  The Stellar Planet Survey (STEPS) is an ongoing astrometric search for giant
planets and brown dwarfs around a sample of ~30 M-dwarfs. We have discovered
several low-mass companions by measuring the motion of our target stars
relative to their reference frames. The highest mass discovery thus far is G
78-28B, a companion to the M-dwarf G 78-28A. The orbital period is 4.18 +/-
0.03 y, the system mass is 0.565 +/- 0.055 Msolar, and the semi-major axis is
2.19 +/- 0.10 AU. Imaging observations with the Keck laser guide star adaptive
optics (LGSAO) and the Palomar AO instruments resolved the system and also
yielded JHK-band delta magnitudes. We use the orbital solution, light ratios,
and mass-luminosity relationships to derive component masses of MA = 0.370 +/-
0.034 Msolar and MB = 0.195 +/- 0.021 Msolar. G 78-28B is of type M4 V based
upon its colors and mass. We also discovered GJ 231.1C, a companion to GJ
231.1B, with STEPS and imaged the companion with LGSAO and Palomar AO, but the
orbital period is longer than our observing baseline; thus the system
parameters are less constrained. In GJ 231.1BC the masses are MB = 0.25 +/-
0.06 Msolar and MC =0.12 +/- 0.02 Msolar. The inferred spectral type of GJ
231.1C is M5 V. We demonstrate the results of the current state of mass
estimation techniques with our data.
