Merge pull request #6 from zoid/devel

Merge devel to master
Merge pull request #8 from zoid/devel

Merge to master
Merge pull request #10 from zoid/devel

Merge devel to master
Merge pull request #13 from zoid/devel

Merge devel to master
Merge pull request #14 from zoid/devel

Merge devel to master
Merge branch 'devel'
Merge branch 'devel'