With everything else happening I only got to sit in on some of the training for the Gypsy system, but what I saw was excellent. Ali Kourd was his usual sharp, witty and patient, and as intimately familiar with the system as only the inventor could be. The more we find out about the system and its inherent strengths (wireless, joint-located, real-time) and failings (bulky, requiring expert operation, breakable in the hands of us novices) the more we're in awe of what Ali's achieved. We're also pretty excited about the development potential of the system, and we'll be developing a paper on this in the new year. I'll link to the abstract when we've finished it.