diff --git a/js/models/Airplane.js b/js/models/Airplane.js
index e0a75e0..44d5f07 100644
--- a/js/models/Airplane.js
+++ b/js/models/Airplane.js
@@ -3,12 +3,9 @@ if (typeof Models === 'undefined') var Models = {};
 
 Models.Airplane = function(params)
 {
-    var nVars = Object.keys(this.vars).length;
-    for(var i = 0; i < nVars; i++)
-    {
-        var key = Object.keys(this.vars)[i];
-        this[key] = (typeof params[key] == 'undefined')?this.vars[key]:params[key];
-    }
+    Object.keys(this.vars).forEach(key => {
+      this[key] = (typeof params[key] === 'undefined') ? this.vars[key] : params[key];
+    });
     integrationStep(this, ['x', 'vx', 'y', 'vy', 'pitch', 'pitch_rate', 'elevator_angle', 'throttle', 'brake'], 0.02);
 }
 
diff --git a/js/models/BlockOnSlope.js b/js/models/BlockOnSlope.js
index d63ff50..2192c74 100644
--- a/js/models/BlockOnSlope.js
+++ b/js/models/BlockOnSlope.js
@@ -3,12 +3,9 @@ if (typeof Models === 'undefined') var Models = {};
 
 Models.BlockOnSlope = function(params)
 {
-    var nVars = Object.keys(this.vars).length;
-    for(var i = 0; i < nVars; i++)
-    {
-        var key = Object.keys(this.vars)[i];
-        this[key] = (typeof params[key] == 'undefined')?this.vars[key]:params[key];
-    }
+    Object.keys(this.vars).forEach(key => {
+      this[key] = (typeof params[key] === 'undefined') ? this.vars[key] : params[key];
+    });
 }
 
 Models.BlockOnSlope.prototype.vars = 
diff --git a/js/models/BouncingBallPlatform.js b/js/models/BouncingBallPlatform.js
index 43db32f..3e8b441 100644
--- a/js/models/BouncingBallPlatform.js
+++ b/js/models/BouncingBallPlatform.js
@@ -3,12 +3,9 @@ if (typeof Models === 'undefined') var Models = {};
 
 Models.BouncingBallPlatform = function(params)
 {
-    var nVars = Object.keys(this.vars).length;
-    for(var i = 0; i < nVars; i++)
-    {
-        var key = Object.keys(this.vars)[i];
-        this[key] = (typeof params[key] == 'undefined')?this.vars[key]:params[key];
-    }
+    Object.keys(this.vars).forEach(key => {
+      this[key] = (typeof params[key] === 'undefined') ? this.vars[key] : params[key];
+    });
 }
 
 Models.BouncingBallPlatform.prototype.vars = 
@@ -326,4 +323,4 @@ Models.BouncingBallPlatform.prototype.infoText = function ()
         + "\nhinge.angle   = " + this.hinge_angle.toFixed(2).padStart(6,' ')
         + "\nhinge.speed   = " + this.hinge_angular_speed.toFixed(2).padStart(6,' ')
         + "\nT             = " + this.T.toFixed(2).padStart(6,' ');   
-}
\ No newline at end of file
+}
diff --git a/js/models/CruiseControl.js b/js/models/CruiseControl.js
index 727796e..af96149 100644
--- a/js/models/CruiseControl.js
+++ b/js/models/CruiseControl.js
@@ -3,12 +3,9 @@ if (typeof Models === 'undefined') var Models = {};
 
 Models.CruiseControl = function(params)
 {
-    var nVars = Object.keys(this.vars).length;
-    for(var i = 0; i < nVars; i++)
-    {
-        var key = Object.keys(this.vars)[i];
-        this[key] = (typeof params[key] == 'undefined')?this.vars[key]:params[key];
-    }
+    Object.keys(this.vars).forEach(key => {
+      this[key] = (typeof params[key] === 'undefined') ? this.vars[key] : params[key];
+    });
 }
 
 Models.CruiseControl.prototype.vars = 
diff --git a/js/models/DoublePendulum.js b/js/models/DoublePendulum.js
index 450ab59..1dfb392 100644
--- a/js/models/DoublePendulum.js
+++ b/js/models/DoublePendulum.js
@@ -3,12 +3,9 @@ if (typeof Models === 'undefined') var Models = {};
 
 Models.DoublePendulum = function(params)
 {
-    var nVars = Object.keys(this.vars).length;
-    for(var i = 0; i < nVars; i++)
-    {
-        var key = Object.keys(this.vars)[i];
-        this[key] = (typeof params[key] == 'undefined')?this.vars[key]:params[key];
-    }
+    Object.keys(this.vars).forEach(key => {
+      this[key] = (typeof params[key] === 'undefined') ? this.vars[key] : params[key];
+    });
 }
 
 Models.DoublePendulum.prototype.vars = 
diff --git a/js/models/Multirotor.js b/js/models/Multirotor.js
index 692f691..125119b 100644
--- a/js/models/Multirotor.js
+++ b/js/models/Multirotor.js
@@ -3,12 +3,9 @@ if (typeof Models === 'undefined') var Models = {};
 
 Models.Multirotor = function(params)
 {
-    var nVars = Object.keys(this.vars).length;
-    for(var i = 0; i < nVars; i++)
-    {
-        var key = Object.keys(this.vars)[i];
-        this[key] = (typeof params[key] == 'undefined')?this.vars[key]:params[key];
-    }
+    Object.keys(this.vars).forEach(key => {
+      this[key] = (typeof params[key] === 'undefined') ? this.vars[key] : params[key];
+    });
 }
 
 Models.Multirotor.prototype.vars = 
diff --git a/js/models/RocketLanding.js b/js/models/RocketLanding.js
index ac9ea39..933a2bf 100644
--- a/js/models/RocketLanding.js
+++ b/js/models/RocketLanding.js
@@ -3,12 +3,9 @@ if (typeof Models === 'undefined') var Models = {};
 
 Models.RocketLanding = function(params)
 {
-    var nVars = Object.keys(this.vars).length;
-    for(var i = 0; i < nVars; i++)
-    {
-        var key = Object.keys(this.vars)[i];
-        this[key] = (typeof params[key] == 'undefined')?this.vars[key]:params[key];
-    }
+    Object.keys(this.vars).forEach(key => {
+      this[key] = (typeof params[key] === 'undefined') ? this.vars[key] : params[key];
+    });
 }
 
 Models.RocketLanding.prototype.vars = 
diff --git a/js/models/SinglePendulum.js b/js/models/SinglePendulum.js
index 66bcf7d..83c6366 100644
--- a/js/models/SinglePendulum.js
+++ b/js/models/SinglePendulum.js
@@ -3,12 +3,9 @@ if (typeof Models === 'undefined') var Models = {};
 
 Models.SinglePendulum = function(params)
 {
-    var nVars = Object.keys(this.vars).length;
-    for(var i = 0; i < nVars; i++)
-    {
-        var key = Object.keys(this.vars)[i];
-        this[key] = (typeof params[key] == 'undefined')?this.vars[key]:params[key];
-    }
+    Object.keys(this.vars).forEach(key => {
+      this[key] = (typeof params[key] === 'undefined') ? this.vars[key] : params[key];
+    });
 }
 
 Models.SinglePendulum.prototype.vars = 
diff --git a/js/models/Vehicle.js b/js/models/Vehicle.js
index e6f1fe9..34de98d 100644
--- a/js/models/Vehicle.js
+++ b/js/models/Vehicle.js
@@ -3,12 +3,9 @@ if (typeof Models === 'undefined') var Models = {};
 
 Models.Vehicle = function(params)
 {
-    var nVars = Object.keys(this.vars).length;
-    for(var i = 0; i < nVars; i++)
-    {
-        var key = Object.keys(this.vars)[i];
-        this[key] = (typeof params[key] == 'undefined')?this.vars[key]:params[key];
-    }
+    Object.keys(this.vars).forEach(key => {
+      this[key] = (typeof params[key] === 'undefined') ? this.vars[key] : params[key];
+    });
     this.updateLidarPoints();
 }
 
@@ -38,12 +35,11 @@ Models.Vehicle.prototype.vars =
 
 Models.Vehicle.prototype.updateLidarPoints = function ()
 {
-    this.lidarPoints = [];
-    for (var i = 0; i < this.lidarDirections.length; i++) {
-        var lidarPoint = this.lineSearch(this.x,this.y,this.heading + this.lidarDirections[i]);
-        lidarPoint.direction = this.lidarDirections[i];
-        this.lidarPoints.push(lidarPoint);
-    };
+    this.lidarPoints = this.lidarDirections.map(direction => {
+      const lidarPoint = this.lineSearch(this.x, this.y, this.heading + direction); 
+      lidarPoint.direction = direction;
+      return lidarPoint;
+    });
 }
 
 Models.Vehicle.prototype.simulate = function (dt, controlFunc)
@@ -205,4 +201,4 @@ Models.Vehicle.prototype.infoText = function ()
     str += "\n/* Simulation time */ vehicle.T  = " + round(this.T,2);
 
     return str;
-}
\ No newline at end of file
+}