
+    
+    roukf:
+        particles: 'simplex' # unique or simplex
+        observation_operator: 'postprocessing'         #state or postprocessing
+        reparameterize: True
+        ODV_functional:
+            enable: True
+            VENC: 61    # cm/s  ref: 61 for 70% and 44 for 50%
diff --git a/kalman/measurements/aorta/u0.h5 b/kalman/measurements/aorta/u0.h5
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diff --git a/kalman/measurements/aorta/u_all.h5 b/kalman/measurements/aorta/u_all.h5
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diff --git a/kalman/measurements/aorta/u_all.xdmf b/kalman/measurements/aorta/u_all.xdmf
new file mode 100644
index 0000000..3b16248
--- /dev/null
+++ b/kalman/measurements/aorta/u_all.xdmf
@@ -0,0 +1,160 @@
+<?xml version="1.0"?>
+<!DOCTYPE Xdmf SYSTEM "Xdmf.dtd" []>
+<Xdmf Version="3.0" xmlns:xi="http://www.w3.org/2001/XInclude">
+  <Domain>
+    <Grid Name="TimeSeries_measurement" GridType="Collection" CollectionType="Temporal">
+      <Grid Name="mesh" GridType="Uniform">
+        <Topology NumberOfElements="28742" TopologyType="Tetrahedron" NodesPerElement="4">
+          <DataItem Dimensions="28742 4" NumberType="UInt" Format="HDF">u_all.h5:/Mesh/0/mesh/topology</DataItem>
+        </Topology>
+        <Geometry GeometryType="XYZ">
+          <DataItem Dimensions="5946 3" Format="HDF">u_all.h5:/Mesh/0/mesh/geometry</DataItem>
+        </Geometry>
+        <Time Value="0.000000000000000e+00" />
+        <Attribute Name="measurement" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u_all.h5:/VisualisationVector/0</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid>
+        <xi:include xpointer="xpointer(//Grid[@Name=&quot;TimeSeries_measurement&quot;]/Grid[1]/*[self::Topology or self::Geometry])" />
+        <Time Value="4.000000000000000e-02" />
+        <Attribute Name="measurement" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u_all.h5:/VisualisationVector/1</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid>
+        <xi:include xpointer="xpointer(//Grid[@Name=&quot;TimeSeries_measurement&quot;]/Grid[1]/*[self::Topology or self::Geometry])" />
+        <Time Value="8.000000000000000e-02" />
+        <Attribute Name="measurement" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u_all.h5:/VisualisationVector/2</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid>
+        <xi:include xpointer="xpointer(//Grid[@Name=&quot;TimeSeries_measurement&quot;]/Grid[1]/*[self::Topology or self::Geometry])" />
+        <Time Value="1.200000000000000e-01" />
+        <Attribute Name="measurement" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u_all.h5:/VisualisationVector/3</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid>
+        <xi:include xpointer="xpointer(//Grid[@Name=&quot;TimeSeries_measurement&quot;]/Grid[1]/*[self::Topology or self::Geometry])" />
+        <Time Value="1.600000000000000e-01" />
+        <Attribute Name="measurement" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u_all.h5:/VisualisationVector/4</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid>
+        <xi:include xpointer="xpointer(//Grid[@Name=&quot;TimeSeries_measurement&quot;]/Grid[1]/*[self::Topology or self::Geometry])" />
+        <Time Value="2.000000000000000e-01" />
+        <Attribute Name="measurement" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u_all.h5:/VisualisationVector/5</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid>
+        <xi:include xpointer="xpointer(//Grid[@Name=&quot;TimeSeries_measurement&quot;]/Grid[1]/*[self::Topology or self::Geometry])" />
+        <Time Value="2.400000000000000e-01" />
+        <Attribute Name="measurement" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u_all.h5:/VisualisationVector/6</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid>
+        <xi:include xpointer="xpointer(//Grid[@Name=&quot;TimeSeries_measurement&quot;]/Grid[1]/*[self::Topology or self::Geometry])" />
+        <Time Value="2.800000000000000e-01" />
+        <Attribute Name="measurement" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u_all.h5:/VisualisationVector/7</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid>
+        <xi:include xpointer="xpointer(//Grid[@Name=&quot;TimeSeries_measurement&quot;]/Grid[1]/*[self::Topology or self::Geometry])" />
+        <Time Value="3.200000000000000e-01" />
+        <Attribute Name="measurement" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u_all.h5:/VisualisationVector/8</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid>
+        <xi:include xpointer="xpointer(//Grid[@Name=&quot;TimeSeries_measurement&quot;]/Grid[1]/*[self::Topology or self::Geometry])" />
+        <Time Value="3.600000000000000e-01" />
+        <Attribute Name="measurement" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u_all.h5:/VisualisationVector/9</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid>
+        <xi:include xpointer="xpointer(//Grid[@Name=&quot;TimeSeries_measurement&quot;]/Grid[1]/*[self::Topology or self::Geometry])" />
+        <Time Value="4.000000000000000e-01" />
+        <Attribute Name="measurement" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u_all.h5:/VisualisationVector/10</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid>
+        <xi:include xpointer="xpointer(//Grid[@Name=&quot;TimeSeries_measurement&quot;]/Grid[1]/*[self::Topology or self::Geometry])" />
+        <Time Value="4.400000000000000e-01" />
+        <Attribute Name="measurement" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u_all.h5:/VisualisationVector/11</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid>
+        <xi:include xpointer="xpointer(//Grid[@Name=&quot;TimeSeries_measurement&quot;]/Grid[1]/*[self::Topology or self::Geometry])" />
+        <Time Value="4.800000000000000e-01" />
+        <Attribute Name="measurement" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u_all.h5:/VisualisationVector/12</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid>
+        <xi:include xpointer="xpointer(//Grid[@Name=&quot;TimeSeries_measurement&quot;]/Grid[1]/*[self::Topology or self::Geometry])" />
+        <Time Value="5.200000000000000e-01" />
+        <Attribute Name="measurement" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u_all.h5:/VisualisationVector/13</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid>
+        <xi:include xpointer="xpointer(//Grid[@Name=&quot;TimeSeries_measurement&quot;]/Grid[1]/*[self::Topology or self::Geometry])" />
+        <Time Value="5.600000000000001e-01" />
+        <Attribute Name="measurement" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u_all.h5:/VisualisationVector/14</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid>
+        <xi:include xpointer="xpointer(//Grid[@Name=&quot;TimeSeries_measurement&quot;]/Grid[1]/*[self::Topology or self::Geometry])" />
+        <Time Value="6.000000000000000e-01" />
+        <Attribute Name="measurement" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u_all.h5:/VisualisationVector/15</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid>
+        <xi:include xpointer="xpointer(//Grid[@Name=&quot;TimeSeries_measurement&quot;]/Grid[1]/*[self::Topology or self::Geometry])" />
+        <Time Value="6.400000000000000e-01" />
+        <Attribute Name="measurement" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u_all.h5:/VisualisationVector/16</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid>
+        <xi:include xpointer="xpointer(//Grid[@Name=&quot;TimeSeries_measurement&quot;]/Grid[1]/*[self::Topology or self::Geometry])" />
+        <Time Value="6.800000000000000e-01" />
+        <Attribute Name="measurement" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u_all.h5:/VisualisationVector/17</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid>
+        <xi:include xpointer="xpointer(//Grid[@Name=&quot;TimeSeries_measurement&quot;]/Grid[1]/*[self::Topology or self::Geometry])" />
+        <Time Value="7.200000000000000e-01" />
+        <Attribute Name="measurement" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u_all.h5:/VisualisationVector/18</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid>
+        <xi:include xpointer="xpointer(//Grid[@Name=&quot;TimeSeries_measurement&quot;]/Grid[1]/*[self::Topology or self::Geometry])" />
+        <Time Value="7.600000000000000e-01" />
+        <Attribute Name="measurement" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u_all.h5:/VisualisationVector/19</DataItem>
+        </Attribute>
+      </Grid>
+      <Grid>
+        <xi:include xpointer="xpointer(//Grid[@Name=&quot;TimeSeries_measurement&quot;]/Grid[1]/*[self::Topology or self::Geometry])" />
+        <Time Value="8.000000000000000e-01" />
+        <Attribute Name="measurement" AttributeType="Vector" Center="Node">
+          <DataItem Dimensions="5946 3" Format="HDF">u_all.h5:/VisualisationVector/20</DataItem>
+        </Attribute>
+      </Grid>
+    </Grid>
+  </Domain>
+</Xdmf>