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diff --git a/docs/reference-design/DanLawAV/ReferenceDesignforDanLawAV.md b/docs/reference-design/DanLawAV/ReferenceDesignforDanLawAV.md
@@ -1,83 +1,92 @@
+# Overview
 
-# Overview: 
+This document elaborates the hardware and software configurations for using Autoware for autonomous driving. Hence, it will serve as a guideline to select hardware and software components to build autonomous vehicles. However, this document is NOT prepared as neither step-by-step instructions nor Q&A books, which will be provided as a reference link if available.
 
-This document elaborates the hardware and software configurations for using Autoware for autonomous driving. Hence, it will serve as a guideline to select hardware and software components to build autonomous vehicles. However, this document is NOT prepared as neither step-by-step instructions nor Q&A books, which will be provided as a reference link if available. 
-
-# Design Overview: 
+# Design Overview
 
 ![Meta Chart for DanLaw's AV Design](DanLawAV_Meta.png)
 ![Tech Chart for DanLaw's AV Design](DanLawAV_Tech.png)
 
+# Who should read
+
+One is interested in building your autonomous racing cars or low-cost platforms to learn Autoware, and looks for the place to start with.
 
-# Who should read: 
-One is interested in building your autonomous racing cars or low-cost platforms to learn Autoware, and looks for the place to start with. 
+# References and Resources
 
-# References and Resources: 
 - Complete F1Tenth documents: [link](https://f1tenth.readthedocs.io/en/foxy_test/getting_started/intro.html)
 - Step-By-Step Instructions to deploy Autoware on F1Tenth: [link](https://f1tenth.readthedocs.io/en/foxy_test/autoware/intro.html)
 
-
 # Contributors: [complete list](https://f1tenth.readthedocs.io/en/foxy_test/support/acknowledgment.html#contributors)
+
 ## Core Developers
+
 - Firstname Lastname
+
 ## Contributors
+
 - Firstname Lastname
 
 # Community Outreach
+
 - Firstname Lastname
 
 # Targeted Use Cases
 
-| Use Cases: | Education | Racing | PoC | Open AD Kit | Commercial Services/Production |
-|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: |
-|F1Tenth | <input type="checkbox" checked />  | <input type="checkbox" checked />  | <input type="checkbox" disabled  />  | <input type="checkbox" disabled  />  | <input type="checkbox" disabled  />  | 
+| Use Cases: |             Education             |              Racing               |                 PoC                 |             Open AD Kit             |   Commercial Services/Production    |
+| :--------: | :-------------------------------: | :-------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: |
+|  F1Tenth   | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" disabled  /> | <input type="checkbox" disabled  /> | <input type="checkbox" disabled  /> |
 
 # ODD
 
-| ODD | Cargo | Bus | RoboTaxi | Low Speed (Utility) Vehicle | Delivery Robot |
-|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: |
-|F1Tenth | <input type="checkbox" disabled  />  | <input type="checkbox" disabled />  | <input type="checkbox" disabled  />  | <input type="checkbox" disabled  />  | <input type="checkbox" disabled  />  | 
+|   ODD   |                Cargo                |                Bus                 |              RoboTaxi               |     Low Speed (Utility) Vehicle     |           Delivery Robot            |
+| :-----: | :---------------------------------: | :--------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: |
+| F1Tenth | <input type="checkbox" disabled  /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled  /> | <input type="checkbox" disabled  /> | <input type="checkbox" disabled  /> |
 
-# Automation Level:
-| Automation Level | 0 | 1 | 2 | 3 | 4 | 5 |
-|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: | :---------: |
-|F1Tenth | <input type="checkbox" checked  />  |  <input type="checkbox" checked  />  | <input type="checkbox" checked />  | <input type="checkbox" disabled  />  | <input type="checkbox" disabled  />  | <input type="checkbox" disabled  />  | 
+# Automation Level
 
+| Automation Level |                 0                  |                 1                  |                 2                 |                  3                  |                  4                  |                  5                  |
+| :--------------: | :--------------------------------: | :--------------------------------: | :-------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: |
+|     F1Tenth      | <input type="checkbox" checked  /> | <input type="checkbox" checked  /> | <input type="checkbox" checked /> | <input type="checkbox" disabled  /> | <input type="checkbox" disabled  /> | <input type="checkbox" disabled  /> |
 
 # System Architecture
 
-F1Tenth can be used for racing and education purpose. The simplest use case is to avoid colliding into the obstacle on a racing track. Meanwhile, one can also develop the SLAM algorithm to build the map on the fly and finishes the loop in short time. 
+F1Tenth can be used for racing and education purpose. The simplest use case is to avoid colliding into the obstacle on a racing track. Meanwhile, one can also develop the SLAM algorithm to build the map on the fly and finishes the loop in short time.
 
 ![[f1tenth_NX.webp]]
 
 # Hardware Configuration
-## Chassis:
--  Traxxas Slash 4x4 Premium: [link to purchase](https://www.amainhobbies.com/traxxas-slash-4x4-ultimate-rtr-4wd-short-course-truck-orange-tra68077-4-orng/p858530)
+
+## Chassis
+
+- Traxxas Slash 4x4 Premium: [link to purchase](https://www.amainhobbies.com/traxxas-slash-4x4-ultimate-rtr-4wd-short-course-truck-orange-tra68077-4-orng/p858530)
 - VESC Speed Controllers: # VESC 6 MK III
 
-## Sensors:
+## Sensors
+
 - Lidar: choose one
-	- Hokuyo UTM-30LX
-	- Hokuyo 10LX
+  - Hokuyo UTM-30LX
+  - Hokuyo 10LX
 - Camera (optional):
-	- ZED 2
-	- Intel Real Sense
+  - ZED 2
+  - Intel Real Sense
+
+## Computing Platforms
 
-## Computing Platforms:
 - NVIDIA Jetson Xavier NX
 - USB Hub (4 ports)
 - (DEPRECATED) NVIDIA Jetson TX2
 
 ![[together_NX_00.jpeg]]
 
-# Software Configuration 
+# Software Configuration
+
 - Software on the car:
-	- Operating System: Linux 20.04
-	- ROS: [ROS2 galactic](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html)
-	- GPU Driver: nVidia: JetPack 5.1.1 (rev. 1)
-	- [Autoware](https://github.com/autowarefoundation/autoware.git)
-	- SLAM Toolbox to create and edit map: ros-galactic-slam-toolbox
-- Tools: 
-	- Simulator: [f1tenth simulator](https://f1tenth.readthedocs.io/en/foxy_test/going_forward/simulator/index.html)
-	- VESC Tool for motor control: [link](https://vesc-project.com/vesc_tool)
-	- Version Control tool: [vcstool](https://github.com/dirk-thomas/vcstool)
+  - Operating System: Linux 20.04
+  - ROS: [ROS2 galactic](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html)
+  - GPU Driver: nVidia: JetPack 5.1.1 (rev. 1)
+  - [Autoware](https://github.com/autowarefoundation/autoware.git)
+  - SLAM Toolbox to create and edit map: ros-galactic-slam-toolbox
+- Tools:
+  - Simulator: [f1tenth simulator](https://f1tenth.readthedocs.io/en/foxy_test/going_forward/simulator/index.html)
+  - VESC Tool for motor control: [link](https://vesc-project.com/vesc_tool)
+  - Version Control tool: [vcstool](https://github.com/dirk-thomas/vcstool)
diff --git a/docs/reference-design/F1Tenth/ReferenceDesignforF1TenthwithAutoware.md b/docs/reference-design/F1Tenth/ReferenceDesignforF1TenthwithAutoware.md
@@ -1,27 +1,30 @@
+# Overview
 
-# Overview: 
+This document elaborates the hardware and software configurations for using Autoware for autonomous driving. Hence, it will serve as a guideline to select hardware and software components to build autonomous vehicles. However, this document is NOT prepared as neither step-by-step instructions nor Q&A books, which will be provided as a reference link if available.
 
-This document elaborates the hardware and software configurations for using Autoware for autonomous driving. Hence, it will serve as a guideline to select hardware and software components to build autonomous vehicles. However, this document is NOT prepared as neither step-by-step instructions nor Q&A books, which will be provided as a reference link if available. 
-
-# Design Overview: 
+# Design Overview
 
 ![Meta Chart for F1Tenth Design](F1Tenth_Meta.png)
 ![Tech Chart for F1Tenth Design](F1Tenth_Tech.png)
 
+# Who should read
+
+One is interested in building your autonomous racing cars or low-cost platforms to learn Autoware, and looks for the place to start with.
 
-# Who should read: 
-One is interested in building your autonomous racing cars or low-cost platforms to learn Autoware, and looks for the place to start with. 
+# References and Resources
 
-# References and Resources: 
 - Complete F1Tenth documents: [link](https://f1tenth.readthedocs.io/en/foxy_test/getting_started/intro.html)
 - Step-By-Step Instructions to deploy Autoware on F1Tenth: [link](https://f1tenth.readthedocs.io/en/foxy_test/autoware/intro.html)
 
-
 # Contributors: [complete list](https://f1tenth.readthedocs.io/en/foxy_test/support/acknowledgment.html#contributors)
+
 ## F1TENTH Core Developers
+
 - Hongrui (Billy) Zheng
 - Johannes Betz
+
 ## Contributors
+
 - Matthew O’Kelly
 - Kim Luong
 - Haoru Xue
@@ -31,62 +34,68 @@ One is interested in building your autonomous racing cars or low-cost platforms
 - Jim Benson
 
 # Community Outreach
+
 - Rahul Mangharam
 - F1TENTH Clemson and Venkat Krovi
 - Jaroslav Klapálek
 
 # Targeted Use Cases
 
-| Use Cases: | Education | Racing | PoC | Open AD Kit | Commercial Services/Production |
-|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: |
-|F1Tenth | <input type="checkbox" checked />  | <input type="checkbox" checked />  | <input type="checkbox" disabled  />  | <input type="checkbox" disabled  />  | <input type="checkbox" disabled  />  | 
+| Use Cases: |             Education             |              Racing               |                 PoC                 |             Open AD Kit             |   Commercial Services/Production    |
+| :--------: | :-------------------------------: | :-------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: |
+|  F1Tenth   | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" disabled  /> | <input type="checkbox" disabled  /> | <input type="checkbox" disabled  /> |
 
 # ODD
 
-| ODD | Cargo | Bus | RoboTaxi | Low Speed (Utility) Vehicle | Delivery Robot |
-|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: |
-|F1Tenth | <input type="checkbox" disabled  />  | <input type="checkbox" disabled />  | <input type="checkbox" disabled  />  | <input type="checkbox" disabled  />  | <input type="checkbox" disabled  />  | 
+|   ODD   |                Cargo                |                Bus                 |              RoboTaxi               |     Low Speed (Utility) Vehicle     |           Delivery Robot            |
+| :-----: | :---------------------------------: | :--------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: |
+| F1Tenth | <input type="checkbox" disabled  /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled  /> | <input type="checkbox" disabled  /> | <input type="checkbox" disabled  /> |
 
-# Automation Level:
-| Automation Level | 0 | 1 | 2 | 3 | 4 | 5 |
-|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: | :---------: |
-|F1Tenth | <input type="checkbox" checked  />  |  <input type="checkbox" checked  />  | <input type="checkbox" checked />  | <input type="checkbox" disabled  />  | <input type="checkbox" disabled  />  | <input type="checkbox" disabled  />  | 
+# Automation Level
 
+| Automation Level |                 0                  |                 1                  |                 2                 |                  3                  |                  4                  |                  5                  |
+| :--------------: | :--------------------------------: | :--------------------------------: | :-------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: |
+|     F1Tenth      | <input type="checkbox" checked  /> | <input type="checkbox" checked  /> | <input type="checkbox" checked /> | <input type="checkbox" disabled  /> | <input type="checkbox" disabled  /> | <input type="checkbox" disabled  /> |
 
 # System Architecture
 
-F1Tenth can be used for racing and education purpose. The simplest use case is to avoid colliding into the obstacle on a racing track. Meanwhile, one can also develop the SLAM algorithm to build the map on the fly and finishes the loop in short time. 
+F1Tenth can be used for racing and education purpose. The simplest use case is to avoid colliding into the obstacle on a racing track. Meanwhile, one can also develop the SLAM algorithm to build the map on the fly and finishes the loop in short time.
 
 ![[f1tenth_NX.webp]]
 
 # Hardware Configuration
-## Chassis:
--  Traxxas Slash 4x4 Premium: [link to purchase](https://www.amainhobbies.com/traxxas-slash-4x4-ultimate-rtr-4wd-short-course-truck-orange-tra68077-4-orng/p858530)
+
+## Chassis
+
+- Traxxas Slash 4x4 Premium: [link to purchase](https://www.amainhobbies.com/traxxas-slash-4x4-ultimate-rtr-4wd-short-course-truck-orange-tra68077-4-orng/p858530)
 - VESC Speed Controllers: # VESC 6 MK III
 
-## Sensors:
+## Sensors
+
 - Lidar: choose one
-	- Hokuyo UTM-30LX
-	- Hokuyo 10LX
+  - Hokuyo UTM-30LX
+  - Hokuyo 10LX
 - Camera (optional):
-	- ZED 2
-	- Intel Real Sense
+  - ZED 2
+  - Intel Real Sense
+
+## Computing Platforms
 
-## Computing Platforms:
 - NVIDIA Jetson Xavier NX
 - USB Hub (4 ports)
 - (DEPRECATED) NVIDIA Jetson TX2
 
 ![[together_NX_00.jpeg]]
 
-# Software Configuration 
+# Software Configuration
+
 - Software on the car:
-	- Operating System: Linux 20.04
-	- ROS: [ROS2 galactic](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html)
-	- GPU Driver: nVidia: JetPack 5.1.1 (rev. 1)
-	- [Autoware](https://github.com/autowarefoundation/autoware.git)
-	- SLAM Toolbox to create and edit map: ros-galactic-slam-toolbox
-- Tools: 
-	- Simulator: [f1tenth simulator](https://f1tenth.readthedocs.io/en/foxy_test/going_forward/simulator/index.html)
-	- VESC Tool for motor control: [link](https://vesc-project.com/vesc_tool)
-	- Version Control tool: [vcstool](https://github.com/dirk-thomas/vcstool)
+  - Operating System: Linux 20.04
+  - ROS: [ROS2 galactic](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html)
+  - GPU Driver: nVidia: JetPack 5.1.1 (rev. 1)
+  - [Autoware](https://github.com/autowarefoundation/autoware.git)
+  - SLAM Toolbox to create and edit map: ros-galactic-slam-toolbox
+- Tools:
+  - Simulator: [f1tenth simulator](https://f1tenth.readthedocs.io/en/foxy_test/going_forward/simulator/index.html)
+  - VESC Tool for motor control: [link](https://vesc-project.com/vesc_tool)
+  - Version Control tool: [vcstool](https://github.com/dirk-thomas/vcstool)