Final (?) Kinect/arm alignment.
Another rev of the thesis in progress.

* Moved revised e-stop to appendix.
* Reorganized/rewrote validation section to have sections for
  navigation and manipulation validation as well as overall
  validation.
* Moved odometry tests to results section.
* Added most of the navigation trials to results section.

Still to do:
* Add one more trial of navigation from the right side.
* Add 16 trials of manipulation and write about them.
* Widows and orphans and other formatting stuff.