diff --git a/init_Industrierobotik.txt b/init_Industrierobotik.txt
index d7de83db3ed3db30f6439294cbd912363c9e7518..8be63e572f700018d9f74898d5f0665223c3a702 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": 6.0, "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": 6.0, "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": 4.0, "y": 4.0, "z":4.0}]}, {"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}}]}
+{"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": 6.0, "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": 6.0, "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": 4.0, "y": 4.0, "z":4.0}]}, {"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}]}, {"id": "robolab_armarea", "space": [{"position": {"refSystemId": "CETI_ROBOTARM_CELL", "point": {"x": 0.0,"y": 0.0,"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}}, {"id": "CETI_ROBOLAB", "position": {"refSystemId": "CETI_ROOT", "point": {"x": 1.0,"y": 1.0,"z": 0.0}, "accuracy": 1.0}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0}}, {"id": "CETI_OFFICE", "position": {"refSystemId": "CETI_ROOT", "point": {"x": 2.0,"y": 2.0,"z": 0.0}, "accuracy": 1.0}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0}}, {"id": "TL_TESTHALL", "position": {"refSystemId": "ROOT", "point": {"x": 40.0,"y": 60.0,"z": 0.0}, "accuracy": 1.0}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0}}, {"id": "CETI_ROBOTARM_CELL", "position": {"refSystemId": "CETI_ROBOLAB", "point": {"x": 2.0,"y": 2.0,"z": 0.0}, "accuracy": 1.0}, "orientation": {"x": 0.0,"y": 0.0,"z": 0.0, "w": 0.0}}]}
 {"objectConfigs": [{"agentId": "Employee_1", "sensorId": "UWB_2", "agentType": "HUMAN", "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} }, {"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"], "monitoringTaskId": "RobolabMonitoringFrontend", "serializationType": "json"}]}
\ No newline at end of file
diff --git a/src/main/java/ipos/project/UseCaseController/Administration.java b/src/main/java/ipos/project/UseCaseController/Administration.java
index d82bdfc928b6e445fe770591cced5ae5298a82f8..ae0dd08a0e2463c247b5c5e697312267a5974553 100644
--- a/src/main/java/ipos/project/UseCaseController/Administration.java
+++ b/src/main/java/ipos/project/UseCaseController/Administration.java
@@ -2,6 +2,7 @@ package ipos.project.UseCaseController;
 
 import ipos.project.DataModellntegration.iPos_Datamodel.*;
 import ipos.project.Functionality.DataServices;
+import ipos.project.Functionality.SRSConversion.SRSConversion;
 import org.apache.logging.log4j.LogManager;
 import org.springframework.stereotype.Component;
 
@@ -36,7 +37,7 @@ public class Administration {
     public static void handleRefSystem(ReferenceSystem refSystem) {
         // muss checken, ob das RefSystem auf das ggf. verwiesen wird - tatsächlich existiert. Falls nicht: Speicherung ablehnen
         LOG.info("handling refSystem-object: " + refSystem.toString());
-        //Administration.transformToRootCoordinates(refSystem);
+        //this would delete the SRS-information of the refSystem-object and transform its origin into ROOT-SRS: Administration.transformToRootCoordinates(refSystem);
         // nur sicherstellen das alle Bezugssysteme wirklich existieren
         DataServices.addRefSystem(refSystem);
     }
@@ -49,24 +50,28 @@ public class Administration {
     }
 
     public static void transformToRootCoordinates(PositionEvent posEvent) {
+        LOG.info("INDFRO-DEBUG: Transforming PositionEvent-object " + posEvent.toString() + "to ROOT-SRS");
         Administration.transformToRootCoordinates(posEvent.getPlacing());
     }
 
     public static void transformToRootCoordinates(Zone zone) {
-         zone.getSpace().stream()
+        zone.getSpace().stream()
                 .map(Administration::transformToRootCoordinates);
     }
 
     public static Space transformToRootCoordinates(Space space) {
+        LOG.info("INDFRO-DEBUG: Transforming space-object " + space.toString() + "to ROOT-SRS");
         Administration.transformToRootCoordinates(space.getCentrePoint());
         return space;
     }
 
     public static void transformToRootCoordinates(ReferenceSystem refSystem) {
+        LOG.info("INDFRO-DEBUG: Transforming refSystem-object " + refSystem.toString() + "to ROOT-SRS");
         Administration.transformToRootCoordinates(refSystem.getOrigin());
     }
 
     public static void transformToRootCoordinates(POI poi) {
+        LOG.info("INDFRO-DEBUG: Transforming poi-object " + poi.toString() + "to ROOT-SRS");
         Administration.transformToRootCoordinates(poi.getPlacing());
     }
 
@@ -80,12 +85,16 @@ public class Administration {
         if (isNotRootPosition(placing.getPosition())) {
             Position positionToBeTransformed = placing.getPosition();
             ReferenceSystem nextTransformationGoal_SRS = positionToBeTransformed.getReferenceSystem().getOrigin().getPosition().getReferenceSystem();
+            LOG.info("INDFRO-DEBUG: (before) ReferenceSystem: " + positionToBeTransformed.getReferenceSystem().getId() + "; Position: " + PositionMonitoring.logPosition(placing));
             SRSConversion.switchSRS(positionToBeTransformed, nextTransformationGoal_SRS); // assumption: not only position is changed but also ReferenceSystem-object is updated
+            LOG.info("INDFRO-DEBUG: (after) ReferenceSystem: " + positionToBeTransformed.getReferenceSystem().getId() + "; Position: " + PositionMonitoring.logPosition(placing));
+            LOG.info("INDFRO-DEBUG:");
             transformToRootCoordinates(placing); // recursion stops when placing.getPosition() has been transformed in a ROOT-position
         }
     }
 
     public static void transformToRootCoordinates(Position position) {
+        LOG.info("INDFRO-DEBUG: Transforming Position-object " + position.toString() + "to ROOT-SRS");
         Orientation dummyOrientation = createDummyOrientation();
         Placing placing = DataServices.createPlacing(position, dummyOrientation);
         transformToRootCoordinates(placing); // placing.getPosition() points to the position-object that was passed to this function. The contents of this object will be changed by this call.
@@ -166,7 +175,9 @@ public class Administration {
 
     private static void transformPlacingSuccessively(Placing placingToBeTransformed, List<ReferenceSystem> transformationTargets) {
         for (ReferenceSystem transTarget : transformationTargets){
+            LOG.info("INDFRO-DEBUG: (before) ReferenceSystem: " + positionToBeTransformed.getReferenceSystem().getId() + "; Position: " + PositionMonitoring.logPosition(placing));
             SRSConversion.switchSRS(placingToBeTransformed, transTarget);
+            LOG.info("INDFRO-DEBUG: (after) ReferenceSystem: " + positionToBeTransformed.getReferenceSystem().getId() + "; Position: " + PositionMonitoring.logPosition(placing));
         }
     }
 }
diff --git a/src/main/java/ipos/project/UseCaseController/PositionMonitoring.java b/src/main/java/ipos/project/UseCaseController/PositionMonitoring.java
index 8591bc94d4bb4192f3caa850872b3759bcc035b2..c88057f6ec59758bfadf604dc1fd7e20dd23c8da 100644
--- a/src/main/java/ipos/project/UseCaseController/PositionMonitoring.java
+++ b/src/main/java/ipos/project/UseCaseController/PositionMonitoring.java
@@ -69,7 +69,7 @@ public class PositionMonitoring {
             LOG.info("OP:");
             LOG.info("OP:");
             LOG.info("OP:----PositionMonitoring--------------------------");
-            LOG.info("OP: position: " + logPosition(positionEvent));
+            LOG.info("OP: position: " + logPosition(positionEvent.getPlacing()));
 
         } catch (ParseException e) {
             e.printStackTrace();
@@ -421,11 +421,11 @@ public class PositionMonitoring {
         String agentId = lObject.getAgent().getId();
         LOG.info("SDF: Received: sensorType: " + sensorType + " timestamp: " + timestamp + " now: " + LocalDateTime.now() + " sensorId: " + sensorId + " agentId: " + agentId);
         LOG.info("INDFRO:");
-        LOG.info("INDFRO: Received: sensorType: " + sensorType + "; position: " + logPosition(posEvent) + "; timestamp: " + timestamp + "; sensorId: " + sensorId + "; agentId: " + agentId);
+        LOG.info("INDFRO: Received: sensorType: " + sensorType + "; position: " + logPosition(posEvent.getPlacing()) + "; timestamp: " + timestamp + "; sensorId: " + sensorId + "; agentId: " + agentId);
     }
 
-    private static String logPosition(PositionEvent posEvent) {
-        Point3D point = (Point3D) posEvent.getPlacing().getPosition().getPoint();
+    public static String logPosition(Placing placing) {
+        Point3D point = (Point3D) placing.getPosition().getPoint();
         return "(x: " + point.getX() + ", y: " + point.getY() + ", z: " + point.getZ() + ")";
     }
 
diff --git a/testdata_raw_indfro.txt b/testdata_raw_indfro.txt
index 10c650b99cdce5501ed2ceb18a0d381f710c4754..f0997c5c975ce9b0d760f49228a213c64cbfff82 100644
--- a/testdata_raw_indfro.txt
+++ b/testdata_raw_indfro.txt
@@ -1,6 +1,7 @@
 {"sensorPositionEvent": [{"sensorId": "UWB_1", "position": {"refSystemId": "ROOT", "point": {"x": 3.0,"y": 1.5,"z": 3.0}, "accuracy": 10.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "lastPosUpdate": "2021-10-14T19:32:20+00:00"}]}
-{"sensorPositionEvent": [{"sensorId": "UWB_1", "position": {"refSystemId": "CETI_ROOT", "point": {"x": 3.0,"y": 4.5,"z": 3.0}, "accuracy": 10.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "lastPosUpdate": "2021-10-14T19:32:21+00:00"}]}
-{"sensorPositionEvent": [{"sensorId": "UWB_1", "position": {"refSystemId": "ROOT", "point": {"x": -3.0,"y": 4.5,"z": 3.0}, "accuracy": 10.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "lastPosUpdate": "2021-10-14T19:32:22+00:00"}]}
-{"sensorPositionEvent": [{"sensorId": "UWB_1", "position": {"refSystemId": "ROOT", "point": {"x": 3.0,"y": 1.5,"z": 3.0}, "accuracy": 10.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "lastPosUpdate": "2021-10-14T19:32:23+00:00"}]}
-{"nfcRawDataEvent" : [ {"timestamp" : "2021-10-14T19:33:24+00:00", "tagId": "83221710", "type": "RFID", "scannerId": "98:CD:AC:26:2D:18"} ] }
+{"sensorPositionEvent": [{"sensorId": "UWB_1", "position": {"refSystemId": "CETI_ROBOTARM_CELL", "point": {"x": 1.0,"y": 0.5,"z": 2.0}, "accuracy": 10.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "lastPosUpdate": "2021-10-14T19:32:21+00:00"}]}
+{"sensorPositionEvent": [{"sensorId": "UWB_1", "position": {"refSystemId": "CETI_ROOT", "point": {"x": 3.0,"y": 4.5,"z": 3.0}, "accuracy": 10.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "lastPosUpdate": "2021-10-14T19:32:22+00:00"}]}
+{"sensorPositionEvent": [{"sensorId": "UWB_1", "position": {"refSystemId": "ROOT", "point": {"x": -3.0,"y": 4.5,"z": 3.0}, "accuracy": 10.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "lastPosUpdate": "2021-10-14T19:32:23+00:00"}]}
+{"sensorPositionEvent": [{"sensorId": "UWB_1", "position": {"refSystemId": "ROOT", "point": {"x": 3.0,"y": 1.5,"z": 3.0}, "accuracy": 10.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "lastPosUpdate": "2021-10-14T19:32:24+00:00"}]}
+{"nfcRawDataEvent" : [ {"timestamp" : "2021-10-14T19:33:25+00:00", "tagId": "83221710", "type": "RFID", "scannerId": "98:CD:AC:26:2D:18"} ] }
 {"sensorPositionEvent": [{"sensorId": "UWB_1", "position": {"refSystemId": "ROOT", "point": {"x": 3.0,"y": 1.5,"z": 3.0}, "accuracy": 10.0}, "orientation": {"x": 1.0,"y": 0.5,"z": 1.0, "w": 1.5}, "lastPosUpdate": "2021-10-14T19:34:25+00:00"}]}
\ No newline at end of file