diff --git a/emf_datamodel/model/iPos_Datamodel.aird b/emf_datamodel/model/iPos_Datamodel.aird
index 316130742973cb9cec583c8de700e73a2024fb63..674b02f910e4c561caf7cd2f36ec834d52ab2011 100644
--- a/emf_datamodel/model/iPos_Datamodel.aird
+++ b/emf_datamodel/model/iPos_Datamodel.aird
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+        <target xmi:type="ecore:EAttribute" href="iPos_Datamodel.ecore#//IPosDevKit/MonitoringRequest/properties"/>
+        <semanticElements xmi:type="ecore:EAttribute" href="iPos_Datamodel.ecore#//IPosDevKit/MonitoringRequest/properties"/>
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+          <description xmi:type="style:BundledImageDescription" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@containerMappings[name='EC%20EClass']/@subNodeMappings[name='EC%20EAttribute']/@style"/>
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+      <ownedElements xmi:type="diagram:DNodeListElement" uid="_GFC1Qjx3EeyWNq6fFfWVSw" name="monitoringTaskId : String" tooltipText="">
+        <target xmi:type="ecore:EAttribute" href="iPos_Datamodel.ecore#//IPosDevKit/MonitoringRequest/monitoringTaskId"/>
+        <semanticElements xmi:type="ecore:EAttribute" href="iPos_Datamodel.ecore#//IPosDevKit/MonitoringRequest/monitoringTaskId"/>
+        <ownedStyle xmi:type="diagram:BundledImage" uid="_GFC1Qzx3EeyWNq6fFfWVSw" labelAlignment="LEFT">
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+        <actualMapping xmi:type="description_1:NodeMapping" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@containerMappings[name='EC%20EClass']/@subNodeMappings[name='EC%20EAttribute']"/>
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+      <ownedElements xmi:type="diagram:DNodeListElement" uid="_GFC1RDx3EeyWNq6fFfWVSw" name="requestorProtocol : String" tooltipText="">
+        <target xmi:type="ecore:EAttribute" href="iPos_Datamodel.ecore#//IPosDevKit/MonitoringRequest/requestorProtocol"/>
+        <semanticElements xmi:type="ecore:EAttribute" href="iPos_Datamodel.ecore#//IPosDevKit/MonitoringRequest/requestorProtocol"/>
+        <ownedStyle xmi:type="diagram:BundledImage" uid="_GFDcUDx3EeyWNq6fFfWVSw" labelAlignment="LEFT">
+          <description xmi:type="style:BundledImageDescription" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@containerMappings[name='EC%20EClass']/@subNodeMappings[name='EC%20EAttribute']/@style"/>
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+        <actualMapping xmi:type="description_1:NodeMapping" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@containerMappings[name='EC%20EClass']/@subNodeMappings[name='EC%20EAttribute']"/>
+      </ownedElements>
+      <ownedElements xmi:type="diagram:DNodeListElement" uid="_GFDcUTx3EeyWNq6fFfWVSw" name="serializationType : String" tooltipText="">
+        <target xmi:type="ecore:EAttribute" href="iPos_Datamodel.ecore#//IPosDevKit/MonitoringRequest/serializationType"/>
+        <semanticElements xmi:type="ecore:EAttribute" href="iPos_Datamodel.ecore#//IPosDevKit/MonitoringRequest/serializationType"/>
+        <ownedStyle xmi:type="diagram:BundledImage" uid="_GFDcUjx3EeyWNq6fFfWVSw" labelAlignment="LEFT">
+          <description xmi:type="style:BundledImageDescription" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@containerMappings[name='EC%20EClass']/@subNodeMappings[name='EC%20EAttribute']/@style"/>
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+        <actualMapping xmi:type="description_1:NodeMapping" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@containerMappings[name='EC%20EClass']/@subNodeMappings[name='EC%20EAttribute']"/>
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+    <ownedDiagramElements xmi:type="diagram:DNodeList" uid="_GE6SYjx3EeyWNq6fFfWVSw" name="WorldModelUpdateRequest" tooltipText="" width="12" height="10">
+      <target xmi:type="ecore:EClass" href="iPos_Datamodel.ecore#//IPosDevKit/WorldModelUpdateRequest"/>
+      <semanticElements xmi:type="ecore:EClass" href="iPos_Datamodel.ecore#//IPosDevKit/WorldModelUpdateRequest"/>
+      <ownedStyle xmi:type="diagram:FlatContainerStyle" uid="_GE65cDx3EeyWNq6fFfWVSw" borderSize="1" borderSizeComputationExpression="1" backgroundStyle="Liquid" foregroundColor="255,252,216">
+        <description xmi:type="style:FlatContainerStyleDescription" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@containerMappings[name='EC%20EClass']/@style"/>
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+      <actualMapping xmi:type="description_1:ContainerMapping" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@containerMappings[name='EC%20EClass']"/>
+    </ownedDiagramElements>
+    <ownedDiagramElements xmi:type="diagram:DNodeList" uid="_GE65cjx3EeyWNq6fFfWVSw" name="DataStorageRequest" tooltipText="" width="12" height="10">
+      <target xmi:type="ecore:EClass" href="iPos_Datamodel.ecore#//IPosDevKit/DataStorageRequest"/>
+      <semanticElements xmi:type="ecore:EClass" href="iPos_Datamodel.ecore#//IPosDevKit/DataStorageRequest"/>
+      <ownedStyle xmi:type="diagram:FlatContainerStyle" uid="_GE65czx3EeyWNq6fFfWVSw" borderSize="1" borderSizeComputationExpression="1" backgroundStyle="Liquid" foregroundColor="255,252,216">
+        <description xmi:type="style:FlatContainerStyleDescription" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@containerMappings[name='EC%20EClass']/@style"/>
+      </ownedStyle>
+      <actualMapping xmi:type="description_1:ContainerMapping" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@containerMappings[name='EC%20EClass']"/>
+    </ownedDiagramElements>
+    <ownedDiagramElements xmi:type="diagram:DNodeList" uid="_GE7ggDx3EeyWNq6fFfWVSw" name="WorldModelQueryRequest" tooltipText="" width="12" height="10">
+      <target xmi:type="ecore:EClass" href="iPos_Datamodel.ecore#//IPosDevKit/WorldModelQueryRequest"/>
+      <semanticElements xmi:type="ecore:EClass" href="iPos_Datamodel.ecore#//IPosDevKit/WorldModelQueryRequest"/>
+      <ownedStyle xmi:type="diagram:FlatContainerStyle" uid="_GE7ggTx3EeyWNq6fFfWVSw" borderSize="1" borderSizeComputationExpression="1" backgroundStyle="Liquid" foregroundColor="255,252,216">
+        <description xmi:type="style:FlatContainerStyleDescription" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@containerMappings[name='EC%20EClass']/@style"/>
+      </ownedStyle>
+      <actualMapping xmi:type="description_1:ContainerMapping" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@containerMappings[name='EC%20EClass']"/>
+    </ownedDiagramElements>
+    <ownedDiagramElements xmi:type="diagram:DNodeList" uid="_GE8HkDx3EeyWNq6fFfWVSw" name="DataStorageQueryRequest" tooltipText="" width="12" height="10">
+      <target xmi:type="ecore:EClass" href="iPos_Datamodel.ecore#//IPosDevKit/DataStorageQueryRequest"/>
+      <semanticElements xmi:type="ecore:EClass" href="iPos_Datamodel.ecore#//IPosDevKit/DataStorageQueryRequest"/>
+      <ownedStyle xmi:type="diagram:FlatContainerStyle" uid="_GE8HkTx3EeyWNq6fFfWVSw" borderSize="1" borderSizeComputationExpression="1" backgroundStyle="Liquid" foregroundColor="255,252,216">
+        <description xmi:type="style:FlatContainerStyleDescription" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@containerMappings[name='EC%20EClass']/@style"/>
+      </ownedStyle>
+      <actualMapping xmi:type="description_1:ContainerMapping" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@containerMappings[name='EC%20EClass']"/>
+      <ownedElements xmi:type="diagram:DNodeListElement" uid="_GFDcUzx3EeyWNq6fFfWVSw" name="trackingTaskId : String" tooltipText="">
+        <target xmi:type="ecore:EAttribute" href="iPos_Datamodel.ecore#//IPosDevKit/DataStorageQueryRequest/trackingTaskId"/>
+        <semanticElements xmi:type="ecore:EAttribute" href="iPos_Datamodel.ecore#//IPosDevKit/DataStorageQueryRequest/trackingTaskId"/>
+        <ownedStyle xmi:type="diagram:BundledImage" uid="_GFEDYDx3EeyWNq6fFfWVSw" labelAlignment="LEFT">
+          <description xmi:type="style:BundledImageDescription" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@containerMappings[name='EC%20EClass']/@subNodeMappings[name='EC%20EAttribute']/@style"/>
+        </ownedStyle>
+        <actualMapping xmi:type="description_1:NodeMapping" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@containerMappings[name='EC%20EClass']/@subNodeMappings[name='EC%20EAttribute']"/>
+      </ownedElements>
+    </ownedDiagramElements>
+    <ownedDiagramElements xmi:type="diagram:DNodeList" uid="_GE8uoDx3EeyWNq6fFfWVSw" name="AgentRegistrationRequest" tooltipText="" width="12" height="10">
+      <target xmi:type="ecore:EClass" href="iPos_Datamodel.ecore#//IPosDevKit/AgentRegistrationRequest"/>
+      <semanticElements xmi:type="ecore:EClass" href="iPos_Datamodel.ecore#//IPosDevKit/AgentRegistrationRequest"/>
+      <ownedStyle xmi:type="diagram:FlatContainerStyle" uid="_GE8uoTx3EeyWNq6fFfWVSw" borderSize="1" borderSizeComputationExpression="1" backgroundStyle="Liquid" foregroundColor="255,252,216">
+        <description xmi:type="style:FlatContainerStyleDescription" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@containerMappings[name='EC%20EClass']/@style"/>
+      </ownedStyle>
+      <actualMapping xmi:type="description_1:ContainerMapping" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@containerMappings[name='EC%20EClass']"/>
+    </ownedDiagramElements>
+    <ownedDiagramElements xmi:type="diagram:DNodeList" uid="_GE8uozx3EeyWNq6fFfWVSw" name="SensorConfigurationRequest" tooltipText="" width="12" height="10">
+      <target xmi:type="ecore:EClass" href="iPos_Datamodel.ecore#//IPosDevKit/SensorConfigurationRequest"/>
+      <semanticElements xmi:type="ecore:EClass" href="iPos_Datamodel.ecore#//IPosDevKit/SensorConfigurationRequest"/>
+      <ownedStyle xmi:type="diagram:FlatContainerStyle" uid="_GE8upDx3EeyWNq6fFfWVSw" borderSize="1" borderSizeComputationExpression="1" backgroundStyle="Liquid" foregroundColor="255,252,216">
+        <description xmi:type="style:FlatContainerStyleDescription" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@containerMappings[name='EC%20EClass']/@style"/>
+      </ownedStyle>
+      <actualMapping xmi:type="description_1:ContainerMapping" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer/@containerMappings[name='EC%20EClass']"/>
+    </ownedDiagramElements>
+    <description xmi:type="description_1:DiagramDescription" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']"/>
+    <filterVariableHistory xmi:type="diagram:FilterVariableHistory" uid="_FmMWEDx3EeyWNq6fFfWVSw"/>
+    <activatedLayers xmi:type="description_1:Layer" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@defaultLayer"/>
+    <activatedLayers xmi:type="description_1:AdditionalLayer" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@additionalLayers[name='Package']"/>
+    <activatedLayers xmi:type="description_1:AdditionalLayer" href="platform:/plugin/org.eclipse.emf.ecoretools.design/description/ecore.odesign#//@ownedViewpoints[name='Design']/@ownedRepresentations[name='Entities']/@additionalLayers[name='Validation']"/>
+    <target xmi:type="ecore:EPackage" href="iPos_Datamodel.ecore#//IPosDevKit"/>
+  </diagram:DSemanticDiagram>
 </xmi:XMI>
diff --git a/emf_datamodel/model/iPos_Datamodel.ecore b/emf_datamodel/model/iPos_Datamodel.ecore
index c834487019636d3d3b5aaea94463fe7a3550d14b..56b3abdaffad86c7a2c66169c1b2352716ba4051 100644
--- a/emf_datamodel/model/iPos_Datamodel.ecore
+++ b/emf_datamodel/model/iPos_Datamodel.ecore
@@ -113,7 +113,7 @@
     <eStructuralFeatures xsi:type="ecore:EAttribute" name="distances" transient="true">
       <eGenericType eClassifier="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EMap">
         <eTypeArguments eClassifier="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EString"/>
-        <eTypeArguments eClassifier="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EIntegerObject"/>
+        <eTypeArguments eClassifier="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EDoubleObject"/>
       </eGenericType>
     </eStructuralFeatures>
     <eStructuralFeatures xsi:type="ecore:EAttribute" name="type" eType="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EString"/>
diff --git a/init_Industrierobotik.txt b/init_Industrierobotik.txt
index 110c7fc6fd8f9f10590ea11be69b6ccb257c0ba5..bcef7a4364f53f98d5bb2df11a337c2a4de32b20 100644
--- a/init_Industrierobotik.txt
+++ b/init_Industrierobotik.txt
@@ -1,5 +1,5 @@
 {"frames": [{"id": "cobot1_door_zone", "space": [{"position": {"refSystemId": "ROOT", "point": {"x": 2.0,"y": 0.0,"z": 0.0}, "accuracy": 0.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "x": 4.0, "y": 4.0, "z":6.0}]}, {"id": "cobot1_window_zone", "space": [{"position": {"refSystemId": "ROOT", "point": {"x": 2.0,"y": 4.0,"z": 0.0}, "accuracy": 0.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "x": 4.0, "y": 4.0, "z":6.0}]}, {"id": "robolab_east", "space": [{"position": {"refSystemId": "ROOT", "point": {"x": 4.0,"y": 2.0,"z": 0.0}, "accuracy": 0.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "x": 8000000.0, "y": 100000000.0, "z":6000000.0}]}, {"id": "robolab_west", "space": [{"position": {"refSystemId": "ROOT", "point": {"x": -4.0,"y": 2.0,"z": 0.0}, "accuracy": 0.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "x": 8.0, "y": 10.0, "z":6.0}]} ]}
 {"refSystems": [{"id": "ROOT"}, {"id": "CETI_ROOT", "position": {"refSystemId": "ROOT", "point": {"x": 3.05,"y": 2.08,"z": 0.0}, "accuracy": 1.0}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0}}]}
 {"objectConfigs": [{"agentId": "turtlebot", "sensorId": "UWB_2", "agentType": "ROBOT", "sensorType": "UWB"}, {"agentId": "turtlebot", "sensorId": "UWB_1", "agentType": "ROBOT", "sensorType": "UWB"}, {"agentId": "turtlebot", "sensorId": "98:CD:AC:26:2D:18", "agentType": "ROBOT", "sensorType": "RFID_SCANNER"}, {"agentId": "turtlebot", "sensorId": "handy1", "agentType": "ROBOT", "sensorType": "IMU"}]}
-{"pois": [{"id": "UWB_BEACON_1", "description": "Beacon_Position", "data": {"type" : "UWB"}, "position": {"refSystemId": "ROOT", "point": {"x": 3.1,"y": 0.5,"z": 0.0}, "accuracy": 1.0}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0} }, {"id": "UWB_BEACON_2", "description": "Beacon_Position", "data": {"type" : "UWB"}, "position": {"refSystemId": "ROOT", "point": {"x": -0.3,"y": 4.5,"z": 0.0}, "accuracy": 1.0}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0}}, {"id": "83221710", "description": "RFID_TAG", "data": {"type" : "NFC"}, "position": {"refSystemId": "ROOT", "point": {"x": 2.1,"y": 0.4,"z": 0.5}, "accuracy": 0.1}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0} }, {"id": "31762128", "description": "RFID_TAG", "data": {"type" : "NFC"}, "position": {"refSystemId": "ROOT", "point": {"x": 2.2,"y": 3.4,"z": 0.5}, "accuracy": 0.1}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0} }]}
+{"pois": [{"id": "UWB_BEACON_1", "description": "Beacon_Position", "data": {"type" : "UWB"}, "position": {"refSystemId": "ROOT", "point": {"x": 3.1,"y": 0.5,"z": 0.0}, "accuracy": 1.0}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0} }, {"id": "UWB_BEACON_2", "description": "Beacon_Position", "data": {"type" : "UWB"}, "position": {"refSystemId": "ROOT", "point": {"x": -0.3,"y": 4.5,"z": 0.0}, "accuracy": 1.0}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0}}, {"id": "83221710", "description": "RFID_TAG", "data": {"type" : "NFC"}, "position": {"refSystemId": "ROOT", "point": {"x": 2.1,"y": 0.4,"z": 0.5}, "accuracy": 0.1}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0} }, {"id": "31762128", "description": "RFID_TAG", "data": {"type" : "NFC"}, "position": {"refSystemId": "ROOT", "point": {"x": 2.2,"y": 3.4,"z": 0.5}, "accuracy": 0.1}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0} }, {"id": "885", "description": "Beacon_Position", "data": {"type" : "UWB"}, "position": {"refSystemId": "ROOT", "point": {"x": 0,"y": 0,"z": 0.97}, "accuracy": 0.01}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0} }, {"id": "2934", "description": "Beacon_Position", "data": {"type" : "UWB"}, "position": {"refSystemId": "ROOT", "point": {"x": 4.24,"y": 1.33,"z": 1.0}, "accuracy": 0.01}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0} }, {"id": "3383", "description": "Beacon_Position", "data": {"type" : "UWB"}, "position": {"refSystemId": "ROOT", "point": {"x": 1.25,"y": 5.89,"z": 1.06}, "accuracy": 0.01}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0} }, {"id": "1107", "description": "Beacon_Position", "data": {"type" : "UWB"}, "position": {"refSystemId": "ROOT", "point": {"x": 4.24,"y": 5.83,"z": 1.05}, "accuracy": 0.01}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0} }]}
 {"monitoringRequests": [{"frameIds": ["cobot1_door_zone", "cobot1_window_zone"], "monitoringTaskId": "RobolabMonitoringCeti", "serializationType": "protobuf"}, {"frameIds": ["cobot1_door_zone", "cobot1_window_zone", "robolab_east", "robolab_west"], "monitoringTaskId": "RobolabMonitoringFrontend", "serializationType": "json"}]}
\ No newline at end of file
diff --git a/src/main/java/ipos/project/DataModellntegration/iPos_Datamodel/Beacon.java b/src/main/java/ipos/project/DataModellntegration/iPos_Datamodel/Beacon.java
index d5c4f99534b69e05803223ced92a531a75478e82..4522ff76bf5e3c524236b5d014a75b64f6954649 100644
--- a/src/main/java/ipos/project/DataModellntegration/iPos_Datamodel/Beacon.java
+++ b/src/main/java/ipos/project/DataModellntegration/iPos_Datamodel/Beacon.java
@@ -33,7 +33,7 @@ public interface Beacon extends RawdataEvent {
 	 * @model transient="true"
 	 * @generated
 	 */
-	Map<String, Integer> getDistances();
+	Map<String, Double> getDistances();
 
 	/**
 	 * Sets the value of the '{@link ipos.project.DataModellntegration.iPos_Datamodel.Beacon#getDistances <em>Distances</em>}' attribute.
@@ -43,7 +43,7 @@ public interface Beacon extends RawdataEvent {
 	 * @see #getDistances()
 	 * @generated
 	 */
-	void setDistances(Map<String, Integer> value);
+	void setDistances(Map<String, Double> value);
 
 	/**
 	 * Returns the value of the '<em><b>Type</b></em>' attribute.
diff --git a/src/main/java/ipos/project/DataModellntegration/iPos_Datamodel/impl/BeaconImpl.java b/src/main/java/ipos/project/DataModellntegration/iPos_Datamodel/impl/BeaconImpl.java
index 332d1f6c31c5a10ea6c634c5c84d465c66cbc3bd..3835e0e43d4dcce2d1d2c1865b6e75706ddffece 100644
--- a/src/main/java/ipos/project/DataModellntegration/iPos_Datamodel/impl/BeaconImpl.java
+++ b/src/main/java/ipos/project/DataModellntegration/iPos_Datamodel/impl/BeaconImpl.java
@@ -37,7 +37,7 @@ public class BeaconImpl extends RawdataEventImpl implements Beacon {
 	 * @generated
 	 * @ordered
 	 */
-	protected Map<String, Integer> distances;
+	protected Map<String, Double> distances;
 
 	/**
 	 * The default value of the '{@link #getType() <em>Type</em>}' attribute.
@@ -103,7 +103,7 @@ public class BeaconImpl extends RawdataEventImpl implements Beacon {
 	 * <!-- end-user-doc -->
 	 * @generated
 	 */
-	public Map<String, Integer> getDistances() {
+	public Map<String, Double> getDistances() {
 		return distances;
 	}
 
@@ -112,8 +112,8 @@ public class BeaconImpl extends RawdataEventImpl implements Beacon {
 	 * <!-- end-user-doc -->
 	 * @generated
 	 */
-	public void setDistances(Map<String, Integer> newDistances) {
-		Map<String, Integer> oldDistances = distances;
+	public void setDistances(Map<String, Double> newDistances) {
+		Map<String, Double> oldDistances = distances;
 		distances = newDistances;
 		if (eNotificationRequired())
 			eNotify(new ENotificationImpl(this, Notification.SET, IPos_DatamodelPackage.BEACON__DISTANCES, oldDistances,
@@ -191,7 +191,7 @@ public class BeaconImpl extends RawdataEventImpl implements Beacon {
 	public void eSet(int featureID, Object newValue) {
 		switch (featureID) {
 		case IPos_DatamodelPackage.BEACON__DISTANCES:
-			setDistances((Map<String, Integer>) newValue);
+			setDistances((Map<String, Double>) newValue);
 			return;
 		case IPos_DatamodelPackage.BEACON__TYPE:
 			setType((String) newValue);
@@ -212,7 +212,7 @@ public class BeaconImpl extends RawdataEventImpl implements Beacon {
 	public void eUnset(int featureID) {
 		switch (featureID) {
 		case IPos_DatamodelPackage.BEACON__DISTANCES:
-			setDistances((Map<String, Integer>) null);
+			setDistances((Map<String, Double>) null);
 			return;
 		case IPos_DatamodelPackage.BEACON__TYPE:
 			setType(TYPE_EDEFAULT);
diff --git a/src/main/java/ipos/project/DataModellntegration/iPos_Datamodel/impl/IPos_DatamodelPackageImpl.java b/src/main/java/ipos/project/DataModellntegration/iPos_Datamodel/impl/IPos_DatamodelPackageImpl.java
index 935f3769b7ec9c4cc17a6a1ed87f01437cb4ae6f..21a95c9b5d3c993195c3a00efaaab09f451e91c6 100644
--- a/src/main/java/ipos/project/DataModellntegration/iPos_Datamodel/impl/IPos_DatamodelPackageImpl.java
+++ b/src/main/java/ipos/project/DataModellntegration/iPos_Datamodel/impl/IPos_DatamodelPackageImpl.java
@@ -2322,7 +2322,7 @@ public class IPos_DatamodelPackageImpl extends EPackageImpl implements IPos_Data
 		g1 = createEGenericType(ecorePackage.getEMap());
 		g2 = createEGenericType(ecorePackage.getEString());
 		g1.getETypeArguments().add(g2);
-		g2 = createEGenericType(ecorePackage.getEIntegerObject());
+		g2 = createEGenericType(ecorePackage.getEDoubleObject());
 		g1.getETypeArguments().add(g2);
 		initEAttribute(getBeacon_Distances(), g1, "distances", null, 0, 1, Beacon.class, IS_TRANSIENT, !IS_VOLATILE,
 				IS_CHANGEABLE, !IS_UNSETTABLE, !IS_ID, IS_UNIQUE, !IS_DERIVED, IS_ORDERED);
diff --git a/src/main/java/ipos/project/Functionality/Triangulation.java b/src/main/java/ipos/project/Functionality/Triangulation.java
index 88aee3fbda1d561d98e1ee7517fe18f623c5dc99..5c88367056d27b343eac1dea9ba3a28aff6f0fb0 100644
--- a/src/main/java/ipos/project/Functionality/Triangulation.java
+++ b/src/main/java/ipos/project/Functionality/Triangulation.java
@@ -3,6 +3,7 @@ package ipos.project.Functionality;
 import com.lemmingapex.trilateration.NonLinearLeastSquaresSolver;
 import com.lemmingapex.trilateration.TrilaterationFunction;
 import ipos.project.DataModellntegration.iPos_Datamodel.*;
+import ipos.project.UseCaseController.PositionMonitoring;
 import org.apache.commons.math3.fitting.leastsquares.LeastSquaresOptimizer;
 import org.apache.commons.math3.fitting.leastsquares.LevenbergMarquardtOptimizer;
 import org.apache.commons.math3.linear.RealMatrix;
@@ -18,6 +19,7 @@ import java.time.LocalDateTime;
 import java.time.ZoneId;
 import java.time.format.DateTimeFormatter;
 import java.util.Date;
+import java.util.HashMap;
 import java.util.MissingResourceException;
 
 public class Triangulation {
@@ -29,13 +31,13 @@ public class Triangulation {
         
         double[][] positions = new double[][]{{0, 0}, {0, 0}, {0, 0}, {0, 0}};
         double[] distances = new double[]{0,0,0,0};
-        EMap uwbData = (EMap) uwbRawDataEvent.getDistances();
+        HashMap uwbData = (HashMap) uwbRawDataEvent.getDistances();
         int index = 0;
         for (Object key : uwbData.keySet()) {
             Point3D beaconPoint3D = modelFactory.createPoint3D();
-            beaconPoint3D = (Point3D) DataServices.getPoiByIdOrNull((String) key).getPlacing().getPosition();
+            beaconPoint3D = (Point3D) DataServices.getPoiByIdOrNull((String) key).getPlacing().getPosition().getPoint();
             positions[index] = new double[]{beaconPoint3D.getX(), beaconPoint3D.getY()};
-            distances[index] = Math.sqrt(Math.pow((Double) uwbData.get(key), 2) + Math.pow((beaconPoint3D.getZ() - 0.1), 2));
+            distances[index] = Math.sqrt(Math.pow((Double) uwbData.get(key), 2) + Math.pow((beaconPoint3D.getZ() - PositionMonitoring.TRIANGULATION_HEIGHT), 2));
             index ++;
         }
 
@@ -57,10 +59,13 @@ public class Triangulation {
 
         tagPoint3D.setX((float) centroid[0]);
         tagPoint3D.setY((float) centroid[1]);
-        tagPoint3D.setZ((float) 0.1);
+        tagPoint3D.setZ((float) PositionMonitoring.TRIANGULATION_HEIGHT);
         tagGaussian.setConfidenceInterval((float) standardDeviation.getLInfNorm());
         tagPosition.setPoint(tagPoint3D);
+        tagPosition.setAccuracy(tagGaussian);
+        tagPosition.setReferenceSystem(DataServices.getReferenceSystemByIdOrNull("ROOT"));
         tagPlacing.setPosition(tagPosition);
+        tagPlacing.setOrientation(modelFactory.createQuaternion());
         return createPosEvent(uwbRawDataEvent.getSensorId(), uwbRawDataEvent.getTimeStamp(), tagPlacing);
 
     }
diff --git a/src/main/java/ipos/project/SensorValueIntegration/Service/GenericSensorTransformer.java b/src/main/java/ipos/project/SensorValueIntegration/Service/GenericSensorTransformer.java
index e6481e3adec0da613d7d54524856a47a9d722a8a..19191a40690dc9dfed8107d6eecd814497a66f04 100644
--- a/src/main/java/ipos/project/SensorValueIntegration/Service/GenericSensorTransformer.java
+++ b/src/main/java/ipos/project/SensorValueIntegration/Service/GenericSensorTransformer.java
@@ -4,6 +4,7 @@ import com.google.protobuf.ProtocolStringList;
 import ipos.models.GenericSensor;
 import ipos.models.SimpleScene;
 import ipos.project.DataModellntegration.iPos_Datamodel.*;
+import org.apache.logging.log4j.LogManager;
 import org.eclipse.emf.ecore.EObject;
 
 import java.time.LocalDateTime;
@@ -15,6 +16,7 @@ import java.util.Map;
 public class GenericSensorTransformer {
 
     private static IPos_DatamodelFactory modelFactory = IPos_DatamodelFactory.eINSTANCE;
+    private static org.apache.logging.log4j.Logger LOG = LogManager.getLogger();
 
    private static List<String> toJavaStringList(ProtocolStringList protoList){
         List<String> javaList = new ArrayList<String>();
@@ -136,6 +138,26 @@ public class GenericSensorTransformer {
        internal_imuRawDataEvent.setAngularrate(orientation);
        return internal_imuRawDataEvent;
     }
+
+    public static UWB uwb_GSensor2Internal(GenericSensor.UWBRawDataEvent proto_uwbRawDataEvent) {
+        UWB internal_uwbRawDataEvent = modelFactory.createUWB();
+        internal_uwbRawDataEvent.setTimeStamp(proto_uwbRawDataEvent.getTimestamp());
+        internal_uwbRawDataEvent.setDistances(convertToStringToDoubleMap(proto_uwbRawDataEvent.getDistancesMap()));
+        internal_uwbRawDataEvent.setType(proto_uwbRawDataEvent.getType());
+        internal_uwbRawDataEvent.setSensorId(proto_uwbRawDataEvent.getSensorId());
+        return internal_uwbRawDataEvent;
+    }
+
+    private static Map<String, Double> convertToStringToDoubleMap(Map<String, String> distancesMap) throws NumberFormatException {
+        Map<String,Double> outputMap =new HashMap<String,Double>();
+        for (Map.Entry<String, String> entry : distancesMap.entrySet()) {
+            if(entry.getValue() != null){
+                outputMap.put(entry.getKey(), Double.parseDouble(entry.getValue()));
+            }
+        }
+        return outputMap;
+
+   }
 }
 
 
diff --git a/src/main/java/ipos/project/SensorValueIntegration/api/MqttPositionHandler.java b/src/main/java/ipos/project/SensorValueIntegration/api/MqttPositionHandler.java
index 6dc364872cf871fe02aeb91c77ced4e966fa475d..4db8cc7c239b2ed1d880b1850508f7dd081b8705 100644
--- a/src/main/java/ipos/project/SensorValueIntegration/api/MqttPositionHandler.java
+++ b/src/main/java/ipos/project/SensorValueIntegration/api/MqttPositionHandler.java
@@ -10,6 +10,7 @@ import ipos.project.DataModellntegration.SimpleSceneIntegration.service.impl.Ext
 import ipos.project.DataModellntegration.iPos_Datamodel.IMU;
 import ipos.project.DataModellntegration.iPos_Datamodel.NFC;
 import ipos.project.DataModellntegration.iPos_Datamodel.PositionEvent;
+import ipos.project.DataModellntegration.iPos_Datamodel.UWB;
 import ipos.project.SensorValueIntegration.Service.GenericSensorTransformer;
 import ipos.project.UseCaseController.PositionMonitoring;
 import ipos.project.config.mqtt.Handler;
@@ -65,9 +66,24 @@ public class MqttPositionHandler implements Handler {
         processPositionEvents(iposSensorEventWrapper.getSensorPositionEventList());
         processNFCRawdataEvents(iposSensorEventWrapper.getNfcRawDataEventList());
         processIMURawdataEvents(iposSensorEventWrapper.getImuRawDataEventList());
+        processUWBRawdataEvents(iposSensorEventWrapper.getUwbRawDataEventList());
         // this.jmsTemplate.convertAndSend("/request123", monReqInternal); // submit request to the internal broker
     }
 
+    private static void processUWBRawdataEvents(List<GenericSensor.UWBRawDataEvent> uwbRawDataEventList) {
+        for (GenericSensor.UWBRawDataEvent proto_uwbRawDataEvent : uwbRawDataEventList){
+            UWB internal_uwbRawDataEvent;
+            try {
+                internal_uwbRawDataEvent = GenericSensorTransformer.uwb_GSensor2Internal(proto_uwbRawDataEvent);
+            }catch (NumberFormatException e){
+                LOG.info("Warning: Received UWB-rawdata that contained ill-formatted distance information");
+                continue;
+            }
+            PositionMonitoring.receiveMessage(internal_uwbRawDataEvent);
+        }
+
+    }
+
     private static void processIMURawdataEvents(List<GenericSensor.IMURawDataEvent> imuRawDataEventList) {
         for (GenericSensor.IMURawDataEvent proto_imuRawDataEvent : imuRawDataEventList){
             IMU internal_imuRawDataEvent = GenericSensorTransformer.imu_GSensor2Internal(proto_imuRawDataEvent);
diff --git a/src/main/java/ipos/project/UseCaseController/PositionMonitoring.java b/src/main/java/ipos/project/UseCaseController/PositionMonitoring.java
index 07b19bf5d7d2b5078e4ee621038c6c08e41df614..ea281d130231c0167fa71e0daea7190cdde6c449 100644
--- a/src/main/java/ipos/project/UseCaseController/PositionMonitoring.java
+++ b/src/main/java/ipos/project/UseCaseController/PositionMonitoring.java
@@ -2,10 +2,7 @@ package ipos.project.UseCaseController;
 
 import ipos.project.DataModellntegration.SimpleSceneIntegration.SimpleSceneIntegration;
 import ipos.project.DataModellntegration.iPos_Datamodel.*;
-import ipos.project.Functionality.DataServices;
-import ipos.project.Functionality.Odometry;
-import ipos.project.Functionality.PositionCalculation;
-import ipos.project.Functionality.SensorDataFusion;
+import ipos.project.Functionality.*;
 import ipos.project.Functionality.eventfilter.FilteringResult;
 import ipos.project.Functionality.eventfilter.eventFilter;
 import ipos.project.Functionality.eventfilter.readConfig;
@@ -21,6 +18,7 @@ import java.util.stream.Collectors;
 
 @Component
 public class PositionMonitoring {
+    public static final double TRIANGULATION_HEIGHT = 0.82;
     private static org.apache.logging.log4j.Logger LOG = LogManager.getLogger();
 
     private static List<eventFilter> eventFilters = new ArrayList<eventFilter>();
@@ -58,6 +56,19 @@ public class PositionMonitoring {
         }
     }
 
+    public static void receiveMessage (UWB uwbRawDataEvent){
+        PositionEvent positionEvent = null;
+        try {
+            positionEvent = Triangulation.update(uwbRawDataEvent);
+        } catch (ParseException e) {
+            e.printStackTrace();
+        }
+        if (positionEvent != null) {
+            updateLocalizableObject(positionEvent);
+            receiveMessage(positionEvent);
+        }
+    }
+
     static int imuCount = 0;
 
     public static void receiveMessage(IMU imuRawdataEvent){
diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml
index 7382dbc7eeab8154aee788e31c68ae9c76702cbc..cc75fe88d2afba2fc940c4ebcc1ac1edcacf051d 100644
--- a/src/main/resources/application.yml
+++ b/src/main/resources/application.yml
@@ -13,8 +13,8 @@ mqtt:
   connectionTimeout: 20
   clientId: ipos.project.fw
   # hostname: 192.168.0.111 # ceti-laptop robolab
-  # hostname: broker.hivemq.com # online
-  hostname: 192.168.0.143 # Frank-laptop robolab
+  hostname: broker.hivemq.com # online
+  # hostname: 192.168.0.143 # Frank-laptop robolab
   # hostname: localhost
   port: 1883
 
diff --git a/testdata_raw_uwb.txt b/testdata_raw_uwb.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391