diff --git a/UrumbotXY/README.md b/UrumbotXY/README.md
index 3c7e5b72ca095de95fb48b7441d0badaa93a7266..75b727b4c93e94905150f3b91d78791ab9298905 100644
--- a/UrumbotXY/README.md
+++ b/UrumbotXY/README.md
@@ -1,3 +1,9 @@
+# UrumbotXY
+
+This project is a [corexy](https://corexy.com/theory.html) 2D motion system using serialstep
+
+<img src=img/corexy_pen.jpg width=100%><br>
+
 ## CoreXY
 
 For a simple coreXY motion system, here is the list of parts you need to make:
diff --git a/UrumbotXYZ/moving_z_axis/README.md b/UrumbotXYZ/moving_z_axis/README.md
index 67b13ada4df34af89e1df331d20992cb206ad902..0af7d20bca2b78e1f8f868a1e987b2c3ed413f0d 100644
--- a/UrumbotXYZ/moving_z_axis/README.md
+++ b/UrumbotXYZ/moving_z_axis/README.md
@@ -22,30 +22,26 @@ Assemble.  When integrating z-axis on moving beam, it is necessary to insert at
 
 #### Ran tests for force and milling with this setup.  Information about the setup:
 
- - Use green fishing line that has been stretched for several days.  Newly tightened. 
- - Measured stiffness of xy stage dF/dy = 40 N/mm. 
- - At tip of end mill dF/dy = 12 N/mm and dY/dz = 9 N/mm.  This feels weak. 
+ - Use green fishing line that has been stretched for several days.  Newly tightened.
+ - Measured stiffness of xy stage dF/dy = 40 N/mm.
+ - At tip of end mill dF/dy = 12 N/mm and dY/dz = 9 N/mm.  This feels weak.
  - When force is applied to endmill, the z axis rotates around the beam, and the string stretches as well.  Hard to sort this out, but there are several effective springs in series that would all need to be stiffened up.
  - In order for stepper motor to hold wieght of spindle, I need to set vref on stepper chip to 2.0V (1.5V does not work).  At this setting, the chip gets warm to touch, but seems to be happy for hours.
  - Genmitsu spindle running at 24V, ~1.5A.  Advertised to be 20kRPM at 24 V.  Not yet confirmed.
  - Runout measured on this spindle is 0.002" at the endmill, 0.0005" at the motor shaft.  Most of the slop is in the collet.
- 
+
 
 
 #### Results
 
  - While cutting wood block, the 1/8" single flute end mill is pulled in x,y, and z by the cutting forces.  The video and photo shows the rough cutting and the wobble as the cutting progresses.
- 
-<img src=./img/wood_mill.jpg width=40%>
- 
+
+<img src=./img/wood_mill.jpg width=40%></br>
+
 <img src=./img/moving_z_wood.cmp.mp4 width=40%>
 
 Results when attempting to cut a PCB show the same problems.  When the 1/64" endmill engages the material, it is pulled down by ~1 mm into the board.
 
 ###  Conclusions
 
-This configuration is not stiff enough at the endmill tip to mill successfully. 
-
-
-
-
+This configuration is not stiff enough at the endmill tip to mill successfully.
diff --git a/Urumbu_short_z/README.md b/Urumbu_short_z/README.md
index a7a302e14b791e2a3a30f3522fe9986e20271147..054b3ced090c209cec23a81f92ff3205cdeba773 100644
--- a/Urumbu_short_z/README.md
+++ b/Urumbu_short_z/README.md
@@ -3,6 +3,7 @@
 Below is a short z-axis integrated into the xy machine.  The z axis has about 50mm travel.  Next, demonstrate wax cutting and PCB milling with this configuration, as well as measuring z-axis resolution and hysteresis.
 
 <img src=./img/z-axis.jpg width=40%>
+
 <img src=./img/xyz_machine.jpg width=40%><br><br>