In the current reporting period the project participants started in October with the processing of Task 4 and Task 5. At this time we finished a major objective of Task 4 by generating a virtual physical model of the KUKA LWR and by implementing main components of the interface between the LWR control and the software system. In Task 5 we are further working on the optimization and adaption of the real-time algorithms used on the one hand to calculate safety volumes and on the other hand to detect potential collisions.