diff --git a/images/Orientation_eval.png b/images/Orientation_eval.png
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diff --git a/images/Safezone_eval.png b/images/Safezone_eval.png
new file mode 100644
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diff --git a/images/velocity_eval.png b/images/velocity_eval.png
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diff --git a/sections/eval.tex b/sections/eval.tex
index aa8090290e8db710f54642548446651a6b04f3a6..966a6096c57ea6f11221d1a018a3a6e640330e60 100644
--- a/sections/eval.tex
+++ b/sections/eval.tex
@@ -99,6 +99,13 @@ Um die Einhaltung der Constraints zu validieren, wurde die Beschleunigung, die G
 	\label{fig:orientation_eval}
 \end{figure}
 
+\begin{figure}
+	\centering
+	\includegraphics[height=\textheight, width=\textwidth, keepaspectratio]{images/Safezone_eval.png} 
+	\caption{Entfernungen aller Glieder zur Sicherheitszone}
+	\label{fig:safezone_eval}
+\end{figure}
+
 
 \section{Constraints}
 In diesem Abschnitt werden alle verwendeten Constraints aufgelistet und in die Taxonomie eingeordnet.