
For the circular movement the results are shown in Table \ref{t:circ_200} and \ref{t:circ_300}. Table \ref{t:circ_200} shows the velocity errors for all the movements with all the materials at the distance of 200 $mm$. Table \ref{t:circ_300} shows the results for a distance of 300 $mm$. It was calculated the average error and the maximum error using the robot as reference.\\


\begin{figure}[htbp]
\centering
\subfloat[]{\includegraphics[width=6cm]{./Imagens/circular/200_100_vel.eps}}
\quad
\subfloat[]{\includegraphics[width=6cm]{./Imagens/circular/200_100_2.eps}}
\caption{Velocity and position plot for velocity of 100 mm/s - diameter of 2 m - at distance 200 mm.}
\label{f:200_100_2}
\end{figure}


\begin{figure}[htbp]
\centering
\subfloat[]{\includegraphics[width=6cm]{./Imagens/circular/200_500_vel.eps}}
\quad
\subfloat[]{\includegraphics[width=6cm]{./Imagens/circular/200_500_5.eps}}
\caption{Velocity and position plot for velocity of 500 mm/s - diameter of 5 m - at distance 200 mm.}
\label{f:200_500_5}
\end{figure}


\begin{figure}[htbp]
\centering
\subfloat[]{\includegraphics[width=6cm]{./Imagens/circular/200_1000_vel.eps}}
\quad
\subfloat[]{\includegraphics[width=6cm]{./Imagens/circular/200_1000_10.eps}}
\caption{Velocity and position plot for velocity of 1000 mm/s - diameter of 10 m - at distance 200 mm.}
\label{f:200_1000_10}
\end{figure}

\begin{figure}[htbp]
\centering
\subfloat[]{\includegraphics[width=6cm]{./Imagens/circular/300_100_vel.eps}}
\quad
\subfloat[]{\includegraphics[width=6cm]{./Imagens/circular/300_100_5.eps}}
\caption{Velocity and position plot for velocity of 100 mm/s - diameter of 5 m - at distance 300 mm.}
\label{f:300_100_5}
\end{figure}

\begin{figure}[htbp]
\centering
\subfloat[]{\includegraphics[width=6cm]{./Imagens/circular/300_500_vel.eps}}
\quad
\subfloat[]{\includegraphics[width=6cm]{./Imagens/circular/300_500_10.eps}}
\caption{Velocity and position plot for velocity of 500 mm/s - diameter of 10 m - at distance 300 mm.}
\label{f:300_500_10}
\end{figure}

\begin{figure}[htbp]
\centering
\subfloat[]{\includegraphics[width=6cm]{./Imagens/circular/300_1000_vel.eps}}
\quad
\subfloat[]{\includegraphics[width=6cm]{./Imagens/circular/300_1000_2.eps}}
\caption{Velocity and position plot for velocity of 1000 mm/s - diameter of 2 m - at distance 300 mm.}
\label{f:300_1000_2}
\end{figure}

% Please add the following required packages to your document preamble:
% \usepackage{multirow}
\begin{table}[h]
\centering
\caption{Circular movement - Results for concrete at distance of 200 $mm$.}
\begin{tabular}{lll|ll|lll|}
                                                                               &                                                                                &                                                           & \multicolumn{5}{l|}{Concrete}                                                                                                                                                                                \\ \cline{4-8} 
                                                                               &                                                                                &                                                           & \multicolumn{2}{l|}{Error}                                                                                       & \multicolumn{3}{l|}{Deviation}                                                            \\ \hline
\multicolumn{1}{l|}{\begin{tabular}[c]{@{}l@{}}Distance\\ ($mm$)\end{tabular}} & \multicolumn{1}{l|}{\begin{tabular}[c]{@{}l@{}}Diameter\\ ($mm$)\end{tabular}} & \begin{tabular}[c]{@{}l@{}}Velocity\\ (mm/s)\end{tabular} & \begin{tabular}[c]{@{}l@{}}Avg. \\ Vel. (\%)\end{tabular} & \begin{tabular}[c]{@{}l@{}}Dist.\\ (\%)\end{tabular} & X ($mm$) & Y ($mm$) & \begin{tabular}[c]{@{}l@{}}Euclidean\\ Distance ($mm$)\end{tabular} \\ \hline
\multicolumn{1}{l|}{\multirow{9}{*}{200}}                                      & \multicolumn{1}{l|}{\multirow{3}{*}{2}}                                        & 100                                                       & 23.71                                                     & 25.34                                                & 120.38   & 13.24    & 121.10                                                              \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 500                                                       & 1.03                                                      & 0.07                                                 & 12.34    & 0.55     & 12.35                                                               \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 1000                                                      & 11.15                                                     & 8.97                                                 & 60.69    & 1.90     & 60.72                                                               \\ \cline{2-8} 
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{\multirow{3}{*}{5}}                                        & 100                                                       & 23.71                                                     & 26.65                                                & 132.97   & 0.72     & 132.97                                                              \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 500                                                       & 1.03                                                      & 0.13                                                 & 7.36     & 1.19     & 7.45                                                                \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 1000                                                      & 1.03                                                      & 0.49                                                 & 12.84    & 0.74     & 12.86                                                               \\ \cline{2-8} 
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{\multirow{3}{*}{10}}                                       & 100                                                       & 23.71                                                     & 24.12                                                & 120.40   & 16.39    & 121.51                                                              \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 500                                                       & 1.03                                                      & 0.69                                                 & 8.21     & 19.11    & 20.80                                                               \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 1000                                                      & 1.03                                                      & 1.03                                                 & 12.83    & 19.00    & 22.93                                                              
\end{tabular}
\end{table}             


% Please add the following required packages to your document preamble:
% \usepackage{multirow}
\begin{table}[h]
\centering
\caption{Circular movement - Results for concrete at distance of 300 $mm$.}
\begin{tabular}{lll|ll|lll|}
                                                                               &                                                                                &                                                           & \multicolumn{5}{l|}{Concrete}                                                                                                                                                                                \\ \cline{4-8} 
                                                                               &                                                                                &                                                           & \multicolumn{2}{l|}{Error}                                                                                       & \multicolumn{3}{l|}{Deviation}                                                            \\ \hline
\multicolumn{1}{l|}{\begin{tabular}[c]{@{}l@{}}Distance\\ ($mm$)\end{tabular}} & \multicolumn{1}{l|}{\begin{tabular}[c]{@{}l@{}}Diameter\\ ($mm$)\end{tabular}} & \begin{tabular}[c]{@{}l@{}}Velocity\\ (mm/s)\end{tabular} & \begin{tabular}[c]{@{}l@{}}Avg. \\ Vel. (\%)\end{tabular} & \begin{tabular}[c]{@{}l@{}}Dist.\\ (\%)\end{tabular} & X ($mm$) & Y ($mm$) & \begin{tabular}[c]{@{}l@{}}Euclidean\\ Distance ($mm$)\end{tabular} \\ \hline
\multicolumn{1}{l|}{\multirow{9}{*}{300}}                                      & \multicolumn{1}{l|}{\multirow{3}{*}{2}}                                        & 100                                                       & 4.74                                                      & 3.09                                                 & 22.92    & 11.12    & 25.48                                                               \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 500                                                       & 24.17                                                     & 20.55                                                & 115.17   & 1.10     & 115.17                                                              \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 1000                                                      & 5.21                                                      & 3.89                                                 & 35.58    & 1.50     & 35.61                                                               \\ \cline{2-8} 
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{\multirow{3}{*}{5}}                                        & 100                                                       & 40.58                                                     & 27.55                                                & 138.34   & 7.98     & 138.57                                                              \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 500                                                       & 6.02                                                      & 5.42                                                 & 19.34    & 0.42     & 19.35                                                               \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 1000                                                      & 5.21                                                      & 4.11                                                 & 31.21    & 0.63     & 31.22                                                               \\ \cline{2-8} 
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{\multirow{3}{*}{10}}                                       & 100                                                       & 64.52                                                     & 51.30                                                & 257.22   & 13.86    & 257.59                                                              \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 500                                                       & 13.24                                                     & 11.38                                                & 51.15    & 18.99    & 54.56                                                               \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 1000                                                      & 5.21                                                      & 4.67                                                 & 31.05    & 18.97    & 36.39                                                              
\end{tabular}
\end{table}

% Please add the following required packages to your document preamble:
% \usepackage{multirow}
\begin{table}[h]
\centering
\caption{Circular movement - Results for cork at distance of 200 $mm$.}
\begin{tabular}{lll|ll|lll|}
                                                                               &                                                                                &                                                           & \multicolumn{5}{l|}{Cork}                                                                                                                                                                                    \\ \cline{4-8} 
                                                                               &                                                                                &                                                           & \multicolumn{2}{l|}{Error}                                                                                       & \multicolumn{3}{l|}{Deviation}                                                            \\ \hline
\multicolumn{1}{l|}{\begin{tabular}[c]{@{}l@{}}Distance\\ ($mm$)\end{tabular}} & \multicolumn{1}{l|}{\begin{tabular}[c]{@{}l@{}}Diameter\\ ($mm$)\end{tabular}} & \begin{tabular}[c]{@{}l@{}}Velocity\\ (mm/s)\end{tabular} & \begin{tabular}[c]{@{}l@{}}Avg. \\ Vel. (\%)\end{tabular} & \begin{tabular}[c]{@{}l@{}}Dist.\\ (\%)\end{tabular} & X ($mm$) & Y ($mm$) & \begin{tabular}[c]{@{}l@{}}Euclidean\\ Distance ($mm$)\end{tabular} \\ \hline
\multicolumn{1}{l|}{\multirow{9}{*}{200}}                                      & \multicolumn{1}{l|}{\multirow{3}{*}{2}}                                        & 100                                                       & 23.71                                                     & 25.18                                                & 119.52   & 13.20    & 120.25                                                              \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 500                                                       & 1.03                                                      & 0.02                                                 & 12.88    & 0.02     & 12.88                                                               \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 1000                                                      & 9.82                                                      & 7.82                                                 & 55.89    & 2.13     & 55.93                                                               \\ \cline{2-8} 
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{\multirow{3}{*}{5}}                                        & 100                                                       & 23.71                                                     & 24.32                                                & 120.82   & 3.90     & 120.89                                                              \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 500                                                       & 1.03                                                      & 0.04                                                 & 7.75     & 1.25     & 7.85                                                                \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 1000                                                      & 1.03                                                      & 0.37                                                 & 13.01    & 0.81     & 13.04                                                               \\ \cline{2-8} 
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{\multirow{3}{*}{10}}                                       & 100                                                       & 23.71                                                     & 24.01                                                & 119.93   & 16.38    & 121.04                                                              \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 500                                                       & 1.03                                                      & 0.69                                                 & 9.07     & 19.19    & 21.23                                                               \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 1000                                                      & 1.03                                                      & 1.02                                                 & 13.58    & 19.04    & 23.39                                                              
\end{tabular}
\end{table}

% Please add the following required packages to your document preamble:
% \usepackage{multirow}
\begin{table}[h]
\centering
\caption{Circular movement - Results for cork at distance of 300 $mm$.}
\begin{tabular}{lll|ll|lll|}
                                                                               &                                                                                &                                                           & \multicolumn{5}{l|}{Cork}                                                                                                                                                                                    \\ \cline{4-8} 
                                                                               &                                                                                &                                                           & \multicolumn{2}{l|}{Error}                                                                                       & \multicolumn{3}{l|}{Deviation}                                                            \\ \hline
\multicolumn{1}{l|}{\begin{tabular}[c]{@{}l@{}}Distance\\ ($mm$)\end{tabular}} & \multicolumn{1}{l|}{\begin{tabular}[c]{@{}l@{}}Diameter\\ ($mm$)\end{tabular}} & \begin{tabular}[c]{@{}l@{}}Velocity\\ (mm/s)\end{tabular} & \begin{tabular}[c]{@{}l@{}}Avg. \\ Vel. (\%)\end{tabular} & \begin{tabular}[c]{@{}l@{}}Dist.\\ (\%)\end{tabular} & X ($mm$) & Y ($mm$) & \begin{tabular}[c]{@{}l@{}}Euclidean\\ Distance ($mm$)\end{tabular} \\ \hline
\multicolumn{1}{l|}{\multirow{9}{*}{300}}                                      & \multicolumn{1}{l|}{\multirow{3}{*}{2}}                                        & 100                                                       & 5.21                                                      & 3.04                                                 & 19.92    & 4.00     & 20.32                                                               \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 500                                                       & 24.17                                                     & 20.53                                                & 115.68   & 1.01     & 115.68                                                              \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 1000                                                      & 5.21                                                      & 3.98                                                 & 36.13    & 1.58     & 36.17                                                               \\ \cline{2-8} 
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{\multirow{3}{*}{5}}                                        & 100                                                       & 3.22                                                      & 0.41                                                 & 0.63     & 3.79     & 3.84                                                                \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 500                                                       & 8.39                                                      & 7.31                                                 & 44.78    & 0.06     & 44.78                                                               \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 1000                                                      & 5.21                                                      & 4.17                                                 & 31.75    & 0.60     & 31.76                                                               \\ \cline{2-8} 
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{\multirow{3}{*}{10}}                                       & 100                                                       & 11.07                                                     & 4.20                                                 & 21.11    & 16.61    & 26.87                                                               \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 500                                                       & 10.43                                                     & 8.27                                                 & 34.93    & 19.35    & 39.93                                                               \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 1000                                                      & 5.21                                                      & 4.74                                                 & 31.98    & 18.99    & 37.19                                                              
\end{tabular}
\end{table}

% Please add the following required packages to your document preamble:
% \usepackage{multirow}
\begin{table}[h]
\centering
\caption{Circular movement - Results for stone at distance of 200 $mm$.}
\begin{tabular}{lll|ll|lll|}
                                                                               &                                                                                &                                                           & \multicolumn{5}{l|}{Stone}                                                                                                                                                                                   \\ \cline{4-8} 
                                                                               &                                                                                &                                                           & \multicolumn{2}{l|}{Error}                                                                                       & \multicolumn{3}{l|}{Deviation}                                                            \\ \hline
\multicolumn{1}{l|}{\begin{tabular}[c]{@{}l@{}}Distance\\ ($mm$)\end{tabular}} & \multicolumn{1}{l|}{\begin{tabular}[c]{@{}l@{}}Diameter\\ ($mm$)\end{tabular}} & \begin{tabular}[c]{@{}l@{}}Velocity\\ (mm/s)\end{tabular} & \begin{tabular}[c]{@{}l@{}}Avg. \\ Vel. (\%)\end{tabular} & \begin{tabular}[c]{@{}l@{}}Dist.\\ (\%)\end{tabular} & X ($mm$) & Y ($mm$) & \begin{tabular}[c]{@{}l@{}}Euclidean\\ Distance ($mm$)\end{tabular} \\ \hline
\multicolumn{1}{l|}{\multirow{9}{*}{200}}                                      & \multicolumn{1}{l|}{\multirow{3}{*}{2}}                                        & 100                                                       & 18.58                                                     & 15.88                                                & 69.39    & 19.68    & 72.12                                                               \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 500                                                       & 1.04                                                      & 0.09                                                 & 11.27    & 0.14     & 11.27                                                               \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 1000                                                      & 4.38                                                      & 3.14                                                 & 32.13    & 1.80     & 32.18                                                               \\ \cline{2-8} 
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{\multirow{3}{*}{5}}                                        & 100                                                       & 22.60                                                     & 21.77                                                & 104.14   & 4.94     & 104.26                                                              \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 500                                                       & 1.03                                                      & 0.19                                                 & 7.31     & 1.27     & 7.42                                                                \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 1000                                                      & 1.03                                                      & 0.34                                                 & 12.13    & 0.76     & 12.15                                                               \\ \cline{2-8} 
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{\multirow{3}{*}{10}}                                       & 100                                                       & 23.04                                                     & 22.26                                                & 108.09   & 16.04    & 109.27                                                              \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 500                                                       & 1.03                                                      & 0.81                                                 & 8.52     & 19.23    & 21.03                                                               \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 1000                                                      & 1.03                                                      & 1.04                                                 & 13.32    & 19.06    & 23.26                                                              
\end{tabular}
\end{table}

% Please add the following required packages to your document preamble:
% \usepackage{multirow}
\begin{table}[h]
\centering
\caption{Circular movement - Results for stone at distance of 300 $mm$.}
\begin{tabular}{lll|ll|lll|}
                                                                               &                                                                                &                                                           & \multicolumn{5}{l|}{Stone}                                                                                                                                                                                   \\ \cline{4-8} 
                                                                               &                                                                                &                                                           & \multicolumn{2}{l|}{Error}                                                                                       & \multicolumn{3}{l|}{Deviation}                                                            \\ \hline
\multicolumn{1}{l|}{\begin{tabular}[c]{@{}l@{}}Distance\\ ($mm$)\end{tabular}} & \multicolumn{1}{l|}{\begin{tabular}[c]{@{}l@{}}Diameter\\ ($mm$)\end{tabular}} & \begin{tabular}[c]{@{}l@{}}Velocity\\ (mm/s)\end{tabular} & \begin{tabular}[c]{@{}l@{}}Avg. \\ Vel. (\%)\end{tabular} & \begin{tabular}[c]{@{}l@{}}Dist.\\ (\%)\end{tabular} & X ($mm$) & Y ($mm$) & \begin{tabular}[c]{@{}l@{}}Euclidean\\ Distance ($mm$)\end{tabular} \\ \hline
\multicolumn{1}{l|}{\multirow{9}{*}{200}}                                      & \multicolumn{1}{l|}{\multirow{3}{*}{2}}                                        & 100                                                       & 5.20                                                      & 3.53                                                 & 22.59    & 10.35    & 24.85                                                               \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 500                                                       & 24.17                                                     & 20.70                                                & 115.50   & 1.02     & 115.50                                                              \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 1000                                                      & 5.21                                                      & 4.06                                                 & 36.28    & 1.41     & 36.31                                                               \\ \cline{2-8} 
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{\multirow{3}{*}{5}}                                        & 100                                                       & 4.52                                                      & 3.82                                                 & 19.76    & 3.18     & 20.01                                                               \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 500                                                       & 8.40                                                      & 7.44                                                 & 44.79    & 0.22     & 44.79                                                               \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 1000                                                      & 5.21                                                      & 4.17                                                 & 31.30    & 0.55     & 31.30                                                               \\ \cline{2-8} 
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{\multirow{3}{*}{10}}                                       & 100                                                       & 3.88                                                      & 3.80                                                 & 19.99    & 17.07    & 26.28                                                               \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 500                                                       & 5.90                                                      & 4.25                                                 & 15.72    & 19.22    & 24.83                                                               \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 1000                                                      & 5.21                                                      & 4.86                                                 & 32.27    & 19.01    & 37.45                                                              
\end{tabular}
\end{table}


% Please add the following required packages to your document preamble:
% \usepackage{multirow}
\begin{table}[h]
\centering
\caption{Circular movement - Results for asphalt at distance of 200 $mm$.}
\begin{tabular}{lll|ll|lll|}
                                                                               &                                                                                &                                                           & \multicolumn{5}{l|}{Asphalt}                                                                                                                                                                                \\ \cline{4-8} 
                                                                               &                                                                                &                                                           & \multicolumn{2}{l|}{Error}                                                                                       & \multicolumn{3}{l|}{Deviation}                                                            \\ \hline
\multicolumn{1}{l|}{\begin{tabular}[c]{@{}l@{}}Distance\\ ($mm$)\end{tabular}} & \multicolumn{1}{l|}{\begin{tabular}[c]{@{}l@{}}Diameter\\ ($mm$)\end{tabular}} & \begin{tabular}[c]{@{}l@{}}Velocity\\ (mm/s)\end{tabular} & \begin{tabular}[c]{@{}l@{}}Avg. \\ Vel. (\%)\end{tabular} & \begin{tabular}[c]{@{}l@{}}Dist.\\ (\%)\end{tabular} & X ($mm$) & Y ($mm$) & \begin{tabular}[c]{@{}l@{}}Euclidean\\ Distance ($mm$)\end{tabular} \\ \hline
\multicolumn{1}{l|}{\multirow{9}{*}{200}}                                      & \multicolumn{1}{l|}{\multirow{3}{*}{2}}                                        & 100                                                       & 23.71                                                     & 25.34                                                & 120.38   & 13.24    & 121.10                                                              \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 500                                                       & 1.03                                                      & 0.07                                                 & 12.34    & 0.55     & 12.35                                                               \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 1000                                                      & 11.15                                                     & 8.97                                                 & 60.69    & 1.90     & 60.72                                                               \\ \cline{2-8} 
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{\multirow{3}{*}{5}}                                        & 100                                                       & 23.71                                                     & 26.65                                                & 132.97   & 0.72     & 132.97                                                              \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 500                                                       & 1.03                                                      & 0.13                                                 & 7.36     & 1.19     & 7.45                                                                \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 1000                                                      & 1.03                                                      & 0.49                                                 & 12.84    & 0.74     & 12.86                                                               \\ \cline{2-8} 
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{\multirow{3}{*}{10}}                                       & 100                                                       & 23.71                                                     & 24.12                                                & 120.40   & 16.39    & 121.51                                                              \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 500                                                       & 1.03                                                      & 0.69                                                 & 8.21     & 19.11    & 20.80                                                               \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 1000                                                      & 1.03                                                      & 1.03                                                 & 12.83    & 19.00    & 22.93                                                              
\end{tabular}
\end{table}             

% Please add the following required packages to your document preamble:
% \usepackage{multirow}
\begin{table}[h]
\centering
\caption{Circular movement - Results for asphalt at distance of 300 $mm$.}
\begin{tabular}{lll|ll|lll|}
                                                                               &                                                                                &                                                           & \multicolumn{5}{l|}{Asphalt}                                                                                                                                                                                \\ \cline{4-8} 
                                                                               &                                                                                &                                                           & \multicolumn{2}{l|}{Error}                                                                                       & \multicolumn{3}{l|}{Deviation}                                                            \\ \hline
\multicolumn{1}{l|}{\begin{tabular}[c]{@{}l@{}}Distance\\ ($mm$)\end{tabular}} & \multicolumn{1}{l|}{\begin{tabular}[c]{@{}l@{}}Diameter\\ ($mm$)\end{tabular}} & \begin{tabular}[c]{@{}l@{}}Velocity\\ (mm/s)\end{tabular} & \begin{tabular}[c]{@{}l@{}}Avg. \\ Vel. (\%)\end{tabular} & \begin{tabular}[c]{@{}l@{}}Dist.\\ (\%)\end{tabular} & X ($mm$) & Y ($mm$) & \begin{tabular}[c]{@{}l@{}}Euclidean\\ Distance ($mm$)\end{tabular} \\ \hline
\multicolumn{1}{l|}{\multirow{9}{*}{300}}                                      & \multicolumn{1}{l|}{\multirow{3}{*}{2}}                                        & 100                                                       & 4.74                                                      & 3.09                                                 & 22.92    & 11.12    & 25.48                                                               \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 500                                                       & 24.17                                                     & 20.55                                                & 115.17   & 1.10     & 115.17                                                              \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 1000                                                      & 5.21                                                      & 3.89                                                 & 35.58    & 1.50     & 35.61                                                               \\ \cline{2-8} 
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{\multirow{3}{*}{5}}                                        & 100                                                       & 40.58                                                     & 27.55                                                & 138.34   & 7.98     & 138.57                                                              \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 500                                                       & 6.02                                                      & 5.42                                                 & 19.34    & 0.42     & 19.35                                                               \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 1000                                                      & 5.21                                                      & 4.11                                                 & 31.21    & 0.63     & 31.22                                                               \\ \cline{2-8} 
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{\multirow{3}{*}{10}}                                       & 100                                                       & 64.52                                                     & 51.30                                                & 257.22   & 13.86    & 257.59                                                              \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 500                                                       & 13.24                                                     & 11.38                                                & 51.15    & 18.99    & 54.56                                                               \\
\multicolumn{1}{l|}{}                                                          & \multicolumn{1}{l|}{}                                                          & 1000                                                      & 5.21                                                      & 4.67                                                 & 31.05    & 18.97    & 36.39                                                              
\end{tabular}
\end{table}