diff --git a/org.eclipse.papyrus.robotml.diagram.common/css/style.css b/org.eclipse.papyrus.robotml.diagram.common/css/style.css
index cfbad13..7405cc3 100644
--- a/org.eclipse.papyrus.robotml.diagram.common/css/style.css
+++ b/org.eclipse.papyrus.robotml.diagram.common/css/style.css
@@ -8,6 +8,8 @@
 Connector > Label {
     visible: false;
 }
-Property, Port, Connector {
-	canonical:true;
+Connector {
+	routing: Rectilinear;
+	roundedBendpointsRadius : 12;
+	smoothness : none;
 }
diff --git a/org.eclipse.papyrus.robotml.templaterepository/resource/AirOARP.uml b/org.eclipse.papyrus.robotml.templaterepository/resource/AirOARP.uml
index d0c7d92..40270a7 100644
--- a/org.eclipse.papyrus.robotml.templaterepository/resource/AirOARP.uml
+++ b/org.eclipse.papyrus.robotml.templaterepository/resource/AirOARP.uml
@@ -1,640 +1,633 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<xmi:XMI xmi:version="20110701" xmlns:xmi="http://www.omg.org/spec/XMI/20110701" xmlns:RobotML="http://Papyrus/RobotML/1" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:uml="http://www.eclipse.org/uml2/4.0.0/UML">
-  <uml:Model xmi:id="_GqCd8HUwEeKtkpd6W4BP5g" name="Talc">
-    <ownedComment xmi:id="_GqCd8XUwEeKtkpd6W4BP5g">
-      <body> RmaxSoftwareArchiteccture a implementer sous Orocos</body>
-    </ownedComment>
-    <ownedComment xmi:id="_GqCd8nUwEeKtkpd6W4BP5g">
-      <body>Les connecteurs d'AvionicConnection et de CameraConnection a implementer sous Ros</body>
-    </ownedComment>
-    <ownedComment xmi:id="_GqCd83UwEeKtkpd6W4BP5g">
-      <body>RMaxHardwareArchitecture et BigComponents a implementer sous Morse avec RMax.translate(x=5.0, y=0.0, z=9.0)</body>
-    </ownedComment>
-    <ownedComment xmi:id="_GqCd9HUwEeKtkpd6W4BP5g" annotatedElement="_GqCeAnUwEeKtkpd6W4BP5g">
-      <body>'video_camera'
-.properties(capturing = True)
-.properties(cam_width = 512)
-.properties(cam_height = 512)
-.properties(cam_focal = 35.0000)</body>
-    </ownedComment>
-    <ownedComment xmi:id="_GqCd9XUwEeKtkpd6W4BP5g" annotatedElement="_GqCeDXUwEeKtkpd6W4BP5g">
-      <body>'land-1/trees'
-.aim_camera([1.0470, 0, 0.7854])</body>
-    </ownedComment>
-    <ownedComment xmi:id="_GqCd9nUwEeKtkpd6W4BP5g" annotatedElement="_GqCeDnUwEeKtkpd6W4BP5g">
-      <body>'rmax'
-.translate(x=5.0, y=0.0, z=9.0)</body>
-    </ownedComment>
-    <ownedComment xmi:id="_GqCd93UwEeKtkpd6W4BP5g" annotatedElement="_GqCeC3UwEeKtkpd6W4BP5g">
-      <body>'destination'</body>
-    </ownedComment>
-    <ownedComment xmi:id="_GqCd-HUwEeKtkpd6W4BP5g" annotatedElement="_GqCeBnUwEeKtkpd6W4BP5g">
-      <body>'gyroscope'</body>
-    </ownedComment>
-    <ownedComment xmi:id="_GqCd-XUwEeKtkpd6W4BP5g" annotatedElement="_GqCeCHUwEeKtkpd6W4BP5g">
-      <body>'gps'</body>
-    </ownedComment>
-    <packageImport xmi:id="_GqCd-nUwEeKtkpd6W4BP5g">
-      <importedPackage href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_wyS6gAH-EeC_ZLzLQhW-TQ"/>
-    </packageImport>
-    <packageImport xmi:id="_GqCd-3UwEeKtkpd6W4BP5g">
-      <importedPackage href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#__xA6YAHvEeCQQOKrhO_fIQ"/>
-    </packageImport>
-    <packageImport xmi:id="_GqCd_HUwEeKtkpd6W4BP5g">
-      <importedPackage href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Df4_4AHwEeCQQOKrhO_fIQ"/>
-    </packageImport>
-    <packageImport xmi:id="_GqCd_XUwEeKtkpd6W4BP5g">
-      <importedPackage href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Go5_QAHwEeCQQOKrhO_fIQ"/>
-    </packageImport>
-    <packageImport xmi:id="_GqCd_nUwEeKtkpd6W4BP5g">
-      <importedPackage href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_JSoakAHwEeCQQOKrhO_fIQ"/>
-    </packageImport>
-    <packageImport xmi:id="_GqCd_3UwEeKtkpd6W4BP5g">
-      <importedPackage href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MlyNYAHwEeCQQOKrhO_fIQ"/>
-    </packageImport>
-    <packageImport xmi:id="_GqCeAHUwEeKtkpd6W4BP5g">
-      <importedPackage href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_QJC2AKxYEeCJD46GtDsABA"/>
-    </packageImport>
-    <packageImport xmi:id="_ab_ckHdAEeKZYq0TRURVaw">
-      <importedPackage xmi:type="uml:Model" href="pathmap://Papyrus_Alf_LIBRARIES/alflibrary.uml#_0bBI4Hy5EeCKy5kSqd4eVw"/>
-    </packageImport>
-    <packagedElement xmi:type="uml:Class" xmi:id="_GqCeAXUwEeKtkpd6W4BP5g" name="Orocos"/>
-    <packagedElement xmi:type="uml:Class" xmi:id="_GqCeAnUwEeKtkpd6W4BP5g" name="CameraMain_002">
-      <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeA3UwEeKtkpd6W4BP5g" name="Image" aggregation="composite">
-        <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
-      </ownedAttribute>
-      <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeBHUwEeKtkpd6W4BP5g" name="Info" aggregation="composite">
-        <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_5d_eEAKoEeCQReIOIWJ0nA"/>
-      </ownedAttribute>
-    </packagedElement>
-    <packagedElement xmi:type="uml:Class" xmi:id="_GqCeBXUwEeKtkpd6W4BP5g" name="Morse"/>
-    <packagedElement xmi:type="uml:Class" xmi:id="_GqCeBnUwEeKtkpd6W4BP5g" name="Gyroscope_001">
-      <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeB3UwEeKtkpd6W4BP5g" name="Angles" aggregation="composite">
-        <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
-      </ownedAttribute>
-    </packagedElement>
-    <packagedElement xmi:type="uml:Class" xmi:id="_GqCeCHUwEeKtkpd6W4BP5g" name="GPS_001">
-      <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeCXUwEeKtkpd6W4BP5g" name="Position" aggregation="composite">
-        <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
-      </ownedAttribute>
-    </packagedElement>
-    <packagedElement xmi:type="uml:Class" xmi:id="_GqCeCnUwEeKtkpd6W4BP5g" name="ros"/>
-    <packagedElement xmi:type="uml:Class" xmi:id="_GqCeC3UwEeKtkpd6W4BP5g" name="Motion_Controller">
-      <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeDHUwEeKtkpd6W4BP5g" name="TargetPosition" aggregation="composite">
-        <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_1_-5oAH5EeC_ZLzLQhW-TQ"/>
-      </ownedAttribute>
-    </packagedElement>
-    <packagedElement xmi:type="uml:Class" xmi:id="_GqCeDXUwEeKtkpd6W4BP5g" name="env"/>
-    <packagedElement xmi:type="uml:Class" xmi:id="_GqCeDnUwEeKtkpd6W4BP5g" name="RMax"/>
-    <packagedElement xmi:type="uml:Class" xmi:id="_GqCeHHUwEeKtkpd6W4BP5g" name="RMaxControlSystem">
-      <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeHXUwEeKtkpd6W4BP5g" name="state" type="_GqCeonUwEeKtkpd6W4BP5g" aggregation="composite"/>
-      <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeHnUwEeKtkpd6W4BP5g" name="image" type="_GqDFC3UwEeKtkpd6W4BP5g" aggregation="composite"/>
-      <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeH3UwEeKtkpd6W4BP5g" name="RmaxControlReq" type="_GqDFGnUwEeKtkpd6W4BP5g" aggregation="composite"/>
-      <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeIHUwEeKtkpd6W4BP5g" name="CameraControlReq" type="_GqDFXXUwEeKtkpd6W4BP5g" aggregation="composite"/>
-    </packagedElement>
-    <packagedElement xmi:type="uml:Class" xmi:id="_GqCeLXUwEeKtkpd6W4BP5g" name="AvionicSystem">
-      <ownedAttribute xmi:id="_GqCeLnUwEeKtkpd6W4BP5g" name="m_gyro" type="_GqCeBnUwEeKtkpd6W4BP5g"/>
-      <ownedAttribute xmi:id="_GqCeL3UwEeKtkpd6W4BP5g" name="m_obc" type="_GqCeD3UwEeKtkpd6W4BP5g"/>
-      <ownedAttribute xmi:id="_GqCeMHUwEeKtkpd6W4BP5g" name="m_gps" type="_GqCeCHUwEeKtkpd6W4BP5g"/>
-      <ownedAttribute xmi:id="_GqCeMXUwEeKtkpd6W4BP5g" name="m_motion" type="_GqCeC3UwEeKtkpd6W4BP5g"/>
-      <ownedConnector xmi:id="_GqCeMnUwEeKtkpd6W4BP5g" name="Connector1">
-        <end xmi:id="_GqCeM3UwEeKtkpd6W4BP5g" partWithPort="_GqCeLnUwEeKtkpd6W4BP5g" role="_GqCeB3UwEeKtkpd6W4BP5g">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCeNHUwEeKtkpd6W4BP5g" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCeNXUwEeKtkpd6W4BP5g" value="1"/>
-        </end>
-        <end xmi:id="_GqCeNnUwEeKtkpd6W4BP5g" partWithPort="_GqCeL3UwEeKtkpd6W4BP5g" role="_GqCeEXUwEeKtkpd6W4BP5g">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCeN3UwEeKtkpd6W4BP5g" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCeOHUwEeKtkpd6W4BP5g" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:id="_GqCeOXUwEeKtkpd6W4BP5g" name="Connector2">
-        <end xmi:id="_GqCeOnUwEeKtkpd6W4BP5g" partWithPort="_GqCeMHUwEeKtkpd6W4BP5g" role="_GqCeCXUwEeKtkpd6W4BP5g">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCeO3UwEeKtkpd6W4BP5g" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCePHUwEeKtkpd6W4BP5g" value="1"/>
-        </end>
-        <end xmi:id="_GqCePXUwEeKtkpd6W4BP5g" partWithPort="_GqCeL3UwEeKtkpd6W4BP5g" role="_GqCeEHUwEeKtkpd6W4BP5g">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCePnUwEeKtkpd6W4BP5g" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCeP3UwEeKtkpd6W4BP5g" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:id="_GqCeQHUwEeKtkpd6W4BP5g" name="Connector3">
-        <end xmi:id="_GqCeQXUwEeKtkpd6W4BP5g" partWithPort="_GqCeL3UwEeKtkpd6W4BP5g" role="_GqCeEnUwEeKtkpd6W4BP5g">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCeQnUwEeKtkpd6W4BP5g" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCeQ3UwEeKtkpd6W4BP5g" value="1"/>
-        </end>
-        <end xmi:id="_GqCeRHUwEeKtkpd6W4BP5g" partWithPort="_GqCeMXUwEeKtkpd6W4BP5g" role="_GqCeDHUwEeKtkpd6W4BP5g">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCeRXUwEeKtkpd6W4BP5g" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCeRnUwEeKtkpd6W4BP5g" value="1"/>
-        </end>
-      </ownedConnector>
-    </packagedElement>
-    <packagedElement xmi:type="uml:Class" xmi:id="_GqCeR3UwEeKtkpd6W4BP5g" name="CameraSystem">
-      <ownedAttribute xmi:id="_GqCeSHUwEeKtkpd6W4BP5g" name="m_camera" type="_GqCeAnUwEeKtkpd6W4BP5g"/>
-      <ownedAttribute xmi:id="_GqCeSXUwEeKtkpd6W4BP5g" name="m_talc_cam_driv" type="_GqCeFnUwEeKtkpd6W4BP5g"/>
-      <ownedConnector xmi:id="_GqCeSnUwEeKtkpd6W4BP5g" name="Connector1">
-        <end xmi:id="_GqCeS3UwEeKtkpd6W4BP5g" partWithPort="_GqCeSHUwEeKtkpd6W4BP5g" role="_GqCeA3UwEeKtkpd6W4BP5g">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCeTHUwEeKtkpd6W4BP5g" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCeTXUwEeKtkpd6W4BP5g" value="1"/>
-        </end>
-        <end xmi:id="_GqCeTnUwEeKtkpd6W4BP5g" partWithPort="_GqCeSXUwEeKtkpd6W4BP5g" role="_GqCeF3UwEeKtkpd6W4BP5g">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCeT3UwEeKtkpd6W4BP5g" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCeUHUwEeKtkpd6W4BP5g" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:id="_GqCeUXUwEeKtkpd6W4BP5g" name="Connector2">
-        <end xmi:id="_GqCeUnUwEeKtkpd6W4BP5g" partWithPort="_GqCeSHUwEeKtkpd6W4BP5g" role="_GqCeBHUwEeKtkpd6W4BP5g">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCeU3UwEeKtkpd6W4BP5g" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCeVHUwEeKtkpd6W4BP5g" value="1"/>
-        </end>
-        <end xmi:id="_GqCeVXUwEeKtkpd6W4BP5g" partWithPort="_GqCeSXUwEeKtkpd6W4BP5g" role="_GqCeGHUwEeKtkpd6W4BP5g">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCeVnUwEeKtkpd6W4BP5g" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCeV3UwEeKtkpd6W4BP5g" value="1"/>
-        </end>
-      </ownedConnector>
-    </packagedElement>
-    <packagedElement xmi:type="uml:Class" xmi:id="_GqCeWHUwEeKtkpd6W4BP5g" name="RmaxHardwareArchitecture">
-      <ownedComment xmi:id="_GqCeWXUwEeKtkpd6W4BP5g">
-        <body></body>
-      </ownedComment>
-      <ownedComment xmi:id="_GqCeWnUwEeKtkpd6W4BP5g">
-        <body></body>
-      </ownedComment>
-      <ownedComment xmi:id="_GqCeW3UwEeKtkpd6W4BP5g">
-        <body></body>
-      </ownedComment>
-      <ownedRule xmi:id="_GqCeXHUwEeKtkpd6W4BP5g" name="Constraint1">
-        <specification xmi:type="uml:LiteralString" xmi:id="_GqCeXXUwEeKtkpd6W4BP5g"/>
-      </ownedRule>
-      <ownedAttribute xmi:id="_GqCeXnUwEeKtkpd6W4BP5g" name="m_uav" type="_GqCeDnUwEeKtkpd6W4BP5g"/>
-      <ownedAttribute xmi:id="_GqCeX3UwEeKtkpd6W4BP5g" name="Property2" type="_GqCeD3UwEeKtkpd6W4BP5g"/>
-      <ownedAttribute xmi:id="_GqCeYHUwEeKtkpd6W4BP5g" name="m_cam" type="_GqCeAnUwEeKtkpd6W4BP5g"/>
-      <ownedAttribute xmi:id="_GqCeYXUwEeKtkpd6W4BP5g" name="m_gyro" type="_GqCeBnUwEeKtkpd6W4BP5g"/>
-      <ownedAttribute xmi:id="_GqCeYnUwEeKtkpd6W4BP5g" name="m_gps" type="_GqCeCHUwEeKtkpd6W4BP5g"/>
-      <ownedAttribute xmi:id="_GqCeY3UwEeKtkpd6W4BP5g" name="m_motion" type="_GqCeC3UwEeKtkpd6W4BP5g"/>
-      <ownedConnector xmi:id="_GqCeZHUwEeKtkpd6W4BP5g" name="translate(x=1.4000).rotate(x=-1.5708).append" isStatic="true">
-        <end xmi:id="_GqCeZXUwEeKtkpd6W4BP5g" role="_GqCeYHUwEeKtkpd6W4BP5g">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCeZnUwEeKtkpd6W4BP5g" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCeZ3UwEeKtkpd6W4BP5g" value="1"/>
-        </end>
-        <end xmi:id="_GqCeaHUwEeKtkpd6W4BP5g" role="_GqCeXnUwEeKtkpd6W4BP5g">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCeaXUwEeKtkpd6W4BP5g" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCeanUwEeKtkpd6W4BP5g" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:id="_GqCea3UwEeKtkpd6W4BP5g" name="translate(x=0.8000, z=1.1000).append">
-        <end xmi:id="_GqCebHUwEeKtkpd6W4BP5g" role="_GqCeYXUwEeKtkpd6W4BP5g">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCebXUwEeKtkpd6W4BP5g" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCebnUwEeKtkpd6W4BP5g" value="1"/>
-        </end>
-        <end xmi:id="_GqCeb3UwEeKtkpd6W4BP5g" role="_GqCeXnUwEeKtkpd6W4BP5g">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCecHUwEeKtkpd6W4BP5g" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCecXUwEeKtkpd6W4BP5g" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:id="_GqCecnUwEeKtkpd6W4BP5g" name="append">
-        <end xmi:id="_GqCec3UwEeKtkpd6W4BP5g" role="_GqCeYnUwEeKtkpd6W4BP5g">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCedHUwEeKtkpd6W4BP5g" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCedXUwEeKtkpd6W4BP5g" value="1"/>
-        </end>
-        <end xmi:id="_GqCednUwEeKtkpd6W4BP5g" role="_GqCeXnUwEeKtkpd6W4BP5g">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCed3UwEeKtkpd6W4BP5g" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCeeHUwEeKtkpd6W4BP5g" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:id="_GqCeeXUwEeKtkpd6W4BP5g" name="append">
-        <end xmi:id="_GqCeenUwEeKtkpd6W4BP5g" role="_GqCeY3UwEeKtkpd6W4BP5g">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCee3UwEeKtkpd6W4BP5g" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCefHUwEeKtkpd6W4BP5g" value="1"/>
-        </end>
-        <end xmi:id="_GqCefXUwEeKtkpd6W4BP5g" role="_GqCeXnUwEeKtkpd6W4BP5g">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCefnUwEeKtkpd6W4BP5g" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCef3UwEeKtkpd6W4BP5g" value="1"/>
-        </end>
-      </ownedConnector>
-    </packagedElement>
-    <packagedElement xmi:type="uml:Class" xmi:id="_GqCegHUwEeKtkpd6W4BP5g" name="RMaxSoftwareArchitecture">
-      <ownedAttribute xmi:id="_GqCegXUwEeKtkpd6W4BP5g" name="Property1" type="_GqCeD3UwEeKtkpd6W4BP5g"/>
-      <ownedAttribute xmi:id="_GqCegnUwEeKtkpd6W4BP5g" name="Property2" type="_GqCeFnUwEeKtkpd6W4BP5g"/>
-      <ownedAttribute xmi:id="_GqCeg3UwEeKtkpd6W4BP5g" name="Property3" type="_GqCeHHUwEeKtkpd6W4BP5g"/>
-      <ownedConnector xmi:id="_GqCehHUwEeKtkpd6W4BP5g" name="Connector1">
-        <end xmi:id="_GqCehXUwEeKtkpd6W4BP5g" partWithPort="_GqCegnUwEeKtkpd6W4BP5g" role="_GqCeGXUwEeKtkpd6W4BP5g">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCehnUwEeKtkpd6W4BP5g" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCeh3UwEeKtkpd6W4BP5g" value="1"/>
-        </end>
-        <end xmi:id="_GqCeiHUwEeKtkpd6W4BP5g" partWithPort="_GqCeg3UwEeKtkpd6W4BP5g" role="_GqCeHnUwEeKtkpd6W4BP5g">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCeiXUwEeKtkpd6W4BP5g" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCeinUwEeKtkpd6W4BP5g" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:id="_GqCei3UwEeKtkpd6W4BP5g" name="Connector2">
-        <end xmi:id="_GqCejHUwEeKtkpd6W4BP5g" partWithPort="_GqCegXUwEeKtkpd6W4BP5g" role="_GqCeE3UwEeKtkpd6W4BP5g">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCejXUwEeKtkpd6W4BP5g" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCejnUwEeKtkpd6W4BP5g" value="1"/>
-        </end>
-        <end xmi:id="_GqCej3UwEeKtkpd6W4BP5g" partWithPort="_GqCeg3UwEeKtkpd6W4BP5g" role="_GqCeHXUwEeKtkpd6W4BP5g">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCekHUwEeKtkpd6W4BP5g" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCekXUwEeKtkpd6W4BP5g" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:id="_GqCeknUwEeKtkpd6W4BP5g" name="Connector3">
-        <end xmi:id="_GqCek3UwEeKtkpd6W4BP5g" partWithPort="_GqCegXUwEeKtkpd6W4BP5g" role="_GqCeFXUwEeKtkpd6W4BP5g">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCelHUwEeKtkpd6W4BP5g" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCelXUwEeKtkpd6W4BP5g" value="1"/>
-        </end>
-        <end xmi:id="_GqCelnUwEeKtkpd6W4BP5g" partWithPort="_GqCeg3UwEeKtkpd6W4BP5g" role="_GqCeH3UwEeKtkpd6W4BP5g">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCel3UwEeKtkpd6W4BP5g" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCemHUwEeKtkpd6W4BP5g" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:id="_GqCemXUwEeKtkpd6W4BP5g" name="Connector4">
-        <end xmi:id="_GqCemnUwEeKtkpd6W4BP5g" partWithPort="_GqCegnUwEeKtkpd6W4BP5g" role="_GqCeG3UwEeKtkpd6W4BP5g">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCem3UwEeKtkpd6W4BP5g" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCenHUwEeKtkpd6W4BP5g" value="1"/>
-        </end>
-        <end xmi:id="_GqCenXUwEeKtkpd6W4BP5g" partWithPort="_GqCeg3UwEeKtkpd6W4BP5g" role="_GqCeIHUwEeKtkpd6W4BP5g">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCennUwEeKtkpd6W4BP5g" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCen3UwEeKtkpd6W4BP5g" value="1"/>
-        </end>
-      </ownedConnector>
-    </packagedElement>
-    <packagedElement xmi:type="uml:Package" xmi:id="_GqCeoHUwEeKtkpd6W4BP5g" name="PlatformModel">
-      <packagedElement xmi:type="uml:Package" xmi:id="_GqCeoXUwEeKtkpd6W4BP5g" name="ControlSystemPlatform"/>
-    </packagedElement>
-    <packagedElement xmi:type="uml:Package" xmi:id="_gUzrwHYcEeKPK8ZhPTxHOw" name="C++types">
-      <packagedElement xmi:type="uml:PrimitiveType" xmi:id="_GqDFGHUwEeKtkpd6W4BP5g" name="unsigned char *"/>
-      <packagedElement xmi:type="uml:PrimitiveType" xmi:id="_GqDFGXUwEeKtkpd6W4BP5g" name="unsigned char **"/>
-      <packagedElement xmi:type="uml:PrimitiveType" xmi:id="_BBTMkHYcEeKPK8ZhPTxHOw" name="unsigned"/>
-      <packagedElement xmi:type="uml:PrimitiveType" xmi:id="_tF-4MHYcEeKPK8ZhPTxHOw" name="double"/>
-      <packagedElement xmi:type="uml:PrimitiveType" xmi:id="__ayFQHYcEeKPK8ZhPTxHOw" name="int"/>
-    </packagedElement>
-    <packagedElement xmi:type="uml:Package" xmi:id="_EHBYoHYiEeKPK8ZhPTxHOw" name="Video">
-      <packagedElement xmi:type="uml:DataType" xmi:id="_GqDFC3UwEeKtkpd6W4BP5g" name="Image">
-        <ownedAttribute xmi:id="_GqDFDHUwEeKtkpd6W4BP5g" name="m_compression_for_logging" type="__ayFQHYcEeKPK8ZhPTxHOw"/>
-        <ownedAttribute xmi:id="_GqDFDXUwEeKtkpd6W4BP5g" name="m_ts" visibility="private" type="_tF-4MHYcEeKPK8ZhPTxHOw"/>
-        <ownedAttribute xmi:id="_GqDFDnUwEeKtkpd6W4BP5g" name="m_width" visibility="private" type="_BBTMkHYcEeKPK8ZhPTxHOw"/>
-        <ownedAttribute xmi:id="_GqDFD3UwEeKtkpd6W4BP5g" name="m_height" visibility="private" type="_BBTMkHYcEeKPK8ZhPTxHOw"/>
-        <ownedAttribute xmi:id="_GqDFEHUwEeKtkpd6W4BP5g" name="m_color" visibility="private">
-          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:id="_GqDFEXUwEeKtkpd6W4BP5g" name="m_pnm_image" visibility="private" type="_GqDFGHUwEeKtkpd6W4BP5g"/>
-        <ownedAttribute xmi:id="_GqDFEnUwEeKtkpd6W4BP5g" name="m_pixels" visibility="private" type="_GqDFGHUwEeKtkpd6W4BP5g"/>
-        <ownedAttribute xmi:id="_GqDFE3UwEeKtkpd6W4BP5g" name="m_rows" visibility="private" type="_GqDFGXUwEeKtkpd6W4BP5g"/>
-        <ownedOperation xmi:id="_OQ1TgHYdEeKPK8ZhPTxHOw" name="getWidth">
-          <ownedParameter xmi:id="_nqEzsHYdEeKPK8ZhPTxHOw" type="_BBTMkHYcEeKPK8ZhPTxHOw" direction="return"/>
-        </ownedOperation>
-        <ownedOperation xmi:id="_Sbb2QHYeEeKPK8ZhPTxHOw" name="getHeight">
-          <ownedParameter xmi:id="_dY63gHYeEeKPK8ZhPTxHOw" type="_BBTMkHYcEeKPK8ZhPTxHOw" direction="return"/>
-        </ownedOperation>
-      </packagedElement>
-      <packagedElement xmi:type="uml:DataType" xmi:id="_GqDFFHUwEeKtkpd6W4BP5g" name="Thumb">
-        <ownedAttribute xmi:id="_GqDFFXUwEeKtkpd6W4BP5g" name="m_data">
-          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_6NJfkAKnEeCQReIOIWJ0nA"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqDFFnUwEeKtkpd6W4BP5g" value="230314"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqDFF3UwEeKtkpd6W4BP5g" value="230314"/>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Interface" xmi:id="_GqDFXXUwEeKtkpd6W4BP5g" name="CameraInterface">
-        <ownedOperation xmi:id="_GqDFXnUwEeKtkpd6W4BP5g" name="getInterfaceName">
-          <ownedParameter xmi:id="_NjAX8HdAEeKZYq0TRURVaw" type="_AYcbIHdAEeKZYq0TRURVaw" direction="return"/>
-        </ownedOperation>
-        <ownedOperation xmi:id="_GqDFX3UwEeKtkpd6W4BP5g" name="setGain"/>
-        <ownedOperation xmi:id="_GqDFYHUwEeKtkpd6W4BP5g" name="getGain"/>
-        <ownedOperation xmi:id="_GqDFYXUwEeKtkpd6W4BP5g" name="setGainAuto"/>
-        <ownedOperation xmi:id="_GqDFYnUwEeKtkpd6W4BP5g" name="getGainAuto"/>
-        <ownedOperation xmi:id="_GqDFY3UwEeKtkpd6W4BP5g" name="setGainAutoMin"/>
-        <ownedOperation xmi:id="_GqDFZHUwEeKtkpd6W4BP5g" name="getGainAutoMin"/>
-        <ownedOperation xmi:id="_GqDFZXUwEeKtkpd6W4BP5g" name="setGainAutoMax"/>
-        <ownedOperation xmi:id="_GqDFZnUwEeKtkpd6W4BP5g" name="getGainAutoMax"/>
-        <ownedOperation xmi:id="_GqDFZ3UwEeKtkpd6W4BP5g" name="setShutter"/>
-        <ownedOperation xmi:id="_GqDFaHUwEeKtkpd6W4BP5g" name="getShuter"/>
-        <ownedOperation xmi:id="_GqDFaXUwEeKtkpd6W4BP5g" name="setShutterAuto"/>
-        <ownedOperation xmi:id="_GqDFanUwEeKtkpd6W4BP5g" name="getShutterAuto"/>
-        <ownedOperation xmi:id="_GqDFa3UwEeKtkpd6W4BP5g" name="setShutterAutoMin"/>
-        <ownedOperation xmi:id="_GqDFbHUwEeKtkpd6W4BP5g" name="getShutterAutoMin"/>
-        <ownedOperation xmi:id="_GqDFbXUwEeKtkpd6W4BP5g" name="setShutterAutoMax"/>
-        <ownedOperation xmi:id="_GqDFbnUwEeKtkpd6W4BP5g" name="getShutterAutoMax"/>
-        <ownedOperation xmi:id="_GqDFb3UwEeKtkpd6W4BP5g" name="setBrightness"/>
-        <ownedOperation xmi:id="_GqDFcHUwEeKtkpd6W4BP5g" name="getBrightness"/>
-        <ownedOperation xmi:id="_YKq6MHdAEeKZYq0TRURVaw" name="init">
-          <ownedParameter xmi:id="_ntvmgHdAEeKZYq0TRURVaw" type="_pZxqgHdAEeKZYq0TRURVaw" direction="return"/>
-          <ownedParameter xmi:id="_ncXQsHdCEeK8eOjgOuXhhw" type="_GqDFC3UwEeKtkpd6W4BP5g" effect="read"/>
-        </ownedOperation>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Package" xmi:id="_J6rUgHZ-EeK3HpwXUW73BQ" name="Orocos">
-        <packagedElement xmi:type="uml:Class" xmi:id="_GqCeFnUwEeKtkpd6W4BP5g" name="Camera">
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeF3UwEeKtkpd6W4BP5g" name="Image" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeGHUwEeKtkpd6W4BP5g" name="Info" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_5d_eEAKoEeCQReIOIWJ0nA"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeGXUwEeKtkpd6W4BP5g" name="image" type="_GqDFC3UwEeKtkpd6W4BP5g" aggregation="composite"/>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeGnUwEeKtkpd6W4BP5g" name="thumb" type="_GqDFFHUwEeKtkpd6W4BP5g" aggregation="composite"/>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeG3UwEeKtkpd6W4BP5g" name="CameraControlPro" type="_GqDFXXUwEeKtkpd6W4BP5g" aggregation="composite"/>
-        </packagedElement>
-      </packagedElement>
-    </packagedElement>
-    <packagedElement xmi:type="uml:Package" xmi:id="_tzG_wHYjEeKPK8ZhPTxHOw" name="Avionique">
-      <packagedElement xmi:type="uml:DataType" xmi:id="_GqDFfHUwEeKtkpd6W4BP5g" name="Way">
-        <ownedAttribute xmi:id="_GqDFfXUwEeKtkpd6W4BP5g" name="m_id">
-          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_nCOuoAH-EeC_ZLzLQhW-TQ"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:id="_GqDFfnUwEeKtkpd6W4BP5g" name="m_position_in_mission">
-          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_nCOuoAH-EeC_ZLzLQhW-TQ"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:id="_GqDFf3UwEeKtkpd6W4BP5g" name="m_nb_loops">
-          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_nCOuoAH-EeC_ZLzLQhW-TQ"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:id="_GqDFgHUwEeKtkpd6W4BP5g" name="m_nb_wp">
-          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_nCOuoAH-EeC_ZLzLQhW-TQ"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:id="_GqDFgXUwEeKtkpd6W4BP5g" name="m_first_wp_id">
-          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_nCOuoAH-EeC_ZLzLQhW-TQ"/>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:DataType" xmi:id="_GqDFcXUwEeKtkpd6W4BP5g" name="Waypoint">
-        <ownedAttribute xmi:id="_GqDFcnUwEeKtkpd6W4BP5g" name="m_id">
-          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_nCOuoAH-EeC_ZLzLQhW-TQ"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:id="_GqDFc3UwEeKtkpd6W4BP5g" name="m_x">
-          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:id="_GqDFdHUwEeKtkpd6W4BP5g" name="m_y">
-          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:id="_GqDFdXUwEeKtkpd6W4BP5g" name="m_z">
-          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:id="_GqDFdnUwEeKtkpd6W4BP5g" name="m_cap">
-          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:id="_GqDFd3UwEeKtkpd6W4BP5g" name="m_derap">
-          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:id="_GqDFeHUwEeKtkpd6W4BP5g" name="m_vel">
-          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:id="_GqDFeXUwEeKtkpd6W4BP5g" name="m_v_prox">
-          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:id="_GqDFenUwEeKtkpd6W4BP5g" name="m_d_prox">
-          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:id="_GqDFe3UwEeKtkpd6W4BP5g" name="m_wait">
-          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:DataType" xmi:id="_GqCeonUwEeKtkpd6W4BP5g" name="State">
-        <ownedAttribute xmi:id="_GqCeo3UwEeKtkpd6W4BP5g" name="m_ts_ref" type="_tF-4MHYcEeKPK8ZhPTxHOw"/>
-        <ownedAttribute xmi:id="_GqCepHUwEeKtkpd6W4BP5g" name="m_ts" type="_tF-4MHYcEeKPK8ZhPTxHOw"/>
-        <ownedAttribute xmi:id="_GqCepXUwEeKtkpd6W4BP5g" name="m_ts_remote" type="_tF-4MHYcEeKPK8ZhPTxHOw"/>
-        <ownedAttribute xmi:id="_GqCepnUwEeKtkpd6W4BP5g" name="m_phase" type="_BBTMkHYcEeKPK8ZhPTxHOw"/>
-        <ownedAttribute xmi:id="_GqCep3UwEeKtkpd6W4BP5g" name="m_wp" type="_BBTMkHYcEeKPK8ZhPTxHOw"/>
-        <ownedAttribute xmi:id="_GqCeqHUwEeKtkpd6W4BP5g" name="m_cpt" type="_BBTMkHYcEeKPK8ZhPTxHOw"/>
-        <ownedAttribute xmi:id="_GqCeqXUwEeKtkpd6W4BP5g" name="m_h_int_time" type="_tF-4MHYcEeKPK8ZhPTxHOw"/>
-        <ownedAttribute xmi:id="_GqCeqnUwEeKtkpd6W4BP5g" name="m_h" type="_tF-4MHYcEeKPK8ZhPTxHOw"/>
-        <ownedAttribute xmi:id="_GqCeq3UwEeKtkpd6W4BP5g" name="m_gps_int_time" type="_tF-4MHYcEeKPK8ZhPTxHOw"/>
-        <ownedAttribute xmi:id="_GqCerHUwEeKtkpd6W4BP5g" name="m_pos" type="_tF-4MHYcEeKPK8ZhPTxHOw">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqDFAHUwEeKtkpd6W4BP5g" value="3"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqDFAXUwEeKtkpd6W4BP5g" value="3"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:id="_GqDFAnUwEeKtkpd6W4BP5g" name="m_att" type="_tF-4MHYcEeKPK8ZhPTxHOw">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqDFA3UwEeKtkpd6W4BP5g" value="3"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqDFBHUwEeKtkpd6W4BP5g" value="3"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:id="_GqDFBXUwEeKtkpd6W4BP5g" name="m_vel" type="_tF-4MHYcEeKPK8ZhPTxHOw">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqDFBnUwEeKtkpd6W4BP5g" value="3"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqDFB3UwEeKtkpd6W4BP5g" value="3"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:id="_GqDFCHUwEeKtkpd6W4BP5g" name="m_acc" type="_tF-4MHYcEeKPK8ZhPTxHOw">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqDFCXUwEeKtkpd6W4BP5g" value="3"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqDFCnUwEeKtkpd6W4BP5g" value="3"/>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Interface" xmi:id="_GqDFGnUwEeKtkpd6W4BP5g" name="ObcInterface">
-        <ownedOperation xmi:id="_GqDFG3UwEeKtkpd6W4BP5g" name="getInterfaceName">
-          <ownedParameter xmi:id="_GqDFHHUwEeKtkpd6W4BP5g" direction="return">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
-          </ownedParameter>
-        </ownedOperation>
-        <ownedOperation xmi:id="_GqDFHXUwEeKtkpd6W4BP5g" name="getState">
-          <ownedParameter xmi:id="_GqDFHnUwEeKtkpd6W4BP5g" direction="return">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
-          </ownedParameter>
-          <ownedParameter xmi:id="_GqDFH3UwEeKtkpd6W4BP5g" name="state" type="_GqCeonUwEeKtkpd6W4BP5g" direction="out"/>
-          <ownedParameter xmi:id="_GqDFIHUwEeKtkpd6W4BP5g" name="date">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-          </ownedParameter>
-        </ownedOperation>
-        <ownedOperation xmi:id="_GqDFIXUwEeKtkpd6W4BP5g" name="setPhase">
-          <ownedParameter xmi:id="_GqDFInUwEeKtkpd6W4BP5g" direction="return">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
-          </ownedParameter>
-          <ownedParameter xmi:id="_GqDFI3UwEeKtkpd6W4BP5g" name="phase">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_nCOuoAH-EeC_ZLzLQhW-TQ"/>
-          </ownedParameter>
-        </ownedOperation>
-        <ownedOperation xmi:id="_GqDFJHUwEeKtkpd6W4BP5g" name="setPhaseStr">
-          <ownedParameter xmi:id="_GqDFJXUwEeKtkpd6W4BP5g" direction="return">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
-          </ownedParameter>
-          <ownedParameter xmi:id="_GqDFJnUwEeKtkpd6W4BP5g" name="str">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
-          </ownedParameter>
-        </ownedOperation>
-        <ownedOperation xmi:id="_GqDFJ3UwEeKtkpd6W4BP5g" name="setPhaseDescente">
-          <ownedParameter xmi:id="_GqDFKHUwEeKtkpd6W4BP5g" direction="return">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
-          </ownedParameter>
-          <ownedParameter xmi:id="_GqDFKXUwEeKtkpd6W4BP5g" name="altitude">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-          </ownedParameter>
-        </ownedOperation>
-        <ownedOperation xmi:id="_GqDFKnUwEeKtkpd6W4BP5g" name="getPhase">
-          <ownedParameter xmi:id="_GqDFK3UwEeKtkpd6W4BP5g" direction="return">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_nCOuoAH-EeC_ZLzLQhW-TQ"/>
-          </ownedParameter>
-        </ownedOperation>
-        <ownedOperation xmi:id="_GqDFLHUwEeKtkpd6W4BP5g" name="getPhaseStr">
-          <ownedParameter xmi:id="_GqDFLXUwEeKtkpd6W4BP5g" direction="return">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
-          </ownedParameter>
-        </ownedOperation>
-        <ownedOperation xmi:id="_GqDFLnUwEeKtkpd6W4BP5g" name="move">
-          <ownedParameter xmi:id="_GqDFL3UwEeKtkpd6W4BP5g" direction="return">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
-          </ownedParameter>
-          <ownedParameter xmi:id="_GqDFMHUwEeKtkpd6W4BP5g" name="x">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-          </ownedParameter>
-          <ownedParameter xmi:id="_GqDFMXUwEeKtkpd6W4BP5g" name="y">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-          </ownedParameter>
-          <ownedParameter xmi:id="_GqDFMnUwEeKtkpd6W4BP5g" name="z">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-          </ownedParameter>
-          <ownedParameter xmi:id="_GqDFM3UwEeKtkpd6W4BP5g" name="psi">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-          </ownedParameter>
-        </ownedOperation>
-        <ownedOperation xmi:id="_GqDFNHUwEeKtkpd6W4BP5g" name="gotou">
-          <ownedParameter xmi:id="_GqDFNXUwEeKtkpd6W4BP5g" direction="return">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
-          </ownedParameter>
-          <ownedParameter xmi:id="_GqDFNnUwEeKtkpd6W4BP5g" name="x">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-          </ownedParameter>
-          <ownedParameter xmi:id="_GqDFN3UwEeKtkpd6W4BP5g" name="y">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-          </ownedParameter>
-          <ownedParameter xmi:id="_GqDFOHUwEeKtkpd6W4BP5g" name="z">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-          </ownedParameter>
-          <ownedParameter xmi:id="_GqDFOXUwEeKtkpd6W4BP5g" name="psi">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-          </ownedParameter>
-        </ownedOperation>
-        <ownedOperation xmi:id="_GqDFOnUwEeKtkpd6W4BP5g" name="track">
-          <ownedParameter xmi:id="_GqDFO3UwEeKtkpd6W4BP5g" direction="return">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
-          </ownedParameter>
-          <ownedParameter xmi:id="_GqDFPHUwEeKtkpd6W4BP5g" name="vx">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-          </ownedParameter>
-          <ownedParameter xmi:id="_GqDFPXUwEeKtkpd6W4BP5g" name="vy">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-          </ownedParameter>
-          <ownedParameter xmi:id="_GqDFPnUwEeKtkpd6W4BP5g" name="z">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-          </ownedParameter>
-          <ownedParameter xmi:id="_GqDFP3UwEeKtkpd6W4BP5g" name="psi">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-          </ownedParameter>
-        </ownedOperation>
-        <ownedOperation xmi:id="_GqDFQHUwEeKtkpd6W4BP5g" name="altitude">
-          <ownedParameter xmi:id="_GqDFQXUwEeKtkpd6W4BP5g" direction="return">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
-          </ownedParameter>
-          <ownedParameter xmi:id="_GqDFQnUwEeKtkpd6W4BP5g" name="altitude">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-          </ownedParameter>
-          <ownedParameter xmi:id="_GqDFQ3UwEeKtkpd6W4BP5g" name="enable">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
-          </ownedParameter>
-        </ownedOperation>
-        <ownedOperation xmi:id="_GqDFRHUwEeKtkpd6W4BP5g" name="waypointAdd">
-          <ownedParameter xmi:id="_GqDFRXUwEeKtkpd6W4BP5g" direction="return">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
-          </ownedParameter>
-          <ownedParameter xmi:id="_GqDFRnUwEeKtkpd6W4BP5g" name="wp" type="_GqDFcXUwEeKtkpd6W4BP5g"/>
-        </ownedOperation>
-        <ownedOperation xmi:id="_GqDFR3UwEeKtkpd6W4BP5g" name="waypointDel">
-          <ownedParameter xmi:id="_GqDFSHUwEeKtkpd6W4BP5g" direction="return">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
-          </ownedParameter>
-          <ownedParameter xmi:id="_GqDFSXUwEeKtkpd6W4BP5g" name="wp" type="_GqDFcXUwEeKtkpd6W4BP5g"/>
-        </ownedOperation>
-        <ownedOperation xmi:id="_GqDFSnUwEeKtkpd6W4BP5g" name="wayAdd">
-          <ownedParameter xmi:id="_GqDFS3UwEeKtkpd6W4BP5g" direction="return">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
-          </ownedParameter>
-          <ownedParameter xmi:id="_GqDFTHUwEeKtkpd6W4BP5g" name="w" type="_GqDFfHUwEeKtkpd6W4BP5g"/>
-        </ownedOperation>
-        <ownedOperation xmi:id="_GqDFTXUwEeKtkpd6W4BP5g" name="wayDel">
-          <ownedParameter xmi:id="_GqDFTnUwEeKtkpd6W4BP5g" direction="return">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
-          </ownedParameter>
-          <ownedParameter xmi:id="_GqDFT3UwEeKtkpd6W4BP5g" name="w" type="_GqDFfHUwEeKtkpd6W4BP5g"/>
-        </ownedOperation>
-        <ownedOperation xmi:id="_GqDFUHUwEeKtkpd6W4BP5g" name="wayPush">
-          <ownedParameter xmi:id="_GqDFUXUwEeKtkpd6W4BP5g" direction="return">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
-          </ownedParameter>
-          <ownedParameter xmi:id="_GqDFUnUwEeKtkpd6W4BP5g" name="w" type="_GqDFfHUwEeKtkpd6W4BP5g"/>
-        </ownedOperation>
-        <ownedOperation xmi:id="_GqDFU3UwEeKtkpd6W4BP5g" name="wayPop">
-          <ownedParameter xmi:id="_GqDFVHUwEeKtkpd6W4BP5g" direction="return">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
-          </ownedParameter>
-        </ownedOperation>
-        <ownedOperation xmi:id="_GqDFVXUwEeKtkpd6W4BP5g" name="obstacleAdd"/>
-        <ownedOperation xmi:id="_GqDFVnUwEeKtkpd6W4BP5g" name="obstacleDel"/>
-        <ownedOperation xmi:id="_GqDFV3UwEeKtkpd6W4BP5g" name="setObj"/>
-        <ownedOperation xmi:id="_GqDFWHUwEeKtkpd6W4BP5g" name="quickWaypointDel"/>
-        <ownedOperation xmi:id="_GqDFWXUwEeKtkpd6W4BP5g" name="quickSetObj"/>
-        <ownedOperation xmi:id="_GqDFWnUwEeKtkpd6W4BP5g" name="getMinDt"/>
-        <ownedOperation xmi:id="_GqDFW3UwEeKtkpd6W4BP5g" name="getMaxV"/>
-        <ownedOperation xmi:id="_GqDFXHUwEeKtkpd6W4BP5g" name="getMaxA"/>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Package" xmi:id="_Ob3nwHZ-EeK3HpwXUW73BQ" name="Orocos">
-        <packagedElement xmi:type="uml:Class" xmi:id="_GqCeD3UwEeKtkpd6W4BP5g" name="Obc">
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeEHUwEeKtkpd6W4BP5g" name="GPS" aggregation="composite">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeEXUwEeKtkpd6W4BP5g" name="IMU" aggregation="composite">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeEnUwEeKtkpd6W4BP5g" name="TargetPosition" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_1_-5oAH5EeC_ZLzLQhW-TQ"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeE3UwEeKtkpd6W4BP5g" name="state" type="_GqCeonUwEeKtkpd6W4BP5g" aggregation="composite"/>
-          <ownedAttribute xmi:id="_GqCeFHUwEeKtkpd6W4BP5g" name="Property1" type="_GqCeAXUwEeKtkpd6W4BP5g"/>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeFXUwEeKtkpd6W4BP5g" name="RmaxControlPro" type="_GqDFGnUwEeKtkpd6W4BP5g" aggregation="composite"/>
-        </packagedElement>
-      </packagedElement>
-    </packagedElement>
-    <packagedElement xmi:type="uml:PrimitiveType" xmi:id="_AYcbIHdAEeKZYq0TRURVaw" name="std::string"/>
-    <packagedElement xmi:type="uml:PrimitiveType" xmi:id="_pZxqgHdAEeKZYq0TRURVaw" name="bool"/>
-    <profileApplication xmi:id="_GqDFgnUwEeKtkpd6W4BP5g">
-      <eAnnotations xmi:id="_GqDFg3UwEeKtkpd6W4BP5g" source="http://www.eclipse.org/uml2/2.0.0/UML">
-        <references xmi:type="ecore:EPackage" href="http://Papyrus/RobotML/1#/"/>
-      </eAnnotations>
-      <appliedProfile href="pathmap://Robotml_PROFILES/RobotMLProfile.profile.uml#_3QOHEPcEEd-J06U5HM_o-Q"/>
-    </profileApplication>
-  </uml:Model>
-  <RobotML:RoboticMiddleware xmi:id="_GqE6MHUwEeKtkpd6W4BP5g" base_Class="_GqCeAXUwEeKtkpd6W4BP5g"/>
-  <RobotML:CameraSystem xmi:id="_GqE6MXUwEeKtkpd6W4BP5g" base_Class="_GqCeAnUwEeKtkpd6W4BP5g"/>
-  <RobotML:RoboticSimulator xmi:id="_GqE6MnUwEeKtkpd6W4BP5g" base_Class="_GqCeBXUwEeKtkpd6W4BP5g"/>
-  <RobotML:SensorSystem xmi:id="_GqE6M3UwEeKtkpd6W4BP5g" base_Class="_GqCeBnUwEeKtkpd6W4BP5g"/>
-  <RobotML:GPSSystem xmi:id="_GqE6NHUwEeKtkpd6W4BP5g" base_Class="_GqCeCHUwEeKtkpd6W4BP5g"/>
-  <RobotML:RoboticMiddleware xmi:id="_GqE6NXUwEeKtkpd6W4BP5g" base_Class="_GqCeCnUwEeKtkpd6W4BP5g"/>
-  <RobotML:ActuatorSystem xmi:id="_GqE6NnUwEeKtkpd6W4BP5g" base_Class="_GqCeC3UwEeKtkpd6W4BP5g"/>
-  <RobotML:Environment xmi:id="_GqE6N3UwEeKtkpd6W4BP5g" base_Class="_GqCeDXUwEeKtkpd6W4BP5g"/>
-  <RobotML:LidarSystem xmi:id="_GqE6OHUwEeKtkpd6W4BP5g"/>
-  <RobotML:Robot xmi:id="_GqE6OXUwEeKtkpd6W4BP5g" base_Class="_GqCeDnUwEeKtkpd6W4BP5g" kind="UAV"/>
-  <RobotML:RoboticSystem xmi:id="_GqE6OnUwEeKtkpd6W4BP5g" base_Class="_GqCeD3UwEeKtkpd6W4BP5g" native="true"/>
-  <RobotML:RoboticSystem xmi:id="_GqE6O3UwEeKtkpd6W4BP5g" base_Class="_GqCeFnUwEeKtkpd6W4BP5g" native="true"/>
-  <RobotML:RoboticSystem xmi:id="_GqFhQHUwEeKtkpd6W4BP5g" base_Class="_GqCeHHUwEeKtkpd6W4BP5g"/>
-  <RobotML:DataFlowPort xmi:id="_GqFhQXUwEeKtkpd6W4BP5g" base_Port="_GqCeA3UwEeKtkpd6W4BP5g" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_GqFhQnUwEeKtkpd6W4BP5g" base_Port="_GqCeBHUwEeKtkpd6W4BP5g" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_GqFhQ3UwEeKtkpd6W4BP5g" base_Port="_GqCeB3UwEeKtkpd6W4BP5g" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_GqFhRHUwEeKtkpd6W4BP5g" base_Port="_GqCeCXUwEeKtkpd6W4BP5g" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_GqFhRXUwEeKtkpd6W4BP5g" base_Port="_GqCeDHUwEeKtkpd6W4BP5g"/>
-  <RobotML:DataFlowPort xmi:id="_GqFhRnUwEeKtkpd6W4BP5g" base_Port="_GqCeEHUwEeKtkpd6W4BP5g"/>
-  <RobotML:DataFlowPort xmi:id="_GqFhR3UwEeKtkpd6W4BP5g" base_Port="_GqCeEXUwEeKtkpd6W4BP5g"/>
-  <RobotML:DataFlowPort xmi:id="_GqFhSHUwEeKtkpd6W4BP5g" base_Port="_GqCeEnUwEeKtkpd6W4BP5g" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_GqFhSXUwEeKtkpd6W4BP5g" base_Port="_GqCeF3UwEeKtkpd6W4BP5g"/>
-  <RobotML:DataFlowPort xmi:id="_GqFhSnUwEeKtkpd6W4BP5g" base_Port="_GqCeGHUwEeKtkpd6W4BP5g"/>
-  <RobotML:RoboticSystem xmi:id="_GqFhS3UwEeKtkpd6W4BP5g" base_Class="_GqCeLXUwEeKtkpd6W4BP5g"/>
-  <RobotML:RoboticSystem xmi:id="_GqFhTHUwEeKtkpd6W4BP5g" base_Class="_GqCeR3UwEeKtkpd6W4BP5g"/>
-  <RobotML:RoboticSystem xmi:id="_GqFhTXUwEeKtkpd6W4BP5g" base_Class="_GqCeWHUwEeKtkpd6W4BP5g"/>
-  <RobotML:RoboticSystem xmi:id="_GqFhTnUwEeKtkpd6W4BP5g" base_Class="_GqCegHUwEeKtkpd6W4BP5g"/>
-  <RobotML:DataFlowPort xmi:id="_GqFhT3UwEeKtkpd6W4BP5g" base_Port="_GqCeHXUwEeKtkpd6W4BP5g"/>
-  <RobotML:DataFlowPort xmi:id="_GqFhUHUwEeKtkpd6W4BP5g" base_Port="_GqCeHnUwEeKtkpd6W4BP5g"/>
-  <RobotML:State xmi:id="_GqFhUXUwEeKtkpd6W4BP5g"/>
-  <RobotML:Transition xmi:id="_GqFhUnUwEeKtkpd6W4BP5g"/>
-  <RobotML:Transition xmi:id="_GqFhU3UwEeKtkpd6W4BP5g"/>
-  <RobotML:Transition xmi:id="_GqFhVHUwEeKtkpd6W4BP5g"/>
-  <RobotML:Transition xmi:id="_GqFhVnUwEeKtkpd6W4BP5g"/>
-  <RobotML:DataFlowPort xmi:id="_GqFhX3UwEeKtkpd6W4BP5g" base_Port="_GqCeE3UwEeKtkpd6W4BP5g" direction="out"/>
-  <RobotML:ServicePort xmi:id="_GqFhYHUwEeKtkpd6W4BP5g" base_Port="_GqCeFXUwEeKtkpd6W4BP5g"/>
-  <RobotML:DataFlowPort xmi:id="_GqFhYXUwEeKtkpd6W4BP5g" base_Port="_GqCeGXUwEeKtkpd6W4BP5g" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_GqFhYnUwEeKtkpd6W4BP5g" base_Port="_GqCeGnUwEeKtkpd6W4BP5g" direction="out"/>
-  <RobotML:ServicePort xmi:id="_GqFhY3UwEeKtkpd6W4BP5g" base_Port="_GqCeG3UwEeKtkpd6W4BP5g"/>
-  <RobotML:ServicePort xmi:id="_GqFhZHUwEeKtkpd6W4BP5g" base_Port="_GqCeH3UwEeKtkpd6W4BP5g" kind="required"/>
-  <RobotML:ServicePort xmi:id="_GqFhbnUwEeKtkpd6W4BP5g" base_Port="_GqCeIHUwEeKtkpd6W4BP5g" kind="required"/>
-  <RobotML:SensorSystem xmi:id="_HcDuUHXAEeKxSKoQ4C2lKA"/>
-  <RobotML:Software xmi:id="_tIooUHaEEeK3HpwXUW73BQ" base_Class="_GqCeHHUwEeKtkpd6W4BP5g"/>
-  <RobotML:Software xmi:id="_Tto_MHaFEeK3HpwXUW73BQ" base_Class="_GqCeFnUwEeKtkpd6W4BP5g"/>
-  <RobotML:Software xmi:id="_bEppAHaFEeK3HpwXUW73BQ" base_Class="_GqCeD3UwEeKtkpd6W4BP5g"/>
-</xmi:XMI>
+<?xml version="1.0" encoding="UTF-8"?>
+<xmi:XMI xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:RobotML="http://Papyrus/RobotML/1" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML">
+  <uml:Model xmi:id="_GqCd8HUwEeKtkpd6W4BP5g" name="Talc">
+    <ownedComment xmi:type="uml:Comment" xmi:id="_GqCd8XUwEeKtkpd6W4BP5g">
+      <body> RmaxSoftwareArchiteccture a implementer sous Orocos</body>
+    </ownedComment>
+    <ownedComment xmi:type="uml:Comment" xmi:id="_GqCd8nUwEeKtkpd6W4BP5g">
+      <body>Les connecteurs d'AvionicConnection et de CameraConnection a implementer sous Ros</body>
+    </ownedComment>
+    <ownedComment xmi:type="uml:Comment" xmi:id="_GqCd83UwEeKtkpd6W4BP5g">
+      <body>RMaxHardwareArchitecture et BigComponents a implementer sous Morse avec RMax.translate(x=5.0, y=0.0, z=9.0)</body>
+    </ownedComment>
+    <ownedComment xmi:type="uml:Comment" xmi:id="_GqCd9HUwEeKtkpd6W4BP5g" annotatedElement="_GqCeAnUwEeKtkpd6W4BP5g">
+      <body>'video_camera'
+.properties(capturing = True)
+.properties(cam_width = 512)
+.properties(cam_height = 512)
+.properties(cam_focal = 35.0000)</body>
+    </ownedComment>
+    <ownedComment xmi:type="uml:Comment" xmi:id="_GqCd9XUwEeKtkpd6W4BP5g" annotatedElement="_GqCeDXUwEeKtkpd6W4BP5g">
+      <body>'land-1/trees'
+.aim_camera([1.0470, 0, 0.7854])</body>
+    </ownedComment>
+    <ownedComment xmi:type="uml:Comment" xmi:id="_GqCd9nUwEeKtkpd6W4BP5g" annotatedElement="_GqCeDnUwEeKtkpd6W4BP5g">
+      <body>'rmax'
+.translate(x=5.0, y=0.0, z=9.0)</body>
+    </ownedComment>
+    <ownedComment xmi:type="uml:Comment" xmi:id="_GqCd93UwEeKtkpd6W4BP5g" annotatedElement="_GqCeC3UwEeKtkpd6W4BP5g">
+      <body>'destination'</body>
+    </ownedComment>
+    <ownedComment xmi:type="uml:Comment" xmi:id="_GqCd-HUwEeKtkpd6W4BP5g" annotatedElement="_GqCeBnUwEeKtkpd6W4BP5g">
+      <body>'gyroscope'</body>
+    </ownedComment>
+    <ownedComment xmi:type="uml:Comment" xmi:id="_GqCd-XUwEeKtkpd6W4BP5g" annotatedElement="_GqCeCHUwEeKtkpd6W4BP5g">
+      <body>'gps'</body>
+    </ownedComment>
+    <packageImport xmi:type="uml:PackageImport" xmi:id="_GqCd-nUwEeKtkpd6W4BP5g">
+      <importedPackage xmi:type="uml:Package" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_wyS6gAH-EeC_ZLzLQhW-TQ"/>
+    </packageImport>
+    <packageImport xmi:type="uml:PackageImport" xmi:id="_GqCd-3UwEeKtkpd6W4BP5g">
+      <importedPackage xmi:type="uml:Package" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#__xA6YAHvEeCQQOKrhO_fIQ"/>
+    </packageImport>
+    <packageImport xmi:type="uml:PackageImport" xmi:id="_GqCd_HUwEeKtkpd6W4BP5g">
+      <importedPackage xmi:type="uml:Package" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Df4_4AHwEeCQQOKrhO_fIQ"/>
+    </packageImport>
+    <packageImport xmi:type="uml:PackageImport" xmi:id="_GqCd_XUwEeKtkpd6W4BP5g">
+      <importedPackage xmi:type="uml:Package" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Go5_QAHwEeCQQOKrhO_fIQ"/>
+    </packageImport>
+    <packageImport xmi:type="uml:PackageImport" xmi:id="_GqCd_nUwEeKtkpd6W4BP5g">
+      <importedPackage xmi:type="uml:Package" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_JSoakAHwEeCQQOKrhO_fIQ"/>
+    </packageImport>
+    <packageImport xmi:type="uml:PackageImport" xmi:id="_GqCd_3UwEeKtkpd6W4BP5g">
+      <importedPackage xmi:type="uml:Package" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MlyNYAHwEeCQQOKrhO_fIQ"/>
+    </packageImport>
+    <packageImport xmi:type="uml:PackageImport" xmi:id="_GqCeAHUwEeKtkpd6W4BP5g">
+      <importedPackage xmi:type="uml:Package" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_QJC2AKxYEeCJD46GtDsABA"/>
+    </packageImport>
+    <packageImport xmi:type="uml:PackageImport" xmi:id="_ab_ckHdAEeKZYq0TRURVaw">
+      <importedPackage xmi:type="uml:Model" href="pathmap://Papyrus_Alf_LIBRARIES/alflibrary.uml#_0bBI4Hy5EeCKy5kSqd4eVw"/>
+    </packageImport>
+    <packagedElement xmi:type="uml:Class" xmi:id="_GqCeAXUwEeKtkpd6W4BP5g" name="Orocos"/>
+    <packagedElement xmi:type="uml:Class" xmi:id="_GqCeAnUwEeKtkpd6W4BP5g" name="CameraMain_002">
+      <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeA3UwEeKtkpd6W4BP5g" name="Image" aggregation="composite">
+        <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+      </ownedAttribute>
+      <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeBHUwEeKtkpd6W4BP5g" name="Info" aggregation="composite">
+        <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_5d_eEAKoEeCQReIOIWJ0nA"/>
+      </ownedAttribute>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Class" xmi:id="_GqCeBXUwEeKtkpd6W4BP5g" name="Morse"/>
+    <packagedElement xmi:type="uml:Class" xmi:id="_GqCeBnUwEeKtkpd6W4BP5g" name="Gyroscope_001">
+      <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeB3UwEeKtkpd6W4BP5g" name="Angles" aggregation="composite">
+        <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
+      </ownedAttribute>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Class" xmi:id="_GqCeCHUwEeKtkpd6W4BP5g" name="GPS_001">
+      <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeCXUwEeKtkpd6W4BP5g" name="Position" aggregation="composite">
+        <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
+      </ownedAttribute>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Class" xmi:id="_GqCeCnUwEeKtkpd6W4BP5g" name="ros"/>
+    <packagedElement xmi:type="uml:Class" xmi:id="_GqCeC3UwEeKtkpd6W4BP5g" name="Motion_Controller">
+      <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeDHUwEeKtkpd6W4BP5g" name="TargetPosition" aggregation="composite">
+        <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_1_-5oAH5EeC_ZLzLQhW-TQ"/>
+      </ownedAttribute>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Class" xmi:id="_GqCeDXUwEeKtkpd6W4BP5g" name="env"/>
+    <packagedElement xmi:type="uml:Class" xmi:id="_GqCeDnUwEeKtkpd6W4BP5g" name="RMax"/>
+    <packagedElement xmi:type="uml:Class" xmi:id="_GqCeHHUwEeKtkpd6W4BP5g" name="RMaxControlSystem">
+      <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeHXUwEeKtkpd6W4BP5g" name="state" type="_GqCeonUwEeKtkpd6W4BP5g" aggregation="composite"/>
+      <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeHnUwEeKtkpd6W4BP5g" name="image" type="_GqDFC3UwEeKtkpd6W4BP5g" aggregation="composite"/>
+      <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeH3UwEeKtkpd6W4BP5g" name="RmaxControlReq" type="_GqDFGnUwEeKtkpd6W4BP5g" aggregation="composite"/>
+      <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeIHUwEeKtkpd6W4BP5g" name="CameraControlReq" type="_GqDFXXUwEeKtkpd6W4BP5g" aggregation="composite"/>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Class" xmi:id="_GqCeLXUwEeKtkpd6W4BP5g" name="AvionicSystem">
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_GqCeLnUwEeKtkpd6W4BP5g" name="m_gyro" type="_GqCeBnUwEeKtkpd6W4BP5g"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_GqCeL3UwEeKtkpd6W4BP5g" name="m_obc" type="_GqCeD3UwEeKtkpd6W4BP5g"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_GqCeMHUwEeKtkpd6W4BP5g" name="m_gps" type="_GqCeCHUwEeKtkpd6W4BP5g"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_GqCeMXUwEeKtkpd6W4BP5g" name="m_motion" type="_GqCeC3UwEeKtkpd6W4BP5g"/>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_GqCeMnUwEeKtkpd6W4BP5g" name="Connector1">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_GqCeM3UwEeKtkpd6W4BP5g" partWithPort="_GqCeLnUwEeKtkpd6W4BP5g" role="_GqCeB3UwEeKtkpd6W4BP5g">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCeNHUwEeKtkpd6W4BP5g" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCeNXUwEeKtkpd6W4BP5g" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_GqCeNnUwEeKtkpd6W4BP5g" partWithPort="_GqCeL3UwEeKtkpd6W4BP5g" role="_GqCeEXUwEeKtkpd6W4BP5g">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCeN3UwEeKtkpd6W4BP5g" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCeOHUwEeKtkpd6W4BP5g" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_GqCeOXUwEeKtkpd6W4BP5g" name="Connector2">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_GqCeOnUwEeKtkpd6W4BP5g" partWithPort="_GqCeMHUwEeKtkpd6W4BP5g" role="_GqCeCXUwEeKtkpd6W4BP5g">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCeO3UwEeKtkpd6W4BP5g" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCePHUwEeKtkpd6W4BP5g" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_GqCePXUwEeKtkpd6W4BP5g" partWithPort="_GqCeL3UwEeKtkpd6W4BP5g" role="_GqCeEHUwEeKtkpd6W4BP5g">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCePnUwEeKtkpd6W4BP5g" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCeP3UwEeKtkpd6W4BP5g" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_GqCeQHUwEeKtkpd6W4BP5g" name="Connector3">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_GqCeQXUwEeKtkpd6W4BP5g" partWithPort="_GqCeL3UwEeKtkpd6W4BP5g" role="_GqCeEnUwEeKtkpd6W4BP5g">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCeQnUwEeKtkpd6W4BP5g" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCeQ3UwEeKtkpd6W4BP5g" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_GqCeRHUwEeKtkpd6W4BP5g" partWithPort="_GqCeMXUwEeKtkpd6W4BP5g" role="_GqCeDHUwEeKtkpd6W4BP5g">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCeRXUwEeKtkpd6W4BP5g" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCeRnUwEeKtkpd6W4BP5g" value="1"/>
+        </end>
+      </ownedConnector>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Class" xmi:id="_GqCeR3UwEeKtkpd6W4BP5g" name="CameraSystem">
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_GqCeSHUwEeKtkpd6W4BP5g" name="m_camera" type="_GqCeAnUwEeKtkpd6W4BP5g"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_GqCeSXUwEeKtkpd6W4BP5g" name="m_talc_cam_driv" type="_GqCeFnUwEeKtkpd6W4BP5g"/>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_GqCeSnUwEeKtkpd6W4BP5g" name="Connector1">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_GqCeS3UwEeKtkpd6W4BP5g" partWithPort="_GqCeSHUwEeKtkpd6W4BP5g" role="_GqCeA3UwEeKtkpd6W4BP5g">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCeTHUwEeKtkpd6W4BP5g" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCeTXUwEeKtkpd6W4BP5g" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_GqCeTnUwEeKtkpd6W4BP5g" partWithPort="_GqCeSXUwEeKtkpd6W4BP5g" role="_GqCeF3UwEeKtkpd6W4BP5g">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCeT3UwEeKtkpd6W4BP5g" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCeUHUwEeKtkpd6W4BP5g" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_GqCeUXUwEeKtkpd6W4BP5g" name="Connector2">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_GqCeUnUwEeKtkpd6W4BP5g" partWithPort="_GqCeSHUwEeKtkpd6W4BP5g" role="_GqCeBHUwEeKtkpd6W4BP5g">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCeU3UwEeKtkpd6W4BP5g" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCeVHUwEeKtkpd6W4BP5g" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_GqCeVXUwEeKtkpd6W4BP5g" partWithPort="_GqCeSXUwEeKtkpd6W4BP5g" role="_GqCeGHUwEeKtkpd6W4BP5g">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCeVnUwEeKtkpd6W4BP5g" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCeV3UwEeKtkpd6W4BP5g" value="1"/>
+        </end>
+      </ownedConnector>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Class" xmi:id="_GqCeWHUwEeKtkpd6W4BP5g" name="RmaxHardwareArchitecture">
+      <ownedComment xmi:type="uml:Comment" xmi:id="_GqCeWXUwEeKtkpd6W4BP5g">
+        <body></body>
+      </ownedComment>
+      <ownedComment xmi:type="uml:Comment" xmi:id="_GqCeWnUwEeKtkpd6W4BP5g">
+        <body></body>
+      </ownedComment>
+      <ownedComment xmi:type="uml:Comment" xmi:id="_GqCeW3UwEeKtkpd6W4BP5g">
+        <body></body>
+      </ownedComment>
+      <ownedRule xmi:type="uml:Constraint" xmi:id="_GqCeXHUwEeKtkpd6W4BP5g" name="Constraint1">
+        <specification xmi:type="uml:LiteralString" xmi:id="_GqCeXXUwEeKtkpd6W4BP5g"/>
+      </ownedRule>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_GqCeXnUwEeKtkpd6W4BP5g" name="m_uav" type="_GqCeDnUwEeKtkpd6W4BP5g"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_GqCeX3UwEeKtkpd6W4BP5g" name="Property2" type="_GqCeD3UwEeKtkpd6W4BP5g"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_GqCeYHUwEeKtkpd6W4BP5g" name="m_cam" type="_GqCeAnUwEeKtkpd6W4BP5g"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_GqCeYXUwEeKtkpd6W4BP5g" name="m_gyro" type="_GqCeBnUwEeKtkpd6W4BP5g"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_GqCeYnUwEeKtkpd6W4BP5g" name="m_gps" type="_GqCeCHUwEeKtkpd6W4BP5g"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_GqCeY3UwEeKtkpd6W4BP5g" name="m_motion" type="_GqCeC3UwEeKtkpd6W4BP5g"/>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_GqCeZHUwEeKtkpd6W4BP5g" name="translate(x=1.4000).rotate(x=-1.5708).append" isStatic="true">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_GqCeZXUwEeKtkpd6W4BP5g" role="_GqCeYHUwEeKtkpd6W4BP5g">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCeZnUwEeKtkpd6W4BP5g" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCeZ3UwEeKtkpd6W4BP5g" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_GqCeaHUwEeKtkpd6W4BP5g" role="_GqCeXnUwEeKtkpd6W4BP5g">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCeaXUwEeKtkpd6W4BP5g" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCeanUwEeKtkpd6W4BP5g" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_GqCea3UwEeKtkpd6W4BP5g" name="translate(x=0.8000, z=1.1000).append">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_GqCebHUwEeKtkpd6W4BP5g" role="_GqCeYXUwEeKtkpd6W4BP5g">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCebXUwEeKtkpd6W4BP5g" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCebnUwEeKtkpd6W4BP5g" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_GqCeb3UwEeKtkpd6W4BP5g" role="_GqCeXnUwEeKtkpd6W4BP5g">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCecHUwEeKtkpd6W4BP5g" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCecXUwEeKtkpd6W4BP5g" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_GqCecnUwEeKtkpd6W4BP5g" name="append">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_GqCec3UwEeKtkpd6W4BP5g" role="_GqCeYnUwEeKtkpd6W4BP5g">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCedHUwEeKtkpd6W4BP5g" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCedXUwEeKtkpd6W4BP5g" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_GqCednUwEeKtkpd6W4BP5g" role="_GqCeXnUwEeKtkpd6W4BP5g">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCed3UwEeKtkpd6W4BP5g" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCeeHUwEeKtkpd6W4BP5g" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_GqCeeXUwEeKtkpd6W4BP5g" name="append">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_GqCeenUwEeKtkpd6W4BP5g" role="_GqCeY3UwEeKtkpd6W4BP5g">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCee3UwEeKtkpd6W4BP5g" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCefHUwEeKtkpd6W4BP5g" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_GqCefXUwEeKtkpd6W4BP5g" role="_GqCeXnUwEeKtkpd6W4BP5g">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCefnUwEeKtkpd6W4BP5g" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCef3UwEeKtkpd6W4BP5g" value="1"/>
+        </end>
+      </ownedConnector>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Class" xmi:id="_GqCegHUwEeKtkpd6W4BP5g" name="RMaxSoftwareArchitecture">
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_GqCegXUwEeKtkpd6W4BP5g" name="Property1" type="_GqCeD3UwEeKtkpd6W4BP5g"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_GqCegnUwEeKtkpd6W4BP5g" name="Property2" type="_GqCeFnUwEeKtkpd6W4BP5g"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_GqCeg3UwEeKtkpd6W4BP5g" name="Property3" type="_GqCeHHUwEeKtkpd6W4BP5g"/>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_GqCehHUwEeKtkpd6W4BP5g" name="Connector1">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_GqCehXUwEeKtkpd6W4BP5g" partWithPort="_GqCegnUwEeKtkpd6W4BP5g" role="_GqCeGXUwEeKtkpd6W4BP5g">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCehnUwEeKtkpd6W4BP5g" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCeh3UwEeKtkpd6W4BP5g" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_GqCeiHUwEeKtkpd6W4BP5g" partWithPort="_GqCeg3UwEeKtkpd6W4BP5g" role="_GqCeHnUwEeKtkpd6W4BP5g">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCeiXUwEeKtkpd6W4BP5g" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCeinUwEeKtkpd6W4BP5g" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_GqCei3UwEeKtkpd6W4BP5g" name="Connector2">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_GqCejHUwEeKtkpd6W4BP5g" partWithPort="_GqCegXUwEeKtkpd6W4BP5g" role="_GqCeE3UwEeKtkpd6W4BP5g">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCejXUwEeKtkpd6W4BP5g" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCejnUwEeKtkpd6W4BP5g" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_GqCej3UwEeKtkpd6W4BP5g" partWithPort="_GqCeg3UwEeKtkpd6W4BP5g" role="_GqCeHXUwEeKtkpd6W4BP5g">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCekHUwEeKtkpd6W4BP5g" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCekXUwEeKtkpd6W4BP5g" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_GqCeknUwEeKtkpd6W4BP5g" name="Connector3">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_GqCek3UwEeKtkpd6W4BP5g" partWithPort="_GqCegXUwEeKtkpd6W4BP5g" role="_GqCeFXUwEeKtkpd6W4BP5g">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCelHUwEeKtkpd6W4BP5g" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCelXUwEeKtkpd6W4BP5g" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_GqCelnUwEeKtkpd6W4BP5g" partWithPort="_GqCeg3UwEeKtkpd6W4BP5g" role="_GqCeH3UwEeKtkpd6W4BP5g">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCel3UwEeKtkpd6W4BP5g" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCemHUwEeKtkpd6W4BP5g" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_GqCemXUwEeKtkpd6W4BP5g" name="Connector4">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_GqCemnUwEeKtkpd6W4BP5g" partWithPort="_GqCegnUwEeKtkpd6W4BP5g" role="_GqCeG3UwEeKtkpd6W4BP5g">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCem3UwEeKtkpd6W4BP5g" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCenHUwEeKtkpd6W4BP5g" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_GqCenXUwEeKtkpd6W4BP5g" partWithPort="_GqCeg3UwEeKtkpd6W4BP5g" role="_GqCeIHUwEeKtkpd6W4BP5g">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqCennUwEeKtkpd6W4BP5g" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqCen3UwEeKtkpd6W4BP5g" value="1"/>
+        </end>
+      </ownedConnector>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Package" xmi:id="_GqCeoHUwEeKtkpd6W4BP5g" name="PlatformModel">
+      <packagedElement xmi:type="uml:Package" xmi:id="_GqCeoXUwEeKtkpd6W4BP5g" name="ControlSystemPlatform"/>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Package" xmi:id="_gUzrwHYcEeKPK8ZhPTxHOw" name="C++types">
+      <packagedElement xmi:type="uml:PrimitiveType" xmi:id="_GqDFGHUwEeKtkpd6W4BP5g" name="unsigned char *"/>
+      <packagedElement xmi:type="uml:PrimitiveType" xmi:id="_GqDFGXUwEeKtkpd6W4BP5g" name="unsigned char **"/>
+      <packagedElement xmi:type="uml:PrimitiveType" xmi:id="_BBTMkHYcEeKPK8ZhPTxHOw" name="unsigned"/>
+      <packagedElement xmi:type="uml:PrimitiveType" xmi:id="_tF-4MHYcEeKPK8ZhPTxHOw" name="double"/>
+      <packagedElement xmi:type="uml:PrimitiveType" xmi:id="__ayFQHYcEeKPK8ZhPTxHOw" name="int"/>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Package" xmi:id="_EHBYoHYiEeKPK8ZhPTxHOw" name="Video">
+      <packagedElement xmi:type="uml:DataType" xmi:id="_GqDFC3UwEeKtkpd6W4BP5g" name="Image">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqDFDHUwEeKtkpd6W4BP5g" name="m_compression_for_logging" type="__ayFQHYcEeKPK8ZhPTxHOw"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqDFDXUwEeKtkpd6W4BP5g" name="m_ts" visibility="private" type="_tF-4MHYcEeKPK8ZhPTxHOw"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqDFDnUwEeKtkpd6W4BP5g" name="m_width" visibility="private" type="_BBTMkHYcEeKPK8ZhPTxHOw"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqDFD3UwEeKtkpd6W4BP5g" name="m_height" visibility="private" type="_BBTMkHYcEeKPK8ZhPTxHOw"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqDFEHUwEeKtkpd6W4BP5g" name="m_color" visibility="private">
+          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqDFEXUwEeKtkpd6W4BP5g" name="m_pnm_image" visibility="private" type="_GqDFGHUwEeKtkpd6W4BP5g"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqDFEnUwEeKtkpd6W4BP5g" name="m_pixels" visibility="private" type="_GqDFGHUwEeKtkpd6W4BP5g"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqDFE3UwEeKtkpd6W4BP5g" name="m_rows" visibility="private" type="_GqDFGXUwEeKtkpd6W4BP5g"/>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_OQ1TgHYdEeKPK8ZhPTxHOw" name="getWidth">
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_nqEzsHYdEeKPK8ZhPTxHOw" type="_BBTMkHYcEeKPK8ZhPTxHOw" direction="return"/>
+        </ownedOperation>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_Sbb2QHYeEeKPK8ZhPTxHOw" name="getHeight">
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_dY63gHYeEeKPK8ZhPTxHOw" type="_BBTMkHYcEeKPK8ZhPTxHOw" direction="return"/>
+        </ownedOperation>
+      </packagedElement>
+      <packagedElement xmi:type="uml:DataType" xmi:id="_GqDFFHUwEeKtkpd6W4BP5g" name="Thumb">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqDFFXUwEeKtkpd6W4BP5g" name="m_data">
+          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_6NJfkAKnEeCQReIOIWJ0nA"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqDFFnUwEeKtkpd6W4BP5g" value="230314"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqDFF3UwEeKtkpd6W4BP5g" value="230314"/>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Interface" xmi:id="_GqDFXXUwEeKtkpd6W4BP5g" name="CameraInterface">
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFXnUwEeKtkpd6W4BP5g" name="getInterfaceName">
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_NjAX8HdAEeKZYq0TRURVaw" type="_AYcbIHdAEeKZYq0TRURVaw" direction="return"/>
+        </ownedOperation>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFX3UwEeKtkpd6W4BP5g" name="setGain"/>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFYHUwEeKtkpd6W4BP5g" name="getGain"/>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFYXUwEeKtkpd6W4BP5g" name="setGainAuto"/>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFYnUwEeKtkpd6W4BP5g" name="getGainAuto"/>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFY3UwEeKtkpd6W4BP5g" name="setGainAutoMin"/>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFZHUwEeKtkpd6W4BP5g" name="getGainAutoMin"/>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFZXUwEeKtkpd6W4BP5g" name="setGainAutoMax"/>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFZnUwEeKtkpd6W4BP5g" name="getGainAutoMax"/>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFZ3UwEeKtkpd6W4BP5g" name="setShutter"/>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFaHUwEeKtkpd6W4BP5g" name="getShuter"/>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFaXUwEeKtkpd6W4BP5g" name="setShutterAuto"/>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFanUwEeKtkpd6W4BP5g" name="getShutterAuto"/>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFa3UwEeKtkpd6W4BP5g" name="setShutterAutoMin"/>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFbHUwEeKtkpd6W4BP5g" name="getShutterAutoMin"/>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFbXUwEeKtkpd6W4BP5g" name="setShutterAutoMax"/>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFbnUwEeKtkpd6W4BP5g" name="getShutterAutoMax"/>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFb3UwEeKtkpd6W4BP5g" name="setBrightness"/>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFcHUwEeKtkpd6W4BP5g" name="getBrightness"/>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_YKq6MHdAEeKZYq0TRURVaw" name="init">
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_ntvmgHdAEeKZYq0TRURVaw" type="_pZxqgHdAEeKZYq0TRURVaw" direction="return"/>
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_ncXQsHdCEeK8eOjgOuXhhw" type="_GqDFC3UwEeKtkpd6W4BP5g" effect="read"/>
+        </ownedOperation>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Package" xmi:id="_J6rUgHZ-EeK3HpwXUW73BQ" name="Orocos">
+        <packagedElement xmi:type="uml:Class" xmi:id="_GqCeFnUwEeKtkpd6W4BP5g" name="Camera">
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeF3UwEeKtkpd6W4BP5g" name="Image" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeGHUwEeKtkpd6W4BP5g" name="Info" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_5d_eEAKoEeCQReIOIWJ0nA"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeGXUwEeKtkpd6W4BP5g" name="image" type="_GqDFC3UwEeKtkpd6W4BP5g" aggregation="composite"/>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeGnUwEeKtkpd6W4BP5g" name="thumb" type="_GqDFFHUwEeKtkpd6W4BP5g" aggregation="composite"/>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeG3UwEeKtkpd6W4BP5g" name="CameraControlPro" type="_GqDFXXUwEeKtkpd6W4BP5g" aggregation="composite"/>
+        </packagedElement>
+      </packagedElement>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Package" xmi:id="_tzG_wHYjEeKPK8ZhPTxHOw" name="Avionique">
+      <packagedElement xmi:type="uml:DataType" xmi:id="_GqDFfHUwEeKtkpd6W4BP5g" name="Way">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqDFfXUwEeKtkpd6W4BP5g" name="m_id">
+          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_nCOuoAH-EeC_ZLzLQhW-TQ"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqDFfnUwEeKtkpd6W4BP5g" name="m_position_in_mission">
+          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_nCOuoAH-EeC_ZLzLQhW-TQ"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqDFf3UwEeKtkpd6W4BP5g" name="m_nb_loops">
+          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_nCOuoAH-EeC_ZLzLQhW-TQ"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqDFgHUwEeKtkpd6W4BP5g" name="m_nb_wp">
+          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_nCOuoAH-EeC_ZLzLQhW-TQ"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqDFgXUwEeKtkpd6W4BP5g" name="m_first_wp_id">
+          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_nCOuoAH-EeC_ZLzLQhW-TQ"/>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:DataType" xmi:id="_GqDFcXUwEeKtkpd6W4BP5g" name="Waypoint">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqDFcnUwEeKtkpd6W4BP5g" name="m_id">
+          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_nCOuoAH-EeC_ZLzLQhW-TQ"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqDFc3UwEeKtkpd6W4BP5g" name="m_x">
+          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqDFdHUwEeKtkpd6W4BP5g" name="m_y">
+          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqDFdXUwEeKtkpd6W4BP5g" name="m_z">
+          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqDFdnUwEeKtkpd6W4BP5g" name="m_cap">
+          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqDFd3UwEeKtkpd6W4BP5g" name="m_derap">
+          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqDFeHUwEeKtkpd6W4BP5g" name="m_vel">
+          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqDFeXUwEeKtkpd6W4BP5g" name="m_v_prox">
+          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqDFenUwEeKtkpd6W4BP5g" name="m_d_prox">
+          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqDFe3UwEeKtkpd6W4BP5g" name="m_wait">
+          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:DataType" xmi:id="_GqCeonUwEeKtkpd6W4BP5g" name="State">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqCeo3UwEeKtkpd6W4BP5g" name="m_ts_ref" type="_tF-4MHYcEeKPK8ZhPTxHOw"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqCepHUwEeKtkpd6W4BP5g" name="m_ts" type="_tF-4MHYcEeKPK8ZhPTxHOw"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqCepXUwEeKtkpd6W4BP5g" name="m_ts_remote" type="_tF-4MHYcEeKPK8ZhPTxHOw"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqCepnUwEeKtkpd6W4BP5g" name="m_phase" type="_BBTMkHYcEeKPK8ZhPTxHOw"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqCep3UwEeKtkpd6W4BP5g" name="m_wp" type="_BBTMkHYcEeKPK8ZhPTxHOw"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqCeqHUwEeKtkpd6W4BP5g" name="m_cpt" type="_BBTMkHYcEeKPK8ZhPTxHOw"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqCeqXUwEeKtkpd6W4BP5g" name="m_h_int_time" type="_tF-4MHYcEeKPK8ZhPTxHOw"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqCeqnUwEeKtkpd6W4BP5g" name="m_h" type="_tF-4MHYcEeKPK8ZhPTxHOw"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqCeq3UwEeKtkpd6W4BP5g" name="m_gps_int_time" type="_tF-4MHYcEeKPK8ZhPTxHOw"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqCerHUwEeKtkpd6W4BP5g" name="m_pos" type="_tF-4MHYcEeKPK8ZhPTxHOw">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqDFAHUwEeKtkpd6W4BP5g" value="3"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqDFAXUwEeKtkpd6W4BP5g" value="3"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqDFAnUwEeKtkpd6W4BP5g" name="m_att" type="_tF-4MHYcEeKPK8ZhPTxHOw">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqDFA3UwEeKtkpd6W4BP5g" value="3"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqDFBHUwEeKtkpd6W4BP5g" value="3"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqDFBXUwEeKtkpd6W4BP5g" name="m_vel" type="_tF-4MHYcEeKPK8ZhPTxHOw">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqDFBnUwEeKtkpd6W4BP5g" value="3"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqDFB3UwEeKtkpd6W4BP5g" value="3"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_GqDFCHUwEeKtkpd6W4BP5g" name="m_acc" type="_tF-4MHYcEeKPK8ZhPTxHOw">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_GqDFCXUwEeKtkpd6W4BP5g" value="3"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_GqDFCnUwEeKtkpd6W4BP5g" value="3"/>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Interface" xmi:id="_GqDFGnUwEeKtkpd6W4BP5g" name="ObcInterface">
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFG3UwEeKtkpd6W4BP5g" name="getInterfaceName">
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFHHUwEeKtkpd6W4BP5g" direction="return">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
+          </ownedParameter>
+        </ownedOperation>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFHXUwEeKtkpd6W4BP5g" name="getState">
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFHnUwEeKtkpd6W4BP5g" direction="return">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
+          </ownedParameter>
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFH3UwEeKtkpd6W4BP5g" name="state" type="_GqCeonUwEeKtkpd6W4BP5g" direction="out"/>
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFIHUwEeKtkpd6W4BP5g" name="date">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+          </ownedParameter>
+        </ownedOperation>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFIXUwEeKtkpd6W4BP5g" name="setPhase">
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFInUwEeKtkpd6W4BP5g" direction="return">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
+          </ownedParameter>
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFI3UwEeKtkpd6W4BP5g" name="phase">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_nCOuoAH-EeC_ZLzLQhW-TQ"/>
+          </ownedParameter>
+        </ownedOperation>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFJHUwEeKtkpd6W4BP5g" name="setPhaseStr">
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFJXUwEeKtkpd6W4BP5g" direction="return">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
+          </ownedParameter>
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFJnUwEeKtkpd6W4BP5g" name="str">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
+          </ownedParameter>
+        </ownedOperation>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFJ3UwEeKtkpd6W4BP5g" name="setPhaseDescente">
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFKHUwEeKtkpd6W4BP5g" direction="return">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
+          </ownedParameter>
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFKXUwEeKtkpd6W4BP5g" name="altitude">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+          </ownedParameter>
+        </ownedOperation>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFKnUwEeKtkpd6W4BP5g" name="getPhase">
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFK3UwEeKtkpd6W4BP5g" direction="return">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_nCOuoAH-EeC_ZLzLQhW-TQ"/>
+          </ownedParameter>
+        </ownedOperation>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFLHUwEeKtkpd6W4BP5g" name="getPhaseStr">
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFLXUwEeKtkpd6W4BP5g" direction="return">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
+          </ownedParameter>
+        </ownedOperation>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFLnUwEeKtkpd6W4BP5g" name="move">
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFL3UwEeKtkpd6W4BP5g" direction="return">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
+          </ownedParameter>
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFMHUwEeKtkpd6W4BP5g" name="x">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+          </ownedParameter>
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFMXUwEeKtkpd6W4BP5g" name="y">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+          </ownedParameter>
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFMnUwEeKtkpd6W4BP5g" name="z">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+          </ownedParameter>
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFM3UwEeKtkpd6W4BP5g" name="psi">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+          </ownedParameter>
+        </ownedOperation>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFNHUwEeKtkpd6W4BP5g" name="gotou">
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFNXUwEeKtkpd6W4BP5g" direction="return">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
+          </ownedParameter>
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFNnUwEeKtkpd6W4BP5g" name="x">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+          </ownedParameter>
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFN3UwEeKtkpd6W4BP5g" name="y">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+          </ownedParameter>
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFOHUwEeKtkpd6W4BP5g" name="z">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+          </ownedParameter>
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFOXUwEeKtkpd6W4BP5g" name="psi">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+          </ownedParameter>
+        </ownedOperation>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFOnUwEeKtkpd6W4BP5g" name="track">
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFO3UwEeKtkpd6W4BP5g" direction="return">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
+          </ownedParameter>
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFPHUwEeKtkpd6W4BP5g" name="vx">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+          </ownedParameter>
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFPXUwEeKtkpd6W4BP5g" name="vy">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+          </ownedParameter>
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFPnUwEeKtkpd6W4BP5g" name="z">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+          </ownedParameter>
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFP3UwEeKtkpd6W4BP5g" name="psi">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+          </ownedParameter>
+        </ownedOperation>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFQHUwEeKtkpd6W4BP5g" name="altitude">
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFQXUwEeKtkpd6W4BP5g" direction="return">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
+          </ownedParameter>
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFQnUwEeKtkpd6W4BP5g" name="altitude">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+          </ownedParameter>
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFQ3UwEeKtkpd6W4BP5g" name="enable">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
+          </ownedParameter>
+        </ownedOperation>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFRHUwEeKtkpd6W4BP5g" name="waypointAdd">
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFRXUwEeKtkpd6W4BP5g" direction="return">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
+          </ownedParameter>
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFRnUwEeKtkpd6W4BP5g" name="wp" type="_GqDFcXUwEeKtkpd6W4BP5g"/>
+        </ownedOperation>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFR3UwEeKtkpd6W4BP5g" name="waypointDel">
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFSHUwEeKtkpd6W4BP5g" direction="return">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
+          </ownedParameter>
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFSXUwEeKtkpd6W4BP5g" name="wp" type="_GqDFcXUwEeKtkpd6W4BP5g"/>
+        </ownedOperation>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFSnUwEeKtkpd6W4BP5g" name="wayAdd">
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFS3UwEeKtkpd6W4BP5g" direction="return">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
+          </ownedParameter>
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFTHUwEeKtkpd6W4BP5g" name="w" type="_GqDFfHUwEeKtkpd6W4BP5g"/>
+        </ownedOperation>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFTXUwEeKtkpd6W4BP5g" name="wayDel">
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFTnUwEeKtkpd6W4BP5g" direction="return">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
+          </ownedParameter>
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFT3UwEeKtkpd6W4BP5g" name="w" type="_GqDFfHUwEeKtkpd6W4BP5g"/>
+        </ownedOperation>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFUHUwEeKtkpd6W4BP5g" name="wayPush">
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFUXUwEeKtkpd6W4BP5g" direction="return">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
+          </ownedParameter>
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFUnUwEeKtkpd6W4BP5g" name="w" type="_GqDFfHUwEeKtkpd6W4BP5g"/>
+        </ownedOperation>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFU3UwEeKtkpd6W4BP5g" name="wayPop">
+          <ownedParameter xmi:type="uml:Parameter" xmi:id="_GqDFVHUwEeKtkpd6W4BP5g" direction="return">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
+          </ownedParameter>
+        </ownedOperation>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFVXUwEeKtkpd6W4BP5g" name="obstacleAdd"/>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFVnUwEeKtkpd6W4BP5g" name="obstacleDel"/>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFV3UwEeKtkpd6W4BP5g" name="setObj"/>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFWHUwEeKtkpd6W4BP5g" name="quickWaypointDel"/>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFWXUwEeKtkpd6W4BP5g" name="quickSetObj"/>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFWnUwEeKtkpd6W4BP5g" name="getMinDt"/>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFW3UwEeKtkpd6W4BP5g" name="getMaxV"/>
+        <ownedOperation xmi:type="uml:Operation" xmi:id="_GqDFXHUwEeKtkpd6W4BP5g" name="getMaxA"/>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Package" xmi:id="_Ob3nwHZ-EeK3HpwXUW73BQ" name="Orocos">
+        <packagedElement xmi:type="uml:Class" xmi:id="_GqCeD3UwEeKtkpd6W4BP5g" name="Obc">
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeEHUwEeKtkpd6W4BP5g" name="GPS" aggregation="composite">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeEXUwEeKtkpd6W4BP5g" name="IMU" aggregation="composite">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qaS2oAH-EeC_ZLzLQhW-TQ"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeEnUwEeKtkpd6W4BP5g" name="TargetPosition" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_1_-5oAH5EeC_ZLzLQhW-TQ"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeE3UwEeKtkpd6W4BP5g" name="state" type="_GqCeonUwEeKtkpd6W4BP5g" aggregation="composite"/>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_GqCeFHUwEeKtkpd6W4BP5g" name="Property1" type="_GqCeAXUwEeKtkpd6W4BP5g"/>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_GqCeFXUwEeKtkpd6W4BP5g" name="RmaxControlPro" type="_GqDFGnUwEeKtkpd6W4BP5g" aggregation="composite"/>
+        </packagedElement>
+      </packagedElement>
+    </packagedElement>
+    <packagedElement xmi:type="uml:PrimitiveType" xmi:id="_AYcbIHdAEeKZYq0TRURVaw" name="std::string"/>
+    <packagedElement xmi:type="uml:PrimitiveType" xmi:id="_pZxqgHdAEeKZYq0TRURVaw" name="bool"/>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_GqDFgnUwEeKtkpd6W4BP5g">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_GqDFg3UwEeKtkpd6W4BP5g" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://Papyrus/RobotML/1#/"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://Robotml_PROFILES/RobotMLProfile.profile.uml#_3QOHEPcEEd-J06U5HM_o-Q"/>
+    </profileApplication>
+  </uml:Model>
+  <RobotML:RoboticMiddleware xmi:id="_GqE6MHUwEeKtkpd6W4BP5g" base_Class="_GqCeAXUwEeKtkpd6W4BP5g"/>
+  <RobotML:CameraSystem xmi:id="_GqE6MXUwEeKtkpd6W4BP5g" base_Class="_GqCeAnUwEeKtkpd6W4BP5g"/>
+  <RobotML:RoboticSimulator xmi:id="_GqE6MnUwEeKtkpd6W4BP5g" base_Class="_GqCeBXUwEeKtkpd6W4BP5g"/>
+  <RobotML:SensorSystem xmi:id="_GqE6M3UwEeKtkpd6W4BP5g" base_Class="_GqCeBnUwEeKtkpd6W4BP5g"/>
+  <RobotML:GPSSystem xmi:id="_GqE6NHUwEeKtkpd6W4BP5g" base_Class="_GqCeCHUwEeKtkpd6W4BP5g"/>
+  <RobotML:RoboticMiddleware xmi:id="_GqE6NXUwEeKtkpd6W4BP5g" base_Class="_GqCeCnUwEeKtkpd6W4BP5g"/>
+  <RobotML:ActuatorSystem xmi:id="_GqE6NnUwEeKtkpd6W4BP5g" base_Class="_GqCeC3UwEeKtkpd6W4BP5g"/>
+  <RobotML:Environment xmi:id="_GqE6N3UwEeKtkpd6W4BP5g" base_Class="_GqCeDXUwEeKtkpd6W4BP5g"/>
+  <RobotML:Robot xmi:id="_GqE6OXUwEeKtkpd6W4BP5g" base_Class="_GqCeDnUwEeKtkpd6W4BP5g" kind="UAV"/>
+  <RobotML:RoboticSystem xmi:id="_GqE6OnUwEeKtkpd6W4BP5g" base_Class="_GqCeD3UwEeKtkpd6W4BP5g" native="true"/>
+  <RobotML:RoboticSystem xmi:id="_GqE6O3UwEeKtkpd6W4BP5g" base_Class="_GqCeFnUwEeKtkpd6W4BP5g" native="true"/>
+  <RobotML:RoboticSystem xmi:id="_GqFhQHUwEeKtkpd6W4BP5g" base_Class="_GqCeHHUwEeKtkpd6W4BP5g"/>
+  <RobotML:DataFlowPort xmi:id="_GqFhQXUwEeKtkpd6W4BP5g" base_Port="_GqCeA3UwEeKtkpd6W4BP5g" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_GqFhQnUwEeKtkpd6W4BP5g" base_Port="_GqCeBHUwEeKtkpd6W4BP5g" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_GqFhQ3UwEeKtkpd6W4BP5g" base_Port="_GqCeB3UwEeKtkpd6W4BP5g" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_GqFhRHUwEeKtkpd6W4BP5g" base_Port="_GqCeCXUwEeKtkpd6W4BP5g" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_GqFhRXUwEeKtkpd6W4BP5g" base_Port="_GqCeDHUwEeKtkpd6W4BP5g"/>
+  <RobotML:DataFlowPort xmi:id="_GqFhRnUwEeKtkpd6W4BP5g" base_Port="_GqCeEHUwEeKtkpd6W4BP5g"/>
+  <RobotML:DataFlowPort xmi:id="_GqFhR3UwEeKtkpd6W4BP5g" base_Port="_GqCeEXUwEeKtkpd6W4BP5g"/>
+  <RobotML:DataFlowPort xmi:id="_GqFhSHUwEeKtkpd6W4BP5g" base_Port="_GqCeEnUwEeKtkpd6W4BP5g" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_GqFhSXUwEeKtkpd6W4BP5g" base_Port="_GqCeF3UwEeKtkpd6W4BP5g"/>
+  <RobotML:DataFlowPort xmi:id="_GqFhSnUwEeKtkpd6W4BP5g" base_Port="_GqCeGHUwEeKtkpd6W4BP5g"/>
+  <RobotML:RoboticSystem xmi:id="_GqFhS3UwEeKtkpd6W4BP5g" base_Class="_GqCeLXUwEeKtkpd6W4BP5g"/>
+  <RobotML:RoboticSystem xmi:id="_GqFhTHUwEeKtkpd6W4BP5g" base_Class="_GqCeR3UwEeKtkpd6W4BP5g"/>
+  <RobotML:RoboticSystem xmi:id="_GqFhTXUwEeKtkpd6W4BP5g" base_Class="_GqCeWHUwEeKtkpd6W4BP5g"/>
+  <RobotML:RoboticSystem xmi:id="_GqFhTnUwEeKtkpd6W4BP5g" base_Class="_GqCegHUwEeKtkpd6W4BP5g"/>
+  <RobotML:DataFlowPort xmi:id="_GqFhT3UwEeKtkpd6W4BP5g" base_Port="_GqCeHXUwEeKtkpd6W4BP5g"/>
+  <RobotML:DataFlowPort xmi:id="_GqFhUHUwEeKtkpd6W4BP5g" base_Port="_GqCeHnUwEeKtkpd6W4BP5g"/>
+  <RobotML:DataFlowPort xmi:id="_GqFhX3UwEeKtkpd6W4BP5g" base_Port="_GqCeE3UwEeKtkpd6W4BP5g" direction="out"/>
+  <RobotML:ServicePort xmi:id="_GqFhYHUwEeKtkpd6W4BP5g" base_Port="_GqCeFXUwEeKtkpd6W4BP5g"/>
+  <RobotML:DataFlowPort xmi:id="_GqFhYXUwEeKtkpd6W4BP5g" base_Port="_GqCeGXUwEeKtkpd6W4BP5g" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_GqFhYnUwEeKtkpd6W4BP5g" base_Port="_GqCeGnUwEeKtkpd6W4BP5g" direction="out"/>
+  <RobotML:ServicePort xmi:id="_GqFhY3UwEeKtkpd6W4BP5g" base_Port="_GqCeG3UwEeKtkpd6W4BP5g"/>
+  <RobotML:ServicePort xmi:id="_GqFhZHUwEeKtkpd6W4BP5g" base_Port="_GqCeH3UwEeKtkpd6W4BP5g" kind="required"/>
+  <RobotML:ServicePort xmi:id="_GqFhbnUwEeKtkpd6W4BP5g" base_Port="_GqCeIHUwEeKtkpd6W4BP5g" kind="required"/>
+  <RobotML:Software xmi:id="_tIooUHaEEeK3HpwXUW73BQ" base_Class="_GqCeHHUwEeKtkpd6W4BP5g"/>
+  <RobotML:Software xmi:id="_Tto_MHaFEeK3HpwXUW73BQ" base_Class="_GqCeFnUwEeKtkpd6W4BP5g"/>
+  <RobotML:Software xmi:id="_bEppAHaFEeK3HpwXUW73BQ" base_Class="_GqCeD3UwEeKtkpd6W4BP5g"/>
+</xmi:XMI>
diff --git a/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.notation b/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.notation
index 3da2ccf..667a430 100644
--- a/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.notation
+++ b/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.notation
@@ -1,5827 +1,5877 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<xmi:XMI xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:configuration="http://www.eclipse.org/papyrus/infra/viewpoints/configuration" xmlns:css="http://www.eclipse.org/papyrus/infra/gmfdiag/css" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:notation="http://www.eclipse.org/gmf/runtime/1.0.2/notation" xmlns:style="http://www.eclipse.org/papyrus/infra/viewpoints/policy/style" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML">
-  <notation:Diagram xmi:id="_feP206k_EeCXqcRV-18f6Q" type="PapyrusUMLClassDiagram" name="DataTypesDiagram" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_feP21Kk_EeCXqcRV-18f6Q" type="2007" fontHeight="8" transparency="0" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP21ak_EeCXqcRV-18f6Q" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP21qk_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP216k_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP22Kk_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP22ak_EeCXqcRV-18f6Q" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP22qk_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_feP226k_EeCXqcRV-18f6Q" type="5026"/>
-      <children xmi:type="notation:DecorationNode" xmi:id="_feP23Kk_EeCXqcRV-18f6Q" type="7016">
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP23ak_EeCXqcRV-18f6Q"/>
-      </children>
-      <element xmi:type="ecore:EObject" href="platform:/plugin/org.eclipse.papyrus.robotml.templaterepository/resource/model.uml#_8lO84GEQEeC2Epd4sWqg4w"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP23qk_EeCXqcRV-18f6Q" x="122" y="49" width="464" height="222"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_feP236k_EeCXqcRV-18f6Q"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_kszlgH7LEeSFyNbnLYDCkw">
-      <owner xmi:type="ecore:EObject" href="platform:/plugin/org.eclipse.papyrus.robotml.templaterepository/resource/model.uml#_8lO84GEQEeC2Epd4sWqg4w"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWCvL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="ecore:EObject" href="platform:/plugin/org.eclipse.papyrus.robotml.templaterepository/resource/model.uml#_8lO84GEQEeC2Epd4sWqg4w"/>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_feP24Kk_EeCXqcRV-18f6Q" type="PapyrusUMLClassDiagram" name="InterfacesDiagram" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_feP24ak_EeCXqcRV-18f6Q" type="2007" fontHeight="8" transparency="0" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP24qk_EeCXqcRV-18f6Q" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP246k_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP25Kk_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP25ak_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP25qk_EeCXqcRV-18f6Q" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP256k_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_feP26Kk_EeCXqcRV-18f6Q" type="5026"/>
-      <children xmi:type="notation:DecorationNode" xmi:id="_feP26ak_EeCXqcRV-18f6Q" type="7016">
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP26qk_EeCXqcRV-18f6Q"/>
-      </children>
-      <element xmi:type="ecore:EObject" href="platform:/plugin/org.eclipse.papyrus.robotml.templaterepository/resource/model.uml#_CDtXwGEREeC2Epd4sWqg4w"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP266k_EeCXqcRV-18f6Q" x="101" y="54" width="480" height="252"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_feP27Kk_EeCXqcRV-18f6Q"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_ks9WgH7LEeSFyNbnLYDCkw">
-      <owner xmi:type="ecore:EObject" href="platform:/plugin/org.eclipse.papyrus.robotml.templaterepository/resource/model.uml#_CDtXwGEREeC2Epd4sWqg4w"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kz9EvL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="ecore:EObject" href="platform:/plugin/org.eclipse.papyrus.robotml.templaterepository/resource/model.uml#_CDtXwGEREeC2Epd4sWqg4w"/>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_feP27ak_EeCXqcRV-18f6Q" type="PapyrusUMLClassDiagram" name="InterfacesDiagram" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_feP27qk_EeCXqcRV-18f6Q" type="2007" fontHeight="8" transparency="0" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP276k_EeCXqcRV-18f6Q" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP28Kk_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP28ak_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP28qk_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP286k_EeCXqcRV-18f6Q" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP29Kk_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_feP29ak_EeCXqcRV-18f6Q" type="5026"/>
-      <children xmi:type="notation:DecorationNode" xmi:id="_feP29qk_EeCXqcRV-18f6Q" type="7016">
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP3W6k_EeCXqcRV-18f6Q"/>
-      </children>
-      <element xmi:type="uml:Model" href="RoboCab.uml#_fdzJTKk_EeCXqcRV-18f6Q"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP3XKk_EeCXqcRV-18f6Q" x="50" y="55" width="561" height="330"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_feP3Xak_EeCXqcRV-18f6Q"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_ks9WgX7LEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Model" href="RoboCab.uml#_fdzJTKk_EeCXqcRV-18f6Q"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kz9EvL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Model" href="RoboCab.uml#_fdzJTKk_EeCXqcRV-18f6Q"/>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_feP3Xqk_EeCXqcRV-18f6Q" type="PapyrusUMLClassDiagram" name="DataTypesDiagram" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_feP3X6k_EeCXqcRV-18f6Q" type="2007" fontHeight="8" transparency="0" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP3YKk_EeCXqcRV-18f6Q" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP3Yak_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP3Yqk_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP3Y6k_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP3ZKk_EeCXqcRV-18f6Q" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP3Zak_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_feP3Zqk_EeCXqcRV-18f6Q" type="5026"/>
-      <children xmi:type="notation:DecorationNode" xmi:id="_feP3Z6k_EeCXqcRV-18f6Q" type="7016">
-        <children xmi:type="notation:Shape" xmi:id="_pjTWMKlgEeCYfbnxVSyZ9g" type="3027" fontHeight="8" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_pjTWMqlgEeCYfbnxVSyZ9g" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pjTWM6lgEeCYfbnxVSyZ9g" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_pjTWNKlgEeCYfbnxVSyZ9g" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pjTWNalgEeCYfbnxVSyZ9g" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_pjTWNqlgEeCYfbnxVSyZ9g" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pjTWN6lgEeCYfbnxVSyZ9g" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_pjTWOKlgEeCYfbnxVSyZ9g" type="5061"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_pjTWOalgEeCYfbnxVSyZ9g" type="7032">
-            <children xmi:type="notation:Shape" xmi:id="_rjdQEKlgEeCYfbnxVSyZ9g" type="3018" fontHeight="8" lineColor="0">
-              <element xmi:type="uml:Property" href="RoboCab.uml#_rg65cKlgEeCYfbnxVSyZ9g"/>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_rjdQEalgEeCYfbnxVSyZ9g"/>
-            </children>
-            <children xmi:type="notation:Shape" xmi:id="_YwqNgKliEeCLku4RFrI7uw" type="3018" fontHeight="8" lineColor="0">
-              <element xmi:type="uml:Property" href="RoboCab.uml#_YvxcsKliEeCLku4RFrI7uw"/>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_YwqNgaliEeCLku4RFrI7uw"/>
-            </children>
-            <styles xmi:type="notation:TitleStyle" xmi:id="_pjTWOqlgEeCYfbnxVSyZ9g"/>
-            <styles xmi:type="notation:SortingStyle" xmi:id="_pjTWO6lgEeCYfbnxVSyZ9g"/>
-            <styles xmi:type="notation:FilteringStyle" xmi:id="_pjTWPKlgEeCYfbnxVSyZ9g"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_pjTWPalgEeCYfbnxVSyZ9g"/>
-          </children>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_pjTWPqlgEeCYfbnxVSyZ9g" visible="false" type="7033">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_pjTWP6lgEeCYfbnxVSyZ9g"/>
-            <styles xmi:type="notation:SortingStyle" xmi:id="_pjTWQKlgEeCYfbnxVSyZ9g"/>
-            <styles xmi:type="notation:FilteringStyle" xmi:id="_pjTWQalgEeCYfbnxVSyZ9g"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_pjTWQqlgEeCYfbnxVSyZ9g"/>
-          </children>
-          <element xmi:type="uml:DataType" href="RoboCab.uml#_pf4OwKlgEeCYfbnxVSyZ9g"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_pjTWMalgEeCYfbnxVSyZ9g" x="40" y="34"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_01OVYKlrEeCLku4RFrI7uw" type="3027" fontHeight="8" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_01XfUKlrEeCLku4RFrI7uw" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_01XfUalrEeCLku4RFrI7uw" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_01XfUqlrEeCLku4RFrI7uw" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_01XfU6lrEeCLku4RFrI7uw" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_01XfVKlrEeCLku4RFrI7uw" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_01XfValrEeCLku4RFrI7uw" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_01XfVqlrEeCLku4RFrI7uw" type="5061"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_01XfV6lrEeCLku4RFrI7uw" type="7032">
-            <children xmi:type="notation:Shape" xmi:id="_385Q8KlrEeCLku4RFrI7uw" type="3018" fontHeight="8" lineColor="0">
-              <element xmi:type="uml:Property" href="RoboCab.uml#_36grUKlrEeCLku4RFrI7uw"/>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_385Q8alrEeCLku4RFrI7uw"/>
-            </children>
-            <children xmi:type="notation:Shape" xmi:id="_8OfB8KlrEeCLku4RFrI7uw" type="3018" fontHeight="8" lineColor="0">
-              <element xmi:type="uml:Property" href="RoboCab.uml#_8L9SYKlrEeCLku4RFrI7uw"/>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_8OfB8alrEeCLku4RFrI7uw"/>
-            </children>
-            <styles xmi:type="notation:TitleStyle" xmi:id="_01XfWKlrEeCLku4RFrI7uw"/>
-            <styles xmi:type="notation:SortingStyle" xmi:id="_01XfWalrEeCLku4RFrI7uw"/>
-            <styles xmi:type="notation:FilteringStyle" xmi:id="_01XfWqlrEeCLku4RFrI7uw"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_01XfW6lrEeCLku4RFrI7uw"/>
-          </children>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_01XfXKlrEeCLku4RFrI7uw" visible="false" type="7033">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_01XfXalrEeCLku4RFrI7uw"/>
-            <styles xmi:type="notation:SortingStyle" xmi:id="_01XfXqlrEeCLku4RFrI7uw"/>
-            <styles xmi:type="notation:FilteringStyle" xmi:id="_01XfX6lrEeCLku4RFrI7uw"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_01XfYKlrEeCLku4RFrI7uw"/>
-          </children>
-          <element xmi:type="uml:DataType" href="RoboCab.uml#_0y-5sKlrEeCLku4RFrI7uw"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_01OVYalrEeCLku4RFrI7uw" x="40" y="254"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_nBSZgKltEeCLku4RFrI7uw" type="3027" fontHeight="8" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_nBSZgqltEeCLku4RFrI7uw" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nBSZg6ltEeCLku4RFrI7uw" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_nBSZhKltEeCLku4RFrI7uw" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nBSZhaltEeCLku4RFrI7uw" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_nBSZhqltEeCLku4RFrI7uw" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nBSZh6ltEeCLku4RFrI7uw" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_nBSZiKltEeCLku4RFrI7uw" type="5061"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_nBSZialtEeCLku4RFrI7uw" type="7032">
-            <children xmi:type="notation:Shape" xmi:id="_uO7r8KltEeCLku4RFrI7uw" type="3018" fontHeight="8" lineColor="0">
-              <element xmi:type="uml:Property" href="RoboCab.uml#_uMjGUKltEeCLku4RFrI7uw"/>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_uO7r8altEeCLku4RFrI7uw"/>
-            </children>
-            <children xmi:type="notation:Shape" xmi:id="_5Elm4KltEeCLku4RFrI7uw" type="3018" fontHeight="8" lineColor="0">
-              <element xmi:type="uml:Property" href="RoboCab.uml#_5CNBQKltEeCLku4RFrI7uw"/>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_5Elm4altEeCLku4RFrI7uw"/>
-            </children>
-            <styles xmi:type="notation:TitleStyle" xmi:id="_nBSZiqltEeCLku4RFrI7uw"/>
-            <styles xmi:type="notation:SortingStyle" xmi:id="_nBSZi6ltEeCLku4RFrI7uw"/>
-            <styles xmi:type="notation:FilteringStyle" xmi:id="_nBSZjKltEeCLku4RFrI7uw"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_nBSZjaltEeCLku4RFrI7uw"/>
-          </children>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_nBSZjqltEeCLku4RFrI7uw" visible="false" type="7033">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_nBSZj6ltEeCLku4RFrI7uw"/>
-            <styles xmi:type="notation:SortingStyle" xmi:id="_nBSZkKltEeCLku4RFrI7uw"/>
-            <styles xmi:type="notation:FilteringStyle" xmi:id="_nBSZkaltEeCLku4RFrI7uw"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_nBSZkqltEeCLku4RFrI7uw"/>
-          </children>
-          <element xmi:type="uml:DataType" href="RoboCab.uml#_m-wp8KltEeCLku4RFrI7uw"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_nBSZgaltEeCLku4RFrI7uw" x="40" y="144"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_rzK14B8mEeG4gPCEznVNOA" type="3027" fontName="Ubuntu" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_rzLc8R8mEeG4gPCEznVNOA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_rzLc8h8mEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_rzLc8x8mEeG4gPCEznVNOA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_rzLc9B8mEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_rzMEAB8mEeG4gPCEznVNOA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_rzMEAR8mEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_rzMEAh8mEeG4gPCEznVNOA" type="5061"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_rzMEAx8mEeG4gPCEznVNOA" type="7032">
-            <children xmi:type="notation:Shape" xmi:id="_--6SAB8mEeG4gPCEznVNOA" type="3018" fontName="Ubuntu" lineColor="0">
-              <element xmi:type="uml:Property" href="RoboCab.uml#_9y7AAB8mEeG4gPCEznVNOA"/>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_--6SAR8mEeG4gPCEznVNOA"/>
-            </children>
-            <children xmi:type="notation:Shape" xmi:id="_ci1p8B8nEeG4gPCEznVNOA" type="3018" fontName="Ubuntu" lineColor="0">
-              <element xmi:type="uml:Property" href="RoboCab.uml#_LR0OEB8nEeG4gPCEznVNOA"/>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_ci1p8R8nEeG4gPCEznVNOA"/>
-            </children>
-            <children xmi:type="notation:Shape" xmi:id="_ci2RAB8nEeG4gPCEznVNOA" type="3018" fontName="Ubuntu" lineColor="0">
-              <element xmi:type="uml:Property" href="RoboCab.uml#_QKiQgB8nEeG4gPCEznVNOA"/>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_ci2RAR8nEeG4gPCEznVNOA"/>
-            </children>
-            <children xmi:type="notation:Shape" xmi:id="_ci2RAh8nEeG4gPCEznVNOA" type="3018" fontName="Ubuntu" lineColor="0">
-              <element xmi:type="uml:Property" href="RoboCab.uml#_V1xVAB8nEeG4gPCEznVNOA"/>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_ci2RAx8nEeG4gPCEznVNOA"/>
-            </children>
-            <styles xmi:type="notation:TitleStyle" xmi:id="_rzMEBB8mEeG4gPCEznVNOA"/>
-            <styles xmi:type="notation:SortingStyle" xmi:id="_rzMEBR8mEeG4gPCEznVNOA"/>
-            <styles xmi:type="notation:FilteringStyle" xmi:id="_rzMEBh8mEeG4gPCEznVNOA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_rzMEBx8mEeG4gPCEznVNOA"/>
-          </children>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_rzMECB8mEeG4gPCEznVNOA" visible="false" type="7033">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_rzMECR8mEeG4gPCEznVNOA"/>
-            <styles xmi:type="notation:SortingStyle" xmi:id="_rzMECh8mEeG4gPCEznVNOA"/>
-            <styles xmi:type="notation:FilteringStyle" xmi:id="_rzMECx8mEeG4gPCEznVNOA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_rzMEDB8mEeG4gPCEznVNOA"/>
-          </children>
-          <element xmi:type="uml:DataType" href="RoboCab.uml#_rye5YB8mEeG4gPCEznVNOA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_rzLc8B8mEeG4gPCEznVNOA" x="355" y="34"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_n2JKMB8nEeG4gPCEznVNOA" type="3027" fontName="Ubuntu" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_n2JxQB8nEeG4gPCEznVNOA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_n2JxQR8nEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_n2JxQh8nEeG4gPCEznVNOA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_n2JxQx8nEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_n2JxRB8nEeG4gPCEznVNOA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_n2JxRR8nEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_n2JxRh8nEeG4gPCEznVNOA" type="5061"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_n2JxRx8nEeG4gPCEznVNOA" type="7032">
-            <children xmi:type="notation:Shape" xmi:id="_FYEXAB8oEeG4gPCEznVNOA" type="3018" fontName="Ubuntu" lineColor="0">
-              <element xmi:type="uml:Property" href="RoboCab.uml#_uKPlgB8nEeG4gPCEznVNOA"/>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_FYEXAR8oEeG4gPCEznVNOA"/>
-            </children>
-            <children xmi:type="notation:Shape" xmi:id="_FYEXAh8oEeG4gPCEznVNOA" type="3018" fontName="Ubuntu" lineColor="0">
-              <element xmi:type="uml:Property" href="RoboCab.uml#_u0I3EB8nEeG4gPCEznVNOA"/>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_FYEXAx8oEeG4gPCEznVNOA"/>
-            </children>
-            <styles xmi:type="notation:TitleStyle" xmi:id="_n2JxSB8nEeG4gPCEznVNOA"/>
-            <styles xmi:type="notation:SortingStyle" xmi:id="_n2JxSR8nEeG4gPCEznVNOA"/>
-            <styles xmi:type="notation:FilteringStyle" xmi:id="_n2JxSh8nEeG4gPCEznVNOA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_n2JxSx8nEeG4gPCEznVNOA"/>
-          </children>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_n2JxTB8nEeG4gPCEznVNOA" visible="false" type="7033">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_n2JxTR8nEeG4gPCEznVNOA"/>
-            <styles xmi:type="notation:SortingStyle" xmi:id="_n2JxTh8nEeG4gPCEznVNOA"/>
-            <styles xmi:type="notation:FilteringStyle" xmi:id="_n2JxTx8nEeG4gPCEznVNOA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_n2JxUB8nEeG4gPCEznVNOA"/>
-          </children>
-          <element xmi:type="uml:DataType" href="RoboCab.uml#_n122UB8nEeG4gPCEznVNOA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_n2JKMR8nEeG4gPCEznVNOA" x="195" y="34"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_TLXRUDUtEeG5pL_fpN2DgQ" type="3027" fontName="Ubuntu" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_TLX4YDUtEeG5pL_fpN2DgQ" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_TLX4YTUtEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_TLX4YjUtEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_TLX4YzUtEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_TLYfcDUtEeG5pL_fpN2DgQ" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_TLYfcTUtEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_TLYfcjUtEeG5pL_fpN2DgQ" type="5061"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_TLYfczUtEeG5pL_fpN2DgQ" type="7032">
-            <children xmi:type="notation:Shape" xmi:id="_xUWMMDUvEeG5pL_fpN2DgQ" type="3018" fontName="Ubuntu" lineColor="0">
-              <element xmi:type="uml:Property" href="RoboCab.uml#_xUCqMDUvEeG5pL_fpN2DgQ"/>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_xUWMMTUvEeG5pL_fpN2DgQ"/>
-            </children>
-            <children xmi:type="notation:Shape" xmi:id="_KvmXMDUzEeG5pL_fpN2DgQ" type="3018" fontName="Ubuntu" lineColor="0">
-              <element xmi:type="uml:Property" href="RoboCab.uml#_Ku_6QDUzEeG5pL_fpN2DgQ"/>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_KvmXMTUzEeG5pL_fpN2DgQ"/>
-            </children>
-            <styles xmi:type="notation:TitleStyle" xmi:id="_TLYfdDUtEeG5pL_fpN2DgQ"/>
-            <styles xmi:type="notation:SortingStyle" xmi:id="_TLYfdTUtEeG5pL_fpN2DgQ"/>
-            <styles xmi:type="notation:FilteringStyle" xmi:id="_TLYfdjUtEeG5pL_fpN2DgQ"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_TLYfdzUtEeG5pL_fpN2DgQ"/>
-          </children>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_TLYfeDUtEeG5pL_fpN2DgQ" visible="false" type="7033">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_TLYfeTUtEeG5pL_fpN2DgQ"/>
-            <styles xmi:type="notation:SortingStyle" xmi:id="_TLYfejUtEeG5pL_fpN2DgQ"/>
-            <styles xmi:type="notation:FilteringStyle" xmi:id="_TLYfezUtEeG5pL_fpN2DgQ"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_TLYffDUtEeG5pL_fpN2DgQ"/>
-          </children>
-          <element xmi:type="uml:DataType" href="RoboCab.uml#_TKz3sDUtEeG5pL_fpN2DgQ"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_TLXRUTUtEeG5pL_fpN2DgQ" x="265" y="234" width="151" height="141"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_G1fZcDUwEeG5pL_fpN2DgQ" type="3027" fontName="Ubuntu" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_G1gAgDUwEeG5pL_fpN2DgQ" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_G1gAgTUwEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_G1gAgjUwEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_G1gAgzUwEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_G1gAhDUwEeG5pL_fpN2DgQ" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_G1gAhTUwEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_G1gAhjUwEeG5pL_fpN2DgQ" type="5061"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_G1gAhzUwEeG5pL_fpN2DgQ" type="7032">
-            <children xmi:type="notation:Shape" xmi:id="_K1N-YDUwEeG5pL_fpN2DgQ" type="3018" fontName="Ubuntu" lineColor="0">
-              <element xmi:type="uml:Property" href="RoboCab.uml#_K0p9sDUwEeG5pL_fpN2DgQ"/>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_K1N-YTUwEeG5pL_fpN2DgQ"/>
-            </children>
-            <children xmi:type="notation:Shape" xmi:id="_PctG4DUwEeG5pL_fpN2DgQ" type="3018" fontName="Ubuntu" lineColor="0">
-              <element xmi:type="uml:Property" href="RoboCab.uml#_PcJGMDUwEeG5pL_fpN2DgQ"/>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_PctG4TUwEeG5pL_fpN2DgQ"/>
-            </children>
-            <children xmi:type="notation:Shape" xmi:id="_YIzUUDUwEeG5pL_fpN2DgQ" type="3018" fontName="Ubuntu" lineColor="0">
-              <element xmi:type="uml:Property" href="RoboCab.uml#_YIP6sDUwEeG5pL_fpN2DgQ"/>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_YIzUUTUwEeG5pL_fpN2DgQ"/>
-            </children>
-            <styles xmi:type="notation:TitleStyle" xmi:id="_G1gAiDUwEeG5pL_fpN2DgQ"/>
-            <styles xmi:type="notation:SortingStyle" xmi:id="_G1gAiTUwEeG5pL_fpN2DgQ"/>
-            <styles xmi:type="notation:FilteringStyle" xmi:id="_G1gAijUwEeG5pL_fpN2DgQ"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_G1gAizUwEeG5pL_fpN2DgQ"/>
-          </children>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_G1gAjDUwEeG5pL_fpN2DgQ" visible="false" type="7033">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_G1gAjTUwEeG5pL_fpN2DgQ"/>
-            <styles xmi:type="notation:SortingStyle" xmi:id="_G1gAjjUwEeG5pL_fpN2DgQ"/>
-            <styles xmi:type="notation:FilteringStyle" xmi:id="_G1gAjzUwEeG5pL_fpN2DgQ"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_G1gAkDUwEeG5pL_fpN2DgQ"/>
-          </children>
-          <element xmi:type="uml:DataType" href="RoboCab.uml#_G0xAsDUwEeG5pL_fpN2DgQ"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_G1fZcTUwEeG5pL_fpN2DgQ" x="460" y="234" width="220" height="133"/>
-        </children>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP3wKk_EeCXqcRV-18f6Q"/>
-      </children>
-      <element xmi:type="uml:Model" href="RoboCab.uml#_fdzJQak_EeCXqcRV-18f6Q"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP3wak_EeCXqcRV-18f6Q" x="50" y="50" width="929" height="539"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_feP3wqk_EeCXqcRV-18f6Q"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_ks9Wgn7LEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Model" href="RoboCab.uml#_fdzJQak_EeCXqcRV-18f6Q"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWCvL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Model" href="RoboCab.uml#_fdzJQak_EeCXqcRV-18f6Q"/>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_feP4Tak_EeCXqcRV-18f6Q" type="CompositeStructure" name="SensorsDiagram" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_feP4Tqk_EeCXqcRV-18f6Q" type="2073" fontHeight="8" transparency="0" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4T6k_EeCXqcRV-18f6Q" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4UKk_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4Uak_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4Uqk_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4U6k_EeCXqcRV-18f6Q" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4VKk_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4Vak_EeCXqcRV-18f6Q" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ldoY4EZyEeGo2rLT49hsRw" key="StereotypeWithQualifiedNameList" value="RobotML::LidarSystem"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ldoY4UZyEeGo2rLT49hsRw" key="StereotypeList" value="RobotML::LidarSystem"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ldoY4kZyEeGo2rLT49hsRw" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ldoY40ZyEeGo2rLT49hsRw" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ldoY5EZyEeGo2rLT49hsRw" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_feP4W6k_EeCXqcRV-18f6Q" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_feP4XKk_EeCXqcRV-18f6Q" type="7073">
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP4Xak_EeCXqcRV-18f6Q"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_feP4Xqk_EeCXqcRV-18f6Q" type="3069" fontHeight="8" transparency="0" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4X6k_EeCXqcRV-18f6Q" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4YKk_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4Yak_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4Yqk_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4Y6k_EeCXqcRV-18f6Q" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4ZKk_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4Zak_EeCXqcRV-18f6Q" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4Zqk_EeCXqcRV-18f6Q" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4Z6k_EeCXqcRV-18f6Q" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4aKk_EeCXqcRV-18f6Q" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4aak_EeCXqcRV-18f6Q" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4aqk_EeCXqcRV-18f6Q" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_feP4a6k_EeCXqcRV-18f6Q" type="5125">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4bKk_EeCXqcRV-18f6Q" source="CustomAppearance_Annotation">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4bak_EeCXqcRV-18f6Q" key="CustomAppearance_MaskValue" value="16"/>
-          </eAnnotations>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_feP4bqk_EeCXqcRV-18f6Q" x="-123"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_feP4b6k_EeCXqcRV-18f6Q" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_feP4cKk_EeCXqcRV-18f6Q" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzJY6k_EeCXqcRV-18f6Q"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP4cak_EeCXqcRV-18f6Q" x="203" y="73"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_fdzJWqk_EeCXqcRV-18f6Q"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP4cqk_EeCXqcRV-18f6Q" x="30" y="30" width="213" height="119"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_feP4c6k_EeCXqcRV-18f6Q" type="2073" fontHeight="8" transparency="0" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4dKk_EeCXqcRV-18f6Q" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4dak_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4dqk_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4d6k_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4eKk_EeCXqcRV-18f6Q" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4eak_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4eqk_EeCXqcRV-18f6Q" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nW_HMEZyEeGo2rLT49hsRw" key="StereotypeWithQualifiedNameList" value="RobotML::SensorSystem"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nW_HMUZyEeGo2rLT49hsRw" key="StereotypeList" value="RobotML::SensorSystem"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nW_HMkZyEeGo2rLT49hsRw" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nW_HM0ZyEeGo2rLT49hsRw" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nW_uQEZyEeGo2rLT49hsRw" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_feP4gKk_EeCXqcRV-18f6Q" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_feP4gak_EeCXqcRV-18f6Q" type="7073">
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP4gqk_EeCXqcRV-18f6Q"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_feP4g6k_EeCXqcRV-18f6Q" type="3069" fontHeight="8" transparency="0" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4hKk_EeCXqcRV-18f6Q" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4hak_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4hqk_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4h6k_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4iKk_EeCXqcRV-18f6Q" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4iak_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_feP4iqk_EeCXqcRV-18f6Q" type="5125">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4i6k_EeCXqcRV-18f6Q" source="CustomAppearance_Annotation">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_TUF9UKlFEeCgdMhwEBuWIg" key="CustomAppearance_MaskValue" value="24"/>
-          </eAnnotations>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_feP4jak_EeCXqcRV-18f6Q" x="-121" y="5"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_feP4jqk_EeCXqcRV-18f6Q" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_feP4j6k_EeCXqcRV-18f6Q" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzJcKk_EeCXqcRV-18f6Q"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP4kKk_EeCXqcRV-18f6Q" x="186" y="70"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_UONcMKlFEeCgdMhwEBuWIg" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_UONcMqlFEeCgdMhwEBuWIg" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_UONcM6lFEeCgdMhwEBuWIg" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_UONcNKlFEeCgdMhwEBuWIg" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_UONcNalFEeCgdMhwEBuWIg" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_UONcNqlFEeCgdMhwEBuWIg" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_UONcN6lFEeCgdMhwEBuWIg" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_UOphEKlFEeCgdMhwEBuWIg" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_URVosKlFEeCgdMhwEBuWIg" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_URVosalFEeCgdMhwEBuWIg" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_URVosqlFEeCgdMhwEBuWIg" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_URVos6lFEeCgdMhwEBuWIg" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_URVotKlFEeCgdMhwEBuWIg" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_UONcOKlFEeCgdMhwEBuWIg" type="5125">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_yye20KlFEeCniaMk5QUBRg" source="CustomAppearance_Annotation">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_yye20alFEeCniaMk5QUBRg" key="CustomAppearance_MaskValue" value="60"/>
-          </eAnnotations>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_UONcOalFEeCgdMhwEBuWIg" x="-141" y="4"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_UONcOqlFEeCgdMhwEBuWIg" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_UONcO6lFEeCgdMhwEBuWIg" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_UMascKlFEeCgdMhwEBuWIg"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_UONcMalFEeCgdMhwEBuWIg" x="186" y="111" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_nDTS4KlFEeCniaMk5QUBRg" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_nDcc0KlFEeCniaMk5QUBRg" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nDcc0alFEeCniaMk5QUBRg" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_nDcc0qlFEeCniaMk5QUBRg" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nDcc06lFEeCniaMk5QUBRg" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_nDcc1KlFEeCniaMk5QUBRg" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nDcc1alFEeCniaMk5QUBRg" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_nDvXwKlFEeCniaMk5QUBRg" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nF1CcKlFEeCniaMk5QUBRg" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nF1CcalFEeCniaMk5QUBRg" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nF1CcqlFEeCniaMk5QUBRg" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nF1Cc6lFEeCniaMk5QUBRg" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nF1CdKlFEeCniaMk5QUBRg" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_nDcc1qlFEeCniaMk5QUBRg" type="5125">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_zL9t0KlFEeCniaMk5QUBRg" source="CustomAppearance_Annotation">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_zL9t0alFEeCniaMk5QUBRg" key="CustomAppearance_MaskValue" value="60"/>
-          </eAnnotations>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_nDcc16lFEeCniaMk5QUBRg" x="-126" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_nDcc2KlFEeCniaMk5QUBRg" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_nDcc2alFEeCniaMk5QUBRg" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_nCjE8KlFEeCniaMk5QUBRg"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_nDTS4alFEeCniaMk5QUBRg" x="186" y="155" width="20" height="20"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_fdzJZ6k_EeCXqcRV-18f6Q"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP4kak_EeCXqcRV-18f6Q" x="305" y="30" width="196" height="206"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_feP4kqk_EeCXqcRV-18f6Q" type="2073" fontHeight="8" transparency="0" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4k6k_EeCXqcRV-18f6Q" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4lKk_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4lak_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4lqk_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4l6k_EeCXqcRV-18f6Q" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4mKk_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4mak_EeCXqcRV-18f6Q" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pQNSoEZyEeGo2rLT49hsRw" key="StereotypeWithQualifiedNameList" value="RobotML::GPSSystem"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pQNSoUZyEeGo2rLT49hsRw" key="StereotypeList" value="RobotML::GPSSystem"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pQNSokZyEeGo2rLT49hsRw" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pQNSo0ZyEeGo2rLT49hsRw" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pQN5sEZyEeGo2rLT49hsRw" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_feP4n6k_EeCXqcRV-18f6Q" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_feP4oKk_EeCXqcRV-18f6Q" type="7073">
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP4oak_EeCXqcRV-18f6Q"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_feP4oqk_EeCXqcRV-18f6Q" type="3069" fontHeight="8" transparency="0" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4o6k_EeCXqcRV-18f6Q" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4pKk_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4pak_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4pqk_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4p6k_EeCXqcRV-18f6Q" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4qKk_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4qak_EeCXqcRV-18f6Q" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4qqk_EeCXqcRV-18f6Q" key="StereotypeWithQualifiedNameList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4q6k_EeCXqcRV-18f6Q" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4rKk_EeCXqcRV-18f6Q" key="Stereotype_Presentation_Kind" value="TextIconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4rak_EeCXqcRV-18f6Q" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4rqk_EeCXqcRV-18f6Q" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_feP4r6k_EeCXqcRV-18f6Q" type="5125">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4sKk_EeCXqcRV-18f6Q" source="CustomAppearance_Annotation">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FmCNsKlMEeCYfbnxVSyZ9g" key="CustomAppearance_MaskValue" value="24"/>
-          </eAnnotations>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_feP4sqk_EeCXqcRV-18f6Q" x="-101" y="5"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_feP4s6k_EeCXqcRV-18f6Q" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_feP4tKk_EeCXqcRV-18f6Q" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzJfak_EeCXqcRV-18f6Q"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP4tak_EeCXqcRV-18f6Q" x="171" y="45"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_4x1icKlLEeCYfbnxVSyZ9g" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_4x1icqlLEeCYfbnxVSyZ9g" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4x1ic6lLEeCYfbnxVSyZ9g" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_4x1idKlLEeCYfbnxVSyZ9g" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4x1idalLEeCYfbnxVSyZ9g" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_4x1idqlLEeCYfbnxVSyZ9g" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4x1id6lLEeCYfbnxVSyZ9g" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_4yIdYKlLEeCYfbnxVSyZ9g" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_40OIEKlLEeCYfbnxVSyZ9g" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_40OIEalLEeCYfbnxVSyZ9g" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_40OIEqlLEeCYfbnxVSyZ9g" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_40OIE6lLEeCYfbnxVSyZ9g" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_40OIFKlLEeCYfbnxVSyZ9g" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_4x1ieKlLEeCYfbnxVSyZ9g" type="5125">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_G2WmEKlMEeCYfbnxVSyZ9g" source="CustomAppearance_Annotation">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HOgAUKlMEeCYfbnxVSyZ9g" key="CustomAppearance_MaskValue" value="28"/>
-          </eAnnotations>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_4x1iealLEeCYfbnxVSyZ9g" x="-151" y="5"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_4x1ieqlLEeCYfbnxVSyZ9g" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_4x1ie6lLEeCYfbnxVSyZ9g" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_4xF7kKlLEeCYfbnxVSyZ9g"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_4x1icalLEeCYfbnxVSyZ9g" x="171" y="90" width="20" height="20"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_fdzJdKk_EeCXqcRV-18f6Q"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP4tqk_EeCXqcRV-18f6Q" x="560" y="30" width="181" height="126"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_feP4t6k_EeCXqcRV-18f6Q" type="2073" fontHeight="8" transparency="0" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4uKk_EeCXqcRV-18f6Q" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4uak_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4uqk_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4u6k_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4vKk_EeCXqcRV-18f6Q" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4vak_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4vqk_EeCXqcRV-18f6Q" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DGs9sCG4EeKBc8qhxlvO_Q" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DGs9sSG4EeKBc8qhxlvO_Q" key="StereotypeList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DGs9siG4EeKBc8qhxlvO_Q" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DGs9syG4EeKBc8qhxlvO_Q" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DGs9tCG4EeKBc8qhxlvO_Q" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_feP4xKk_EeCXqcRV-18f6Q" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_feP4xak_EeCXqcRV-18f6Q" type="7073">
-        <children xmi:type="notation:Shape" xmi:id="_ZCICoDUoEeG5pL_fpN2DgQ" type="3070" fontName="Ubuntu" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ZCIpsDUoEeG5pL_fpN2DgQ" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ZCIpsTUoEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ZCIpsjUoEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ZCIpszUoEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ZCIptDUoEeG5pL_fpN2DgQ" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ZCIptTUoEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_ZCIptjUoEeG5pL_fpN2DgQ" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_ZCIptzUoEeG5pL_fpN2DgQ" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_ZCIpuDUoEeG5pL_fpN2DgQ"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ZCIpuTUoEeG5pL_fpN2DgQ"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_blG8wDUoEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_blG8wjUoEeG5pL_fpN2DgQ" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_blHj0DUoEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_blHj0TUoEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_blHj0jUoEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_blHj0zUoEeG5pL_fpN2DgQ" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_blHj1DUoEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_blHj1TUoEeG5pL_fpN2DgQ" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_blHj1jUoEeG5pL_fpN2DgQ" x="-118"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_blHj1zUoEeG5pL_fpN2DgQ" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_blHj2DUoEeG5pL_fpN2DgQ" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_lpqYsKlAEeCYaYi0hzq5kg"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_blG8wTUoEeG5pL_fpN2DgQ" x="123" y="35"/>
-          </children>
-          <element xmi:type="uml:Property" href="RoboCab.uml#_ZBvoIDUoEeG5pL_fpN2DgQ"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ZCICoTUoEeG5pL_fpN2DgQ" x="10" y="4" width="133" height="76"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_ZpXo0DUoEeG5pL_fpN2DgQ" type="3070" fontName="Ubuntu" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ZpXo0jUoEeG5pL_fpN2DgQ" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ZpXo0zUoEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ZpXo1DUoEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ZpYP4DUoEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ZpYP4TUoEeG5pL_fpN2DgQ" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ZpYP4jUoEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_ZpYP4zUoEeG5pL_fpN2DgQ" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_ZpYP5DUoEeG5pL_fpN2DgQ" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_ZpYP5TUoEeG5pL_fpN2DgQ"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ZpYP5jUoEeG5pL_fpN2DgQ"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_sPz_gDUoEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_sPz_gjUoEeG5pL_fpN2DgQ" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sPz_gzUoEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_sPz_hDUoEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sPz_hTUoEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_sPz_hjUoEeG5pL_fpN2DgQ" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sPz_hzUoEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_sP0mkDUoEeG5pL_fpN2DgQ" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_sP0mkTUoEeG5pL_fpN2DgQ" x="-112" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_sP0mkjUoEeG5pL_fpN2DgQ" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_sP0mkzUoEeG5pL_fpN2DgQ" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_lpqYsKlAEeCYaYi0hzq5kg"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_sPz_gTUoEeG5pL_fpN2DgQ" x="126" y="35"/>
-          </children>
-          <element xmi:type="uml:Property" href="RoboCab.uml#_Zo_1YDUoEeG5pL_fpN2DgQ"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ZpXo0TUoEeG5pL_fpN2DgQ" x="10" y="89" width="136" height="86"/>
-        </children>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP4xqk_EeCXqcRV-18f6Q"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_zFEnIDUoEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_zFFOMDUoEeG5pL_fpN2DgQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_zFFOMTUoEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_zFFOMjUoEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_zFFOMzUoEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_zFFONDUoEeG5pL_fpN2DgQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_zFF1QDUoEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_zFL74DUoEeG5pL_fpN2DgQ" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_zHwuwDUoEeG5pL_fpN2DgQ" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_zHwuwTUoEeG5pL_fpN2DgQ" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_zHwuwjUoEeG5pL_fpN2DgQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_zHwuwzUoEeG5pL_fpN2DgQ" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_zHwuxDUoEeG5pL_fpN2DgQ" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_zFF1QTUoEeG5pL_fpN2DgQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_zFF1QjUoEeG5pL_fpN2DgQ" x="-121" y="43"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_zFF1QzUoEeG5pL_fpN2DgQ" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_zFF1RDUoEeG5pL_fpN2DgQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_zEf_YDUoEeG5pL_fpN2DgQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_zFEnITUoEeG5pL_fpN2DgQ" x="216" y="197" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_2hmYYDUoEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_2hmYYjUoEeG5pL_fpN2DgQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2hmYYzUoEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_2hmYZDUoEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2hmYZTUoEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_2hmYZjUoEeG5pL_fpN2DgQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2hmYZzUoEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_2hqCwDUoEeG5pL_fpN2DgQ" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2kDPcDUoEeG5pL_fpN2DgQ" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2kDPcTUoEeG5pL_fpN2DgQ" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2kDPcjUoEeG5pL_fpN2DgQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2kDPczUoEeG5pL_fpN2DgQ" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2kDPdDUoEeG5pL_fpN2DgQ" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_2hm_cDUoEeG5pL_fpN2DgQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_2hm_cTUoEeG5pL_fpN2DgQ" x="-101" y="-41"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_2hm_cjUoEeG5pL_fpN2DgQ" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_2hm_czUoEeG5pL_fpN2DgQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_2hQaIDUoEeG5pL_fpN2DgQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_2hmYYTUoEeG5pL_fpN2DgQ" x="216" y="96" width="20" height="20"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_fdzJgak_EeCXqcRV-18f6Q"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP426k_EeCXqcRV-18f6Q" x="800" y="30" width="226" height="406"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_ejBtMKlAEeCYaYi0hzq5kg" type="2073" fontHeight="8" fillColor="8047085" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ejBtMqlAEeCYaYi0hzq5kg" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ejBtM6lAEeCYaYi0hzq5kg" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ejBtNKlAEeCYaYi0hzq5kg" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ejBtNalAEeCYaYi0hzq5kg" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ejBtNqlAEeCYaYi0hzq5kg" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ejBtN6lAEeCYaYi0hzq5kg" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ekqr8KlAEeCYaYi0hzq5kg" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_5oe-EEZxEeGo2rLT49hsRw" key="StereotypeWithQualifiedNameList" value="RobotML::CameraSystem"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_5oe-EUZxEeGo2rLT49hsRw" key="StereotypeList" value="RobotML::CameraSystem"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_5oe-EkZxEeGo2rLT49hsRw" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_5oe-E0ZxEeGo2rLT49hsRw" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_5oe-FEZxEeGo2rLT49hsRw" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_ejBtOKlAEeCYaYi0hzq5kg" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_ejBtOalAEeCYaYi0hzq5kg" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_ejBtOqlAEeCYaYi0hzq5kg"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ejBtO6lAEeCYaYi0hzq5kg"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_lrAcgKlAEeCYaYi0hzq5kg" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lrAcgqlAEeCYaYi0hzq5kg" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lrAcg6lAEeCYaYi0hzq5kg" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lrAchKlAEeCYaYi0hzq5kg" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lrAchalAEeCYaYi0hzq5kg" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lrAchqlAEeCYaYi0hzq5kg" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lrAch6lAEeCYaYi0hzq5kg" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lrAcjalAEeCYaYi0hzq5kg" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lvCA4KlAEeCYaYi0hzq5kg" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lvCA4alAEeCYaYi0hzq5kg" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lvCA4qlAEeCYaYi0hzq5kg" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lvLK0KlAEeCYaYi0hzq5kg" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lvLK0alAEeCYaYi0hzq5kg" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_lrAciKlAEeCYaYi0hzq5kg" type="5125">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_OPuBUKlBEeCYaYi0hzq5kg" source="CustomAppearance_Annotation">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OzLTsKlBEeCYaYi0hzq5kg" key="CustomAppearance_MaskValue" value="20"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7vP2QEZxEeGo2rLT49hsRw" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7vP2QUZxEeGo2rLT49hsRw" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_8PFM4EZxEeGo2rLT49hsRw" source="Stereotype_Annotation">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8s040EZxEeGo2rLT49hsRw" key="StereotypeWithQualifiedNameList" value=""/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8s1f4EZxEeGo2rLT49hsRw" key="StereotypeList" value=""/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8s1f4UZxEeGo2rLT49hsRw" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8s1f4kZxEeGo2rLT49hsRw" key="PropStereoDisplay" value=""/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8s1f40ZxEeGo2rLT49hsRw" key="StereotypePropertyLocation" value="Compartment"/>
-          </eAnnotations>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_lrAcialAEeCYaYi0hzq5kg" x="-50" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_lrAciqlAEeCYaYi0hzq5kg" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_lrAci6lAEeCYaYi0hzq5kg" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_lpqYsKlAEeCYaYi0hzq5kg"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_lrAcgalAEeCYaYi0hzq5kg" x="166" y="65" width="20" height="20"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_ef5gsKlAEeCYaYi0hzq5kg"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ejBtMalAEeCYaYi0hzq5kg" x="1085" y="30" width="176" height="116"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_5sJF8B8oEeG4gPCEznVNOA" type="2073" fontName="Ubuntu" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_5sJtAB8oEeG4gPCEznVNOA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_5sJtAR8oEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_5sJtAh8oEeG4gPCEznVNOA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_5sJtAx8oEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_5sJtBB8oEeG4gPCEznVNOA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_5sJtBR8oEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_5sSP4B8oEeG4gPCEznVNOA" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_r1Lw0EZyEeGo2rLT49hsRw" key="StereotypeWithQualifiedNameList" value="RobotML::SensorSystem"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_r1Lw0UZyEeGo2rLT49hsRw" key="StereotypeList" value="RobotML::SensorSystem"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_r1Lw0kZyEeGo2rLT49hsRw" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_r1Lw00ZyEeGo2rLT49hsRw" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_r1Lw1EZyEeGo2rLT49hsRw" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_5sJtBh8oEeG4gPCEznVNOA" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_5sJtBx8oEeG4gPCEznVNOA" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_5sJtCB8oEeG4gPCEznVNOA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_5sJtCR8oEeG4gPCEznVNOA"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_9cjcgB8oEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_9ckDkB8oEeG4gPCEznVNOA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_9ckDkR8oEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_9ckDkh8oEeG4gPCEznVNOA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_9ckDkx8oEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_9ckDlB8oEeG4gPCEznVNOA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_9ckDlR8oEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_9cnt8B8oEeG4gPCEznVNOA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_9e1UcB8oEeG4gPCEznVNOA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_9e1UcR8oEeG4gPCEznVNOA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_9e1Uch8oEeG4gPCEznVNOA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_9e17gB8oEeG4gPCEznVNOA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_9e17gR8oEeG4gPCEznVNOA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_9ckDlh8oEeG4gPCEznVNOA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_9ckDlx8oEeG4gPCEznVNOA" x="-276" y="14"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_9ckDmB8oEeG4gPCEznVNOA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_9ckDmR8oEeG4gPCEznVNOA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_9cOsYB8oEeG4gPCEznVNOA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_9cjcgR8oEeG4gPCEznVNOA" x="286" y="56" width="20" height="20"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_5rrL4B8oEeG4gPCEznVNOA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_5sJF8R8oEeG4gPCEznVNOA" x="1320" y="30" width="296" height="151"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_lIAZ4DUpEeG5pL_fpN2DgQ" type="2073" fontName="Ubuntu" fillColor="8047085" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lIBA8DUpEeG5pL_fpN2DgQ" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lIBA8TUpEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lIBA8jUpEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lIBA8zUpEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lIBA9DUpEeG5pL_fpN2DgQ" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lIBA9TUpEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lIFSYDUpEeG5pL_fpN2DgQ" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DHJpoCG4EeKBc8qhxlvO_Q" key="StereotypeWithQualifiedNameList" value="RobotML::CameraSystem"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DHJpoSG4EeKBc8qhxlvO_Q" key="StereotypeList" value=",RobotML::CameraSystem"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DHJpoiG4EeKBc8qhxlvO_Q" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DHJpoyG4EeKBc8qhxlvO_Q" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DHJppCG4EeKBc8qhxlvO_Q" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_lIBA9jUpEeG5pL_fpN2DgQ" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_lIBA9zUpEeG5pL_fpN2DgQ" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_lIBA-DUpEeG5pL_fpN2DgQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_lIBA-TUpEeG5pL_fpN2DgQ"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_oALg4DUpEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_oAMH8DUpEeG5pL_fpN2DgQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_oAMH8TUpEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_oAMH8jUpEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_oAMH8zUpEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_oAMH9DUpEeG5pL_fpN2DgQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_oAMH9TUpEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_oAPyUDUpEeG5pL_fpN2DgQ" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_oC4PkDUpEeG5pL_fpN2DgQ" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_oC4PkTUpEeG5pL_fpN2DgQ" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_oC4PkjUpEeG5pL_fpN2DgQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_oC42oDUpEeG5pL_fpN2DgQ" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_oC42oTUpEeG5pL_fpN2DgQ" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_oAMH9jUpEeG5pL_fpN2DgQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_oAMH9zUpEeG5pL_fpN2DgQ" x="-110"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_oAMH-DUpEeG5pL_fpN2DgQ" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_oAMH-TUpEeG5pL_fpN2DgQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_n_2JsDUpEeG5pL_fpN2DgQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_oALg4TUpEeG5pL_fpN2DgQ" x="181" y="75" width="20" height="20"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_lHqboDUpEeG5pL_fpN2DgQ"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_lIAZ4TUpEeG5pL_fpN2DgQ" x="1680" y="30" width="191" height="121"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_yp4DcDUpEeG5pL_fpN2DgQ" type="2073" fontName="Ubuntu" fillColor="8047085" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_yp4qgDUpEeG5pL_fpN2DgQ" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_yp4qgTUpEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_yp4qgjUpEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_yp4qgzUpEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_yp4qhDUpEeG5pL_fpN2DgQ" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_yp4qhTUpEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_yp878DUpEeG5pL_fpN2DgQ" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_C2rL8EZyEeGo2rLT49hsRw" key="StereotypeWithQualifiedNameList" value="RobotML::CameraSystem"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_C2rL8UZyEeGo2rLT49hsRw" key="StereotypeList" value="RobotML::CameraSystem"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_C2rL8kZyEeGo2rLT49hsRw" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_C2rzAEZyEeGo2rLT49hsRw" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_C2rzAUZyEeGo2rLT49hsRw" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_yp4qhjUpEeG5pL_fpN2DgQ" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_yp4qhzUpEeG5pL_fpN2DgQ" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_yp4qiDUpEeG5pL_fpN2DgQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_yp4qiTUpEeG5pL_fpN2DgQ"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_4Jz24DUpEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_4J0d8DUpEeG5pL_fpN2DgQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4J0d8TUpEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_4J0d8jUpEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4J0d8zUpEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_4J0d9DUpEeG5pL_fpN2DgQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4J0d9TUpEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_4J3hQDUpEeG5pL_fpN2DgQ" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4McUIDUpEeG5pL_fpN2DgQ" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4McUITUpEeG5pL_fpN2DgQ" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4McUIjUpEeG5pL_fpN2DgQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4McUIzUpEeG5pL_fpN2DgQ" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4McUJDUpEeG5pL_fpN2DgQ" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_4J0d9jUpEeG5pL_fpN2DgQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_4J0d9zUpEeG5pL_fpN2DgQ" x="-116" y="2"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_4J0d-DUpEeG5pL_fpN2DgQ" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_4J0d-TUpEeG5pL_fpN2DgQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_4Jd4oDUpEeG5pL_fpN2DgQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_4Jz24TUpEeG5pL_fpN2DgQ" x="156" y="73" width="20" height="20"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_ypiFMDUpEeG5pL_fpN2DgQ"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_yp4DcTUpEeG5pL_fpN2DgQ" x="1930" y="30" width="166" height="121"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_feP4-6k_EeCXqcRV-18f6Q"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_Zjqt4H7LEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Model" href="RoboCab.uml#_fdzJWak_EeCXqcRV-18f6Q"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <styles xmi:type="notation:StringValueStyle" xmi:id="_Zjqt4X7LEeSFyNbnLYDCkw" name="diagram_compatibility_version" stringValue="1.0.0"/>
-    <element xmi:type="uml:Model" href="RoboCab.uml#_fdzJWak_EeCXqcRV-18f6Q"/>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_feP4_Kk_EeCXqcRV-18f6Q" type="CompositeStructure" name="ActuatorsDiagram" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_feP4_ak_EeCXqcRV-18f6Q" type="2073" fontHeight="8" transparency="0" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4_qk_EeCXqcRV-18f6Q" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4_6k_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP5AKk_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP5Aak_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP5Aqk_EeCXqcRV-18f6Q" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP5A6k_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP5BKk_EeCXqcRV-18f6Q" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFgq4CG4EeKBc8qhxlvO_Q" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFgq4SG4EeKBc8qhxlvO_Q" key="StereotypeList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFgq4iG4EeKBc8qhxlvO_Q" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFgq4yG4EeKBc8qhxlvO_Q" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFgq5CG4EeKBc8qhxlvO_Q" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_feP5Cqk_EeCXqcRV-18f6Q" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_feP5C6k_EeCXqcRV-18f6Q" type="7073">
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP5DKk_EeCXqcRV-18f6Q"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_wBm3YKlVEeCYfbnxVSyZ9g" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_wBm3YqlVEeCYfbnxVSyZ9g" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_wBm3Y6lVEeCYfbnxVSyZ9g" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_wBm3ZKlVEeCYfbnxVSyZ9g" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_wBm3ZalVEeCYfbnxVSyZ9g" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_wBm3ZqlVEeCYfbnxVSyZ9g" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_wBm3Z6lVEeCYfbnxVSyZ9g" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_wBwoYalVEeCYfbnxVSyZ9g" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_wGhzoKlVEeCYfbnxVSyZ9g" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_wGhzoalVEeCYfbnxVSyZ9g" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_wGhzoqlVEeCYfbnxVSyZ9g" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_wGhzo6lVEeCYfbnxVSyZ9g" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_wGhzpKlVEeCYfbnxVSyZ9g" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_wBm3aKlVEeCYfbnxVSyZ9g" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_wBm3aalVEeCYfbnxVSyZ9g" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_wBm3aqlVEeCYfbnxVSyZ9g" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_wBm3a6lVEeCYfbnxVSyZ9g" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_wAakkKlVEeCYfbnxVSyZ9g"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_wBm3YalVEeCYfbnxVSyZ9g" x="-10" y="55" width="20" height="20"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_fdzJoKk_EeCXqcRV-18f6Q"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP5Iak_EeCXqcRV-18f6Q" x="70" y="25" width="126" height="111"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_feP5Iqk_EeCXqcRV-18f6Q" type="2073" fontHeight="8" transparency="0" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP5I6k_EeCXqcRV-18f6Q" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP5JKk_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP5Jak_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP5Jqk_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP5J6k_EeCXqcRV-18f6Q" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP5KKk_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP5Kak_EeCXqcRV-18f6Q" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFp00yG4EeKBc8qhxlvO_Q" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFp01CG4EeKBc8qhxlvO_Q" key="StereotypeList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFp01SG4EeKBc8qhxlvO_Q" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFp01iG4EeKBc8qhxlvO_Q" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFp01yG4EeKBc8qhxlvO_Q" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_feP5L6k_EeCXqcRV-18f6Q" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_feP5MKk_EeCXqcRV-18f6Q" type="7073">
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP5Mak_EeCXqcRV-18f6Q"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_sinykKlWEeCYfbnxVSyZ9g" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_sinykqlWEeCYfbnxVSyZ9g" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sinyk6lWEeCYfbnxVSyZ9g" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_sinylKlWEeCYfbnxVSyZ9g" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sinylalWEeCYfbnxVSyZ9g" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_sinylqlWEeCYfbnxVSyZ9g" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sinyl6lWEeCYfbnxVSyZ9g" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_siw8galWEeCYfbnxVSyZ9g" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_snY90KlWEeCYfbnxVSyZ9g" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_snY90alWEeCYfbnxVSyZ9g" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_snY90qlWEeCYfbnxVSyZ9g" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_snY906lWEeCYfbnxVSyZ9g" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_snY91KlWEeCYfbnxVSyZ9g" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_sinymKlWEeCYfbnxVSyZ9g" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_sinymalWEeCYfbnxVSyZ9g" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_sinymqlWEeCYfbnxVSyZ9g" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_sinym6lWEeCYfbnxVSyZ9g" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_shbfwKlWEeCYfbnxVSyZ9g"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_sinykalWEeCYfbnxVSyZ9g" x="-10" y="68" width="20" height="20"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_fdzJrak_EeCXqcRV-18f6Q"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP5Rqk_EeCXqcRV-18f6Q" x="70" y="160" width="126" height="100"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_feP5R6k_EeCXqcRV-18f6Q" type="2073" fontHeight="8" transparency="0" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP5SKk_EeCXqcRV-18f6Q" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP5Sak_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP5Sqk_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP5S6k_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP5TKk_EeCXqcRV-18f6Q" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP5Tak_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP5Tqk_EeCXqcRV-18f6Q" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFzl0yG4EeKBc8qhxlvO_Q" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFzl1CG4EeKBc8qhxlvO_Q" key="StereotypeList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFzl1SG4EeKBc8qhxlvO_Q" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFzl1iG4EeKBc8qhxlvO_Q" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFzl1yG4EeKBc8qhxlvO_Q" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_feP5VKk_EeCXqcRV-18f6Q" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_feP5Vak_EeCXqcRV-18f6Q" type="7073">
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP5Vqk_EeCXqcRV-18f6Q"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_ZBSg8KlWEeCYfbnxVSyZ9g" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ZBSg8qlWEeCYfbnxVSyZ9g" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ZBSg86lWEeCYfbnxVSyZ9g" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ZBSg9KlWEeCYfbnxVSyZ9g" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ZBSg9alWEeCYfbnxVSyZ9g" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ZBSg9qlWEeCYfbnxVSyZ9g" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ZBSg96lWEeCYfbnxVSyZ9g" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ZBcR8alWEeCYfbnxVSyZ9g" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ZGWnIKlWEeCYfbnxVSyZ9g" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ZGWnIalWEeCYfbnxVSyZ9g" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ZGWnIqlWEeCYfbnxVSyZ9g" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ZGWnI6lWEeCYfbnxVSyZ9g" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ZGWnJKlWEeCYfbnxVSyZ9g" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_ZBSg-KlWEeCYfbnxVSyZ9g" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_ZBSg-alWEeCYfbnxVSyZ9g" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_ZBSg-qlWEeCYfbnxVSyZ9g" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_ZBSg-6lWEeCYfbnxVSyZ9g" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_ZAGOIKlWEeCYfbnxVSyZ9g"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ZBSg8alWEeCYfbnxVSyZ9g" x="-10" y="59" width="20" height="20"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_fdzJuqk_EeCXqcRV-18f6Q"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP5a6k_EeCXqcRV-18f6Q" x="75" y="280" width="126" height="100"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_KqbzEB8pEeG4gPCEznVNOA" type="2073" fontName="Ubuntu" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_KqbzEh8pEeG4gPCEznVNOA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_KqbzEx8pEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_KqbzFB8pEeG4gPCEznVNOA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_KqbzFR8pEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_KqbzFh8pEeG4gPCEznVNOA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_KqbzFx8pEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_KqgrkB8pEeG4gPCEznVNOA" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_KrtlcB8pEeG4gPCEznVNOA" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_KrtlcR8pEeG4gPCEznVNOA" key="StereotypeList" value="RobotML::ActuatorSystem"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Krtlch8pEeG4gPCEznVNOA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Krtlcx8pEeG4gPCEznVNOA" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_KrtldB8pEeG4gPCEznVNOA" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_KqcaIB8pEeG4gPCEznVNOA" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_KqcaIR8pEeG4gPCEznVNOA" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_KqcaIh8pEeG4gPCEznVNOA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_KqcaIx8pEeG4gPCEznVNOA"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_PhyjkB8pEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_PhzKoB8pEeG4gPCEznVNOA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_PhzKoR8pEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_PhzKoh8pEeG4gPCEznVNOA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_PhzKox8pEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_PhzKpB8pEeG4gPCEznVNOA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_PhzKpR8pEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Ph2N8B8pEeG4gPCEznVNOA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Pj0j4B8pEeG4gPCEznVNOA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Pj0j4R8pEeG4gPCEznVNOA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Pj0j4h8pEeG4gPCEznVNOA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Pj0j4x8pEeG4gPCEznVNOA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Pj0j5B8pEeG4gPCEznVNOA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_PhzKph8pEeG4gPCEznVNOA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_PhzKpx8pEeG4gPCEznVNOA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_PhzKqB8pEeG4gPCEznVNOA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_PhzKqR8pEeG4gPCEznVNOA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_PhiE4B8pEeG4gPCEznVNOA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_PhyjkR8pEeG4gPCEznVNOA" x="-10" y="63" width="20" height="20"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_KqA8UB8pEeG4gPCEznVNOA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_KqbzER8pEeG4gPCEznVNOA" x="375" y="141" width="221" height="115"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_feP5bKk_EeCXqcRV-18f6Q"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_ZD_IQH7LEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Model" href="RoboCab.uml#_fdzJn6k_EeCXqcRV-18f6Q"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <styles xmi:type="notation:StringValueStyle" xmi:id="_ZD_IQX7LEeSFyNbnLYDCkw" name="diagram_compatibility_version" stringValue="1.0.0"/>
-    <element xmi:type="uml:Model" href="RoboCab.uml#_fdzJn6k_EeCXqcRV-18f6Q"/>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_feP5bak_EeCXqcRV-18f6Q" type="CompositeStructure" name="NewDiagram" measurementUnit="Pixel">
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_feP5bqk_EeCXqcRV-18f6Q"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_ks9Wg37LEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Class" href="RoboCab.uml#_fdzJWqk_EeCXqcRV-18f6Q"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Class" href="RoboCab.uml#_fdzJWqk_EeCXqcRV-18f6Q"/>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_feP5b6k_EeCXqcRV-18f6Q" type="CompositeStructure" name="ArchitectureDiagram" measurementUnit="Pixel">
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_feP5cKk_EeCXqcRV-18f6Q"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_ks9WhH7LEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Class" href="RoboCab.uml#_fdzJWqk_EeCXqcRV-18f6Q"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Class" href="RoboCab.uml#_fdzJWqk_EeCXqcRV-18f6Q"/>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_OCVFkBwAEeGa5bH_RJFzBQ" type="CompositeStructure" name="RobocabDefaultArchitecture" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_ly27gBwAEeGa5bH_RJFzBQ" type="2073" fontName="Ubuntu" fontHeight="12" bold="true" fillColor="12632256" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ly3ikBwAEeGa5bH_RJFzBQ" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ly3ikRwAEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ly3ikhwAEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ly3ikxwAEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ly3ilBwAEeGa5bH_RJFzBQ" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ly3ilRwAEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_iTOXkKEOEeKLUqX9IJq2Gg" source="PapyrusHyperLink_Diagram" references="_-IQaMKENEeKLUqX9IJq2Gg">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_iTOXkaEOEeKLUqX9IJq2Gg" key="tooltip_text" value="RoboCabEnvironmentDiagram"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_iTOXkqEOEeKLUqX9IJq2Gg" key="diagram_name" value="RoboCabEnvironmentDiagram"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_iTOXk6EOEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_ly3ilhwAEeGa5bH_RJFzBQ" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_ly3ilxwAEeGa5bH_RJFzBQ" type="7073">
-        <children xmi:type="notation:Shape" xmi:id="_7f6d0BwAEeGa5bH_RJFzBQ" type="3070" fontName="Ubuntu" fontHeight="7" fillColor="8047085" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7f7E4BwAEeGa5bH_RJFzBQ" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7f7E4RwAEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7f7E4hwAEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7f7E4xwAEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7f7r8BwAEeGa5bH_RJFzBQ" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7f7r8RwAEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_qVugUKEMEeKLUqX9IJq2Gg" source="PapyrusHyperLink_Diagram" references="_A0k2UB8rEeG4gPCEznVNOA">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qVugUaEMEeKLUqX9IJq2Gg" key="tooltip_text" value="OrganizerSystemDiagram"/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qVugUqEMEeKLUqX9IJq2Gg" key="diagram_name" value="OrganizerSystemDiagram"/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qVugU6EMEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_7f7r8hwAEeGa5bH_RJFzBQ" type="5126">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_nfWJEKEMEeKLUqX9IJq2Gg" source="PapyrusHyperLink_Diagram" references="_A0k2UB8rEeG4gPCEznVNOA">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nfWJEaEMEeKLUqX9IJq2Gg" key="tooltip_text" value="OrganizerSystemDiagram"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nfWJEqEMEeKLUqX9IJq2Gg" key="diagram_name" value="OrganizerSystemDiagram"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nfWJE6EMEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
-            </eAnnotations>
-          </children>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_7f7r8xwAEeGa5bH_RJFzBQ" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_7f7r9BwAEeGa5bH_RJFzBQ"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_7f7r9RwAEeGa5bH_RJFzBQ"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_a3jYkB9CEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_a3jYkh9CEeGetOLfkLNwfg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_a3jYkx9CEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_a3j_oB9CEeGetOLfkLNwfg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_a3j_oR9CEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_a3j_oh9CEeGetOLfkLNwfg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_a3j_ox9CEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_a3j_pB9CEeGetOLfkLNwfg" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_a3j_pR9CEeGetOLfkLNwfg" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_a3j_ph9CEeGetOLfkLNwfg" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_a3j_px9CEeGetOLfkLNwfg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_tRMrYB8sEeG4gPCEznVNOA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_a3jYkR9CEeGetOLfkLNwfg" x="-10" y="323"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_a3kmsB9CEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_a3kmsh9CEeGetOLfkLNwfg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_a3kmsx9CEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_a3kmtB9CEeGetOLfkLNwfg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_a3kmtR9CEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_a3kmth9CEeGetOLfkLNwfg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_a3lNwB9CEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_a3lNwR9CEeGetOLfkLNwfg" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_a3lNwh9CEeGetOLfkLNwfg" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_a3lNwx9CEeGetOLfkLNwfg" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_a3lNxB9CEeGetOLfkLNwfg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_00caYB8sEeG4gPCEznVNOA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_a3kmsR9CEeGetOLfkLNwfg" x="-10" y="508"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_X8_ToDU1EeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_X8_TojU1EeG5pL_fpN2DgQ" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_X8_TozU1EeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_X8_TpDU1EeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_X8_6sDU1EeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_X8_6sTU1EeG5pL_fpN2DgQ" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_X8_6sjU1EeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_X8_6szU1EeG5pL_fpN2DgQ" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_X8_6tDU1EeG5pL_fpN2DgQ" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_X8_6tTU1EeG5pL_fpN2DgQ" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_X8_6tjU1EeG5pL_fpN2DgQ" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_vP_roDUrEeG5pL_fpN2DgQ"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_X8_ToTU1EeG5pL_fpN2DgQ" x="-10" y="81"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_X9AhwDU1EeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_X9AhwjU1EeG5pL_fpN2DgQ" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_X9AhwzU1EeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_X9AhxDU1EeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_X9AhxTU1EeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_X9AhxjU1EeG5pL_fpN2DgQ" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_X9AhxzU1EeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_X9AhyDU1EeG5pL_fpN2DgQ" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_X9BI0DU1EeG5pL_fpN2DgQ" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_X9BI0TU1EeG5pL_fpN2DgQ" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_X9BI0jU1EeG5pL_fpN2DgQ" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#__UwIsDUrEeG5pL_fpN2DgQ"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_X9AhwTU1EeG5pL_fpN2DgQ" x="-10" y="201"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_X9BI0zU1EeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_X9Bv4DU1EeG5pL_fpN2DgQ" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_X9Bv4TU1EeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_X9Bv4jU1EeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_X9Bv4zU1EeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_X9Bv5DU1EeG5pL_fpN2DgQ" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_X9Bv5TU1EeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_X9Bv5jU1EeG5pL_fpN2DgQ" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_X9Bv5zU1EeG5pL_fpN2DgQ" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_X9Bv6DU1EeG5pL_fpN2DgQ" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_X9Bv6TU1EeG5pL_fpN2DgQ" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#__vhZIDUrEeG5pL_fpN2DgQ"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_X9BI1DU1EeG5pL_fpN2DgQ" x="-10" y="131"/>
-          </children>
-          <element xmi:type="uml:Property" href="RoboCab.uml#_bsDDwKlmEeCLku4RFrI7uw"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_7f6d0RwAEeGa5bH_RJFzBQ" x="986" y="138" width="255" height="568"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_D1YT8BwBEeGa5bH_RJFzBQ" type="3070" fontName="Ubuntu" fontHeight="7" fillColor="8047085" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_D1YT8hwBEeGa5bH_RJFzBQ" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_D1YT8xwBEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_D1YT9BwBEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_D1YT9RwBEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_D1Y7ABwBEeGa5bH_RJFzBQ" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_D1Y7ARwBEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_D1Y7AhwBEeGa5bH_RJFzBQ" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_D1Y7AxwBEeGa5bH_RJFzBQ" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_D1Y7BBwBEeGa5bH_RJFzBQ"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_D1Y7BRwBEeGa5bH_RJFzBQ"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_cnm3cBwBEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_cnnegBwBEeGa5bH_RJFzBQ" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_cnnegRwBEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_cnneghwBEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_cnoFkBwBEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_cnoFkRwBEeGa5bH_RJFzBQ" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_cnoFkhwBEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_cnoFkxwBEeGa5bH_RJFzBQ" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_cnoFlBwBEeGa5bH_RJFzBQ" x="51" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_cnoFlRwBEeGa5bH_RJFzBQ" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_cnoFlhwBEeGa5bH_RJFzBQ" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_cPiaEKlgEeCYfbnxVSyZ9g"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_cnm3cRwBEeGa5bH_RJFzBQ" x="-10" y="42"/>
-          </children>
-          <element xmi:type="uml:Property" href="RoboCab.uml#_BE-egKlmEeCLku4RFrI7uw"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_D1YT8RwBEeGa5bH_RJFzBQ" x="1012" y="774"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_ri8ZEBwnEeGa5bH_RJFzBQ" type="3070" fontName="Ubuntu" fontHeight="7" fillColor="10011046" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ri8ZEhwnEeGa5bH_RJFzBQ" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ri9AIBwnEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ri9AIRwnEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ri9AIhwnEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ri9AIxwnEeGa5bH_RJFzBQ" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ri9AJBwnEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_xi0OkKELEeKLUqX9IJq2Gg" source="PapyrusHyperLink_Diagram" references="_O43JEB8uEeG4gPCEznVNOA">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_xi0OkaELEeKLUqX9IJq2Gg" key="tooltip_text" value="ChallengerSpaceDiagram"/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_xi0OkqELEeKLUqX9IJq2Gg" key="diagram_name" value="ChallengerSpaceDiagram"/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_xi0Ok6ELEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_ri9AJRwnEeGa5bH_RJFzBQ" type="5126">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_uf7sYKELEeKLUqX9IJq2Gg" source="PapyrusHyperLink_Diagram" references="_O43JEB8uEeG4gPCEznVNOA">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uf7sYaELEeKLUqX9IJq2Gg" key="tooltip_text" value="ChallengerSpaceDiagram"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uf7sYqELEeKLUqX9IJq2Gg" key="diagram_name" value="ChallengerSpaceDiagram"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uf7sY6ELEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
-            </eAnnotations>
-          </children>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_ri9AJhwnEeGa5bH_RJFzBQ" type="7077">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_h9nl4KEMEeKLUqX9IJq2Gg" source="PapyrusHyperLink_Diagram" references="_O43JEB8uEeG4gPCEznVNOA">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_h9nl4aEMEeKLUqX9IJq2Gg" key="tooltip_text" value="ChallengerSpaceDiagram"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_h9nl4qEMEeKLUqX9IJq2Gg" key="diagram_name" value="ChallengerSpaceDiagram"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_h9nl46EMEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
-            </eAnnotations>
-            <styles xmi:type="notation:TitleStyle" xmi:id="_ri9AJxwnEeGa5bH_RJFzBQ"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ri9AKBwnEeGa5bH_RJFzBQ"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_uTZHcBwnEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_uTZHchwnEeGa5bH_RJFzBQ" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uTZHcxwnEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_uTZHdBwnEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uTZugBwnEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_uTZugRwnEeGa5bH_RJFzBQ" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uTZughwnEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_uTZugxwnEeGa5bH_RJFzBQ" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_uTZuhBwnEeGa5bH_RJFzBQ" x="-110" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_uTZuhRwnEeGa5bH_RJFzBQ" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_uTZuhhwnEeGa5bH_RJFzBQ" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzLNqk_EeCXqcRV-18f6Q"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_uTZHcRwnEeGa5bH_RJFzBQ" x="503" y="667"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_uTaVkBwnEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_uTaVkhwnEeGa5bH_RJFzBQ" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uTaVkxwnEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_uTaVlBwnEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uTaVlRwnEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_uTa8oBwnEeGa5bH_RJFzBQ" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uTa8oRwnEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_uTa8ohwnEeGa5bH_RJFzBQ" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_uTa8oxwnEeGa5bH_RJFzBQ" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_uTa8pBwnEeGa5bH_RJFzBQ" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_uTa8pRwnEeGa5bH_RJFzBQ" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_LA8qUKlkEeCLku4RFrI7uw"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_uTaVkRwnEeGa5bH_RJFzBQ" x="-10" y="327"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_uTcKxhwnEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_uTcx0BwnEeGa5bH_RJFzBQ" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uTcx0RwnEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_uTcx0hwnEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uTcx0xwnEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_uTcx1BwnEeGa5bH_RJFzBQ" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uTcx1RwnEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_uTcx1hwnEeGa5bH_RJFzBQ" visible="false" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_uTcx1xwnEeGa5bH_RJFzBQ" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_uTcx2BwnEeGa5bH_RJFzBQ" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_uTcx2RwnEeGa5bH_RJFzBQ" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_ImFDAKlnEeCLku4RFrI7uw"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_uTcKxxwnEeGa5bH_RJFzBQ" x="503" y="327"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_MCJDgB9CEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCJqkB9CEeGetOLfkLNwfg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCJqkR9CEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCJqkh9CEeGetOLfkLNwfg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCJqkx9CEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCJqlB9CEeGetOLfkLNwfg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCJqlR9CEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_MCJqlh9CEeGetOLfkLNwfg" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_MCJqlx9CEeGetOLfkLNwfg" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_MCJqmB9CEeGetOLfkLNwfg" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_MCJqmR9CEeGetOLfkLNwfg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_egSUcB8vEeG4gPCEznVNOA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MCJDgR9CEeGetOLfkLNwfg" x="-10" y="197"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_MCKRoB9CEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCKRoh9CEeGetOLfkLNwfg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCKRox9CEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCKRpB9CEeGetOLfkLNwfg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCKRpR9CEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCKRph9CEeGetOLfkLNwfg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCKRpx9CEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_MCK4sB9CEeGetOLfkLNwfg" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_MCK4sR9CEeGetOLfkLNwfg" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_MCK4sh9CEeGetOLfkLNwfg" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_MCK4sx9CEeGetOLfkLNwfg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_FgbvMB8wEeGetOLfkLNwfg"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MCKRoR9CEeGetOLfkLNwfg" x="-10" y="69"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_MCK4tB9CEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCK4th9CEeGetOLfkLNwfg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCK4tx9CEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCK4uB9CEeGetOLfkLNwfg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCLfwB9CEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCLfwR9CEeGetOLfkLNwfg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCLfwh9CEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_MCLfwx9CEeGetOLfkLNwfg" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_MCLfxB9CEeGetOLfkLNwfg" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_MCLfxR9CEeGetOLfkLNwfg" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_MCLfxh9CEeGetOLfkLNwfg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_NkEOcB8wEeGetOLfkLNwfg"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MCK4tR9CEeGetOLfkLNwfg" x="-10" y="297"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_MCLfxx9CEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCMG0B9CEeGetOLfkLNwfg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCMG0R9CEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCMG0h9CEeGetOLfkLNwfg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCMG0x9CEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCMG1B9CEeGetOLfkLNwfg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCMG1R9CEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_MCMG1h9CEeGetOLfkLNwfg" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_MCMG1x9CEeGetOLfkLNwfg" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_MCMG2B9CEeGetOLfkLNwfg" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_MCMG2R9CEeGetOLfkLNwfg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_WZjocB8wEeGetOLfkLNwfg"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MCLfyB9CEeGetOLfkLNwfg" x="-11" y="406" width="20" height="20"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_MCMG2h9CEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCMt4B9CEeGetOLfkLNwfg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCMt4R9CEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCMt4h9CEeGetOLfkLNwfg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCMt4x9CEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCMt5B9CEeGetOLfkLNwfg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCMt5R9CEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_MCMt5h9CEeGetOLfkLNwfg" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_MCMt5x9CEeGetOLfkLNwfg" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_MCMt6B9CEeGetOLfkLNwfg" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_MCMt6R9CEeGetOLfkLNwfg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_x9oBcB8wEeGetOLfkLNwfg"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MCMG2x9CEeGetOLfkLNwfg" x="-10" y="552"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_MCNU8B9CEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCNU8h9CEeGetOLfkLNwfg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCNU8x9CEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCNU9B9CEeGetOLfkLNwfg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCNU9R9CEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCNU9h9CEeGetOLfkLNwfg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCNU9x9CEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_MCNU-B9CEeGetOLfkLNwfg" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_MCNU-R9CEeGetOLfkLNwfg" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_MCNU-h9CEeGetOLfkLNwfg" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_MCNU-x9CEeGetOLfkLNwfg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_WC5TkB8-EeGetOLfkLNwfg"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MCNU8R9CEeGetOLfkLNwfg" x="-10" y="652"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_MCN8AB9CEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCN8Ah9CEeGetOLfkLNwfg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCN8Ax9CEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCN8BB9CEeGetOLfkLNwfg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCN8BR9CEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCN8Bh9CEeGetOLfkLNwfg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCOjEB9CEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_MCOjER9CEeGetOLfkLNwfg" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_MCOjEh9CEeGetOLfkLNwfg" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_MCOjEx9CEeGetOLfkLNwfg" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_MCOjFB9CEeGetOLfkLNwfg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_a8AXkB8-EeGetOLfkLNwfg"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MCN8AR9CEeGetOLfkLNwfg" x="-10" y="777"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_6fSfgDU0EeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6fTGkDU0EeG5pL_fpN2DgQ" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6fTGkTU0EeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6fTGkjU0EeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6fTGkzU0EeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6fTGlDU0EeG5pL_fpN2DgQ" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6fTtoDU0EeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_6fTtoTU0EeG5pL_fpN2DgQ" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_6fTtojU0EeG5pL_fpN2DgQ" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_6fTtozU0EeG5pL_fpN2DgQ" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_6fTtpDU0EeG5pL_fpN2DgQ" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_qPrSwDUzEeG5pL_fpN2DgQ"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_6fSfgTU0EeG5pL_fpN2DgQ" x="-10" y="455"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_6fTtpTU0EeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6fUUsDU0EeG5pL_fpN2DgQ" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6fUUsTU0EeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6fUUsjU0EeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6fUUszU0EeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6fUUtDU0EeG5pL_fpN2DgQ" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6fUUtTU0EeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_6fUUtjU0EeG5pL_fpN2DgQ" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_6fUUtzU0EeG5pL_fpN2DgQ" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_6fUUuDU0EeG5pL_fpN2DgQ" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_6fUUuTU0EeG5pL_fpN2DgQ" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_0-eXwDUzEeG5pL_fpN2DgQ"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_6fTtpjU0EeG5pL_fpN2DgQ" x="-10" y="1"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_6fU7wDU0EeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6fU7wjU0EeG5pL_fpN2DgQ" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6fU7wzU0EeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6fU7xDU0EeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6fU7xTU0EeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6fU7xjU0EeG5pL_fpN2DgQ" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6fU7xzU0EeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_6fU7yDU0EeG5pL_fpN2DgQ" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_6fU7yTU0EeG5pL_fpN2DgQ" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_6fVi0DU0EeG5pL_fpN2DgQ" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_6fVi0TU0EeG5pL_fpN2DgQ" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_2izRQDUzEeG5pL_fpN2DgQ"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_6fU7wTU0EeG5pL_fpN2DgQ" x="-10" y="25"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_6fVi0jU0EeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6fVi1DU0EeG5pL_fpN2DgQ" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6fWJ4DU0EeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6fWJ4TU0EeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6fWJ4jU0EeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6fWJ4zU0EeG5pL_fpN2DgQ" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6fWJ5DU0EeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_6fWJ5TU0EeG5pL_fpN2DgQ" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_6fWJ5jU0EeG5pL_fpN2DgQ" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_6fWJ5zU0EeG5pL_fpN2DgQ" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_6fWJ6DU0EeG5pL_fpN2DgQ" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_3wKcQDUzEeG5pL_fpN2DgQ"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_6fVi0zU0EeG5pL_fpN2DgQ" x="-10" y="45"/>
-          </children>
-          <element xmi:type="uml:Property" href="RoboCab.uml#_kbbj0BwnEeGa5bH_RJFzBQ"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ri8ZERwnEeGa5bH_RJFzBQ" x="355" y="134" width="513" height="828"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_7QACMB8kEeG4gPCEznVNOA" type="3070" fontName="Ubuntu" fillColor="13420443" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7QApQB8kEeG4gPCEznVNOA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7QApQR8kEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7QApQh8kEeG4gPCEznVNOA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7QApQx8kEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7QBQUB8kEeG4gPCEznVNOA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7QBQUR8kEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_7QBQUh8kEeG4gPCEznVNOA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_7QBQUx8kEeG4gPCEznVNOA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_7QBQVB8kEeG4gPCEznVNOA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_7QBQVR8kEeG4gPCEznVNOA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_TSSfEDU1EeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_TSTGIDU1EeG5pL_fpN2DgQ" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_TSTGITU1EeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_TSTGIjU1EeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_TSTGIzU1EeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_TSTGJDU1EeG5pL_fpN2DgQ" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_TSTGJTU1EeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_TSTGJjU1EeG5pL_fpN2DgQ" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_TSTGJzU1EeG5pL_fpN2DgQ" x="-144" y="9"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_TSTGKDU1EeG5pL_fpN2DgQ" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_TSTGKTU1EeG5pL_fpN2DgQ" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_zEf_YDUoEeG5pL_fpN2DgQ"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_TSSfETU1EeG5pL_fpN2DgQ" x="187" y="20"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_TSTtMDU1EeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_TSTtMjU1EeG5pL_fpN2DgQ" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_TSTtMzU1EeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_TSUUQDU1EeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_TSUUQTU1EeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_TSUUQjU1EeG5pL_fpN2DgQ" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_TSUUQzU1EeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_TSUURDU1EeG5pL_fpN2DgQ" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_TSUURTU1EeG5pL_fpN2DgQ" x="-129" y="4"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_TSUURjU1EeG5pL_fpN2DgQ" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_TSUURzU1EeG5pL_fpN2DgQ" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_2hQaIDUoEeG5pL_fpN2DgQ"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_TSTtMTU1EeG5pL_fpN2DgQ" x="187" y="60"/>
-          </children>
-          <element xmi:type="uml:Property" href="RoboCab.uml#_7PWh8B8kEeG4gPCEznVNOA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_7QACMR8kEeG4gPCEznVNOA" x="32" y="521" width="197" height="101"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_NJ2YoB8lEeG4gPCEznVNOA" type="3070" fontName="Ubuntu" fillColor="13420443" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NJ2Yoh8lEeG4gPCEznVNOA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NJ2Yox8lEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NJ2YpB8lEeG4gPCEznVNOA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NJ2YpR8lEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NJ2Yph8lEeG4gPCEznVNOA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NJ2Ypx8lEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_NJ2YqB8lEeG4gPCEznVNOA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_NJ2YqR8lEeG4gPCEznVNOA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_NJ2Yqh8lEeG4gPCEznVNOA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_NJ2Yqx8lEeG4gPCEznVNOA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_R-9tcB8lEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_R-9tch8lEeG4gPCEznVNOA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_R-9tcx8lEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_R-9tdB8lEeG4gPCEznVNOA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_R--UgB8lEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_R--UgR8lEeG4gPCEznVNOA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_R--Ugh8lEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_R--Ugx8lEeG4gPCEznVNOA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_R--UhB8lEeG4gPCEznVNOA" x="-112" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_R--UhR8lEeG4gPCEznVNOA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_R--Uhh8lEeG4gPCEznVNOA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_lpqYsKlAEeCYaYi0hzq5kg"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_R-9tcR8lEeG4gPCEznVNOA" x="186" y="54"/>
-          </children>
-          <element xmi:type="uml:Property" href="RoboCab.uml#_NJdXEB8lEeG4gPCEznVNOA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_NJ2YoR8lEeG4gPCEznVNOA" x="33" y="636" width="196" height="96"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_OElikB8lEeG4gPCEznVNOA" type="3070" fontName="Ubuntu" fillColor="13420443" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_OElikh8lEeG4gPCEznVNOA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OElikx8lEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_OEmJoB8lEeG4gPCEznVNOA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OEmJoR8lEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_OEmJoh8lEeG4gPCEznVNOA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OEmJox8lEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_OEmJpB8lEeG4gPCEznVNOA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_OEmJpR8lEeG4gPCEznVNOA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_OEmJph8lEeG4gPCEznVNOA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_OEmJpx8lEeG4gPCEznVNOA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_TGbEwB8lEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_TGbr0B8lEeG4gPCEznVNOA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_TGbr0R8lEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_TGbr0h8lEeG4gPCEznVNOA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_TGbr0x8lEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_TGcS4B8lEeG4gPCEznVNOA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_TGcS4R8lEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_TGcS4h8lEeG4gPCEznVNOA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_TGcS4x8lEeG4gPCEznVNOA" x="-114" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_TGcS5B8lEeG4gPCEznVNOA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_TGcS5R8lEeG4gPCEznVNOA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_lpqYsKlAEeCYaYi0hzq5kg"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_TGbEwR8lEeG4gPCEznVNOA" x="185" y="38"/>
-          </children>
-          <element xmi:type="uml:Property" href="RoboCab.uml#_OENvIB8lEeG4gPCEznVNOA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_OElikR8lEeG4gPCEznVNOA" x="34" y="748" width="195" height="99"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_94zbAB8lEeG4gPCEznVNOA" type="3070" fontName="Ubuntu" fillColor="13420443" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_94zbAh8lEeG4gPCEznVNOA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_94zbAx8lEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_94zbBB8lEeG4gPCEznVNOA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_94zbBR8lEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_94zbBh8lEeG4gPCEznVNOA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_94zbBx8lEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Hjc7YB8mEeG4gPCEznVNOA" source="Stereotype_Annotation">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_I0K8YB8mEeG4gPCEznVNOA" key="StereotypeWithQualifiedNameList" value=""/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_I0K8YR8mEeG4gPCEznVNOA" key="StereotypeList" value=""/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_I0K8Yh8mEeG4gPCEznVNOA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_I0LjcB8mEeG4gPCEznVNOA" key="PropStereoDisplay" value=""/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_I0LjcR8mEeG4gPCEznVNOA" key="StereotypePropertyLocation" value="Compartment"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_940CEB8lEeG4gPCEznVNOA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_940CER8lEeG4gPCEznVNOA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_940CEh8lEeG4gPCEznVNOA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_940CEx8lEeG4gPCEznVNOA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_BmQkMB8mEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BmRLQB8mEeG4gPCEznVNOA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BmRLQR8mEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BmRLQh8mEeG4gPCEznVNOA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BmRLQx8mEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BmRLRB8mEeG4gPCEznVNOA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BmRLRR8mEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_BmRLRh8mEeG4gPCEznVNOA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_BmRLRx8mEeG4gPCEznVNOA" x="-106"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_BmRLSB8mEeG4gPCEznVNOA" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_BmRLSR8mEeG4gPCEznVNOA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_lpqYsKlAEeCYaYi0hzq5kg"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_BmQkMR8mEeG4gPCEznVNOA" x="185" y="45"/>
-          </children>
-          <element xmi:type="uml:Property" href="RoboCab.uml#_94cOoB8lEeG4gPCEznVNOA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_94zbAR8lEeG4gPCEznVNOA" x="34" y="865" width="195" height="97"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_KdZvwB9BEeGetOLfkLNwfg" type="3070" fontName="Ubuntu" fillColor="13420443" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_KdZvwh9BEeGetOLfkLNwfg" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_KdZvwx9BEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_KdaW0B9BEeGetOLfkLNwfg" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_KdaW0R9BEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_KdaW0h9BEeGetOLfkLNwfg" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_KdaW0x9BEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_KdaW1B9BEeGetOLfkLNwfg" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_KdaW1R9BEeGetOLfkLNwfg" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_KdaW1h9BEeGetOLfkLNwfg"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_KdaW1x9BEeGetOLfkLNwfg"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_M3DuwB9BEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_M3Duwh9BEeGetOLfkLNwfg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_M3Duwx9BEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_M3EV0B9BEeGetOLfkLNwfg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_M3EV0R9BEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_M3EV0h9BEeGetOLfkLNwfg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_M3EV0x9BEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_M3EV1B9BEeGetOLfkLNwfg" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_M3EV1R9BEeGetOLfkLNwfg" x="-116" y="4"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_M3EV1h9BEeGetOLfkLNwfg" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_M3EV1x9BEeGetOLfkLNwfg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzJfak_EeCXqcRV-18f6Q"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_M3DuwR9BEeGetOLfkLNwfg" x="187" y="33"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_M3E84B9BEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_M3E84h9BEeGetOLfkLNwfg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_M3E84x9BEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_M3E85B9BEeGetOLfkLNwfg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_M3E85R9BEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_M3E85h9BEeGetOLfkLNwfg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_M3E85x9BEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_M3E86B9BEeGetOLfkLNwfg" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_M3Fj8B9BEeGetOLfkLNwfg" x="-181" y="4"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_M3Fj8R9BEeGetOLfkLNwfg" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_M3Fj8h9BEeGetOLfkLNwfg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_4xF7kKlLEeCYfbnxVSyZ9g"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_M3E84R9BEeGetOLfkLNwfg" x="187" y="70"/>
-          </children>
-          <element xmi:type="uml:Property" href="RoboCab.uml#_KdDxgB9BEeGetOLfkLNwfg"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_KdZvwR9BEeGetOLfkLNwfg" x="32" y="398" width="197" height="109"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_YLmlIB9BEeGetOLfkLNwfg" type="3070" fontName="Ubuntu" fillColor="13420443" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_YLnMMB9BEeGetOLfkLNwfg" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_YLnMMR9BEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_YLnMMh9BEeGetOLfkLNwfg" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_YLnMMx9BEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_YLnMNB9BEeGetOLfkLNwfg" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_YLnMNR9BEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_YLnMNh9BEeGetOLfkLNwfg" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_YLnMNx9BEeGetOLfkLNwfg" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_YLnMOB9BEeGetOLfkLNwfg"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_YLnMOR9BEeGetOLfkLNwfg"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_dQHn4B9BEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_dQHn4h9BEeGetOLfkLNwfg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_dQHn4x9BEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_dQIO8B9BEeGetOLfkLNwfg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_dQIO8R9BEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_dQIO8h9BEeGetOLfkLNwfg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_dQIO8x9BEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_dQIO9B9BEeGetOLfkLNwfg" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_dQIO9R9BEeGetOLfkLNwfg" x="-219" y="-11"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_dQIO9h9BEeGetOLfkLNwfg" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_dQIO9x9BEeGetOLfkLNwfg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_9cOsYB8oEeG4gPCEznVNOA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_dQHn4R9BEeGetOLfkLNwfg" x="187" y="46"/>
-          </children>
-          <element xmi:type="uml:Property" href="RoboCab.uml#_YLTDIB9BEeGetOLfkLNwfg"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_YLmlIR9BEeGetOLfkLNwfg" x="32" y="283" width="197" height="99"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_A7RAQB9DEeGetOLfkLNwfg" type="3070" fontName="Ubuntu" fillColor="13420443" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_A7RnUB9DEeGetOLfkLNwfg" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_A7RnUR9DEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_A7RnUh9DEeGetOLfkLNwfg" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_A7RnUx9DEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_A7RnVB9DEeGetOLfkLNwfg" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_A7RnVR9DEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_A7RnVh9DEeGetOLfkLNwfg" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_A7RnVx9DEeGetOLfkLNwfg" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_A7RnWB9DEeGetOLfkLNwfg"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_A7RnWR9DEeGetOLfkLNwfg"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_EOFb4B9DEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_EOFb4h9DEeGetOLfkLNwfg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_EOGC8B9DEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_EOGC8R9DEeGetOLfkLNwfg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_EOGC8h9DEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_EOGC8x9DEeGetOLfkLNwfg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_EOGC9B9DEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_EOGC9R9DEeGetOLfkLNwfg" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_EOGC9h9DEeGetOLfkLNwfg" x="-159" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_EOGC9x9DEeGetOLfkLNwfg" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_EOGC-B9DEeGetOLfkLNwfg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzJY6k_EeCXqcRV-18f6Q"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_EOFb4R9DEeGetOLfkLNwfg" x="185" y="30"/>
-          </children>
-          <element xmi:type="uml:Property" href="RoboCab.uml#_A68QIB9DEeGetOLfkLNwfg"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_A7RAQR9DEeGetOLfkLNwfg" x="32" y="163" width="195"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_GhYYYDU1EeG5pL_fpN2DgQ" type="3070" fontName="Ubuntu" fillColor="13420443" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_GhY_cDU1EeG5pL_fpN2DgQ" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_GhY_cTU1EeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_GhY_cjU1EeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_GhY_czU1EeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_GhY_dDU1EeG5pL_fpN2DgQ" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_GhY_dTU1EeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_GhY_djU1EeG5pL_fpN2DgQ" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_GhY_dzU1EeG5pL_fpN2DgQ" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_GhY_eDU1EeG5pL_fpN2DgQ"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_GhY_eTU1EeG5pL_fpN2DgQ"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_Mri0kDU1EeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrjboDU1EeG5pL_fpN2DgQ" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MrjboTU1EeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrjbojU1EeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MrjbozU1EeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrjbpDU1EeG5pL_fpN2DgQ" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MrjbpTU1EeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_MrjbpjU1EeG5pL_fpN2DgQ" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_MrjbpzU1EeG5pL_fpN2DgQ" x="-141" y="9"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_MrjbqDU1EeG5pL_fpN2DgQ" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_MrjbqTU1EeG5pL_fpN2DgQ" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzJcKk_EeCXqcRV-18f6Q"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Mri0kTU1EeG5pL_fpN2DgQ" x="176" y="15"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_MrkCsDU1EeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrkCsjU1EeG5pL_fpN2DgQ" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MrkCszU1EeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrkpwDU1EeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MrkpwTU1EeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrkpwjU1EeG5pL_fpN2DgQ" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MrkpwzU1EeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_MrkpxDU1EeG5pL_fpN2DgQ" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_MrkpxTU1EeG5pL_fpN2DgQ" x="-161" y="4"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_MrkpxjU1EeG5pL_fpN2DgQ" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_MrkpxzU1EeG5pL_fpN2DgQ" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_UMascKlFEeCgdMhwEBuWIg"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MrkCsTU1EeG5pL_fpN2DgQ" x="176" y="50"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_MrkpyDU1EeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrlQ0DU1EeG5pL_fpN2DgQ" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MrlQ0TU1EeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrlQ0jU1EeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MrlQ0zU1EeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrlQ1DU1EeG5pL_fpN2DgQ" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MrlQ1TU1EeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_MrlQ1jU1EeG5pL_fpN2DgQ" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_MrlQ1zU1EeG5pL_fpN2DgQ" x="-136" y="4"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_Mrl34DU1EeG5pL_fpN2DgQ" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_Mrl34TU1EeG5pL_fpN2DgQ" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_nCjE8KlFEeCniaMk5QUBRg"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MrkpyTU1EeG5pL_fpN2DgQ" x="176" y="85"/>
-          </children>
-          <element xmi:type="uml:Property" href="RoboCab.uml#_fdzI16k_EeCXqcRV-18f6Q"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_GhYYYTU1EeG5pL_fpN2DgQ" x="35" y="10" width="186" height="120"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_ly3imBwAEeGa5bH_RJFzBQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ly3imRwAEeGa5bH_RJFzBQ"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_fdzI0qk_EeCXqcRV-18f6Q"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ly27gRwAEeGa5bH_RJFzBQ" x="-1260" y="-680" width="1414" height="1063"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_OCVFkRwAEeGa5bH_RJFzBQ"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_ZzItQH7LEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Model" href="RoboCab.uml#_fdzI0ak_EeCXqcRV-18f6Q"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <styles xmi:type="notation:StringValueStyle" xmi:id="_ZzItQX7LEeSFyNbnLYDCkw" name="diagram_compatibility_version" stringValue="1.0.0"/>
-    <element xmi:type="uml:Model" href="RoboCab.uml#_fdzI0ak_EeCXqcRV-18f6Q"/>
-    <edges xmi:type="notation:Connector" xmi:id="_k9My4B9CEeGetOLfkLNwfg" type="4013" source="_cnm3cBwBEeGa5bH_RJFzBQ" target="_uTZHcBwnEeGa5bH_RJFzBQ" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k9NZ8B9CEeGetOLfkLNwfg" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k9NZ8R9CEeGetOLfkLNwfg" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k9NZ8h9CEeGetOLfkLNwfg" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k9NZ8x9CEeGetOLfkLNwfg" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k9NZ9B9CEeGetOLfkLNwfg" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k9NZ9R9CEeGetOLfkLNwfg" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k9NZ9h9CEeGetOLfkLNwfg" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k9NZ9x9CEeGetOLfkLNwfg" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k9My4R9CEeGetOLfkLNwfg" fontName="Ubuntu"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_k82NkB9CEeGetOLfkLNwfg"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k9My4h9CEeGetOLfkLNwfg" points="[-10, 0, 134, 0]$[-134, 0, 10, 0]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_myXkwB9CEeGetOLfkLNwfg" type="4013" source="_cnm3cBwBEeGa5bH_RJFzBQ" target="_a3kmsB9CEeGetOLfkLNwfg" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_myYL0B9CEeGetOLfkLNwfg" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_myYL0R9CEeGetOLfkLNwfg" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_myYL0h9CEeGetOLfkLNwfg" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_myYL0x9CEeGetOLfkLNwfg" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_myYL1B9CEeGetOLfkLNwfg" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_myYL1R9CEeGetOLfkLNwfg" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_myYL1h9CEeGetOLfkLNwfg" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_myYL1x9CEeGetOLfkLNwfg" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_myXkwR9CEeGetOLfkLNwfg" fontName="Ubuntu"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_myDbsB9CEeGetOLfkLNwfg"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_myXkwh9CEeGetOLfkLNwfg" points="[-10, 0, 16, 170]$[-79, 0, -53, 170]$[-79, -170, -53, 0]$[-36, -170, -10, 0]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_qQ5hIB9CEeGetOLfkLNwfg" type="4013" source="_uTcKxhwnEeGa5bH_RJFzBQ" target="_a3jYkB9CEeGetOLfkLNwfg" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_qQ5hIx9CEeGetOLfkLNwfg" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_qQ5hJB9CEeGetOLfkLNwfg" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_qQ5hJR9CEeGetOLfkLNwfg" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_qQ5hJh9CEeGetOLfkLNwfg" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_qQ5hJx9CEeGetOLfkLNwfg" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_qQ6IMB9CEeGetOLfkLNwfg" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_qQ6IMR9CEeGetOLfkLNwfg" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_qQ6IMh9CEeGetOLfkLNwfg" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_qQ5hIR9CEeGetOLfkLNwfg" fontName="Ubuntu"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_qQmmMB9CEeGetOLfkLNwfg"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_qQ5hIh9CEeGetOLfkLNwfg" points="[8, 2, -81, -28]$[87, 22, -2, -8]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_1OX7UB9CEeGetOLfkLNwfg" type="4013" source="_R-9tcB8lEeG4gPCEznVNOA" target="_MCMG2h9CEeGetOLfkLNwfg" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_1OYiYB9CEeGetOLfkLNwfg" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_1OYiYR9CEeGetOLfkLNwfg" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_1OYiYh9CEeGetOLfkLNwfg" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_1OYiYx9CEeGetOLfkLNwfg" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_1OYiZB9CEeGetOLfkLNwfg" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_1OYiZR9CEeGetOLfkLNwfg" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_1OYiZh9CEeGetOLfkLNwfg" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_1OYiZx9CEeGetOLfkLNwfg" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_1OX7UR9CEeGetOLfkLNwfg" fontName="Ubuntu"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_1ODLMB9CEeGetOLfkLNwfg"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_1OX7Uh9CEeGetOLfkLNwfg" points="[7, -7, -84, 85]$[94, -99, 3, -7]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_QrLOsB9DEeGetOLfkLNwfg" type="4013" source="_EOFb4B9DEeGetOLfkLNwfg" target="_MCKRoB9CEeGetOLfkLNwfg" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_QrL1wB9DEeGetOLfkLNwfg" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_QrL1wR9DEeGetOLfkLNwfg" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_QrL1wh9DEeGetOLfkLNwfg" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_QrL1wx9DEeGetOLfkLNwfg" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_QrL1xB9DEeGetOLfkLNwfg" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_QrL1xR9DEeGetOLfkLNwfg" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_QrL1xh9DEeGetOLfkLNwfg" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_QrL1xx9DEeGetOLfkLNwfg" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_QrLOsR9DEeGetOLfkLNwfg" fontName="Ubuntu"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_Qq3ssB9DEeGetOLfkLNwfg"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_QrLOsh9DEeGetOLfkLNwfg" points="[7, -3, -134, 59]$[141, -69, 0, -7]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_RpzaIB9DEeGetOLfkLNwfg" type="4013" source="_dQHn4B9BEeGetOLfkLNwfg" target="_MCJDgB9CEeGetOLfkLNwfg" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_RpzaIx9DEeGetOLfkLNwfg" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_RpzaJB9DEeGetOLfkLNwfg" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_RpzaJR9DEeGetOLfkLNwfg" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_RpzaJh9DEeGetOLfkLNwfg" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_RpzaJx9DEeGetOLfkLNwfg" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_RpzaKB9DEeGetOLfkLNwfg" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_RpzaKR9DEeGetOLfkLNwfg" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_RpzaKh9DEeGetOLfkLNwfg" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_RpzaIR9DEeGetOLfkLNwfg" fontName="Ubuntu"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_RpgfMB9DEeGetOLfkLNwfg"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_RpzaIh9DEeGetOLfkLNwfg" points="[7, -2, -148, 51]$[159, -60, 4, -7]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_RqVloB9DEeGetOLfkLNwfg" id="(0.45,0.15)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_Wrd9MB9DEeGetOLfkLNwfg" type="4013" source="_M3DuwB9BEeGetOLfkLNwfg" target="_MCK4tB9CEeGetOLfkLNwfg" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_Wrd9Mx9DEeGetOLfkLNwfg" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_Wrd9NB9DEeGetOLfkLNwfg" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_Wrd9NR9DEeGetOLfkLNwfg" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_Wrd9Nh9DEeGetOLfkLNwfg" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_Wrd9Nx9DEeGetOLfkLNwfg" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_Wrd9OB9DEeGetOLfkLNwfg" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_Wrd9OR9DEeGetOLfkLNwfg" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_Wrd9Oh9DEeGetOLfkLNwfg" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_Wrd9MR9DEeGetOLfkLNwfg" fontName="Ubuntu"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_WrKbMB9DEeGetOLfkLNwfg"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_Wrd9Mh9DEeGetOLfkLNwfg" points="[10, -2, -187, 27]$[196, -39, -1, -10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_ba3rkB9DEeGetOLfkLNwfg" type="4013" source="_M3E84B9BEeGetOLfkLNwfg" target="_uTaVkBwnEeGa5bH_RJFzBQ" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_ba3rkx9DEeGetOLfkLNwfg" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_ba3rlB9DEeGetOLfkLNwfg" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_ba3rlR9DEeGetOLfkLNwfg" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_ba3rlh9DEeGetOLfkLNwfg" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_ba3rlx9DEeGetOLfkLNwfg" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_ba3rmB9DEeGetOLfkLNwfg" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_ba4SoB9DEeGetOLfkLNwfg" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_ba4SoR9DEeGetOLfkLNwfg" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_ba3rkR9DEeGetOLfkLNwfg" fontName="Ubuntu"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_balXsB9DEeGetOLfkLNwfg"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_ba3rkh9DEeGetOLfkLNwfg" points="[9, -2, -187, 25]$[199, -17, 3, 10]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_bbZ3EB9DEeGetOLfkLNwfg" id="(0.55,0.15)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_V2rHYDU1EeG5pL_fpN2DgQ" type="4013" source="_TSSfEDU1EeG5pL_fpN2DgQ" target="_MCLfxx9CEeGetOLfkLNwfg" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_V2rucDU1EeG5pL_fpN2DgQ" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_V2rucTU1EeG5pL_fpN2DgQ" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_V2rucjU1EeG5pL_fpN2DgQ" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_V2ruczU1EeG5pL_fpN2DgQ" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_V2rudDU1EeG5pL_fpN2DgQ" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_V2rudTU1EeG5pL_fpN2DgQ" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_V2rudjU1EeG5pL_fpN2DgQ" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_V2rudzU1EeG5pL_fpN2DgQ" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_V2rHYTU1EeG5pL_fpN2DgQ" fontName="Ubuntu"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_V2bPwDU1EeG5pL_fpN2DgQ"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_V2rHYjU1EeG5pL_fpN2DgQ" points="[10, 1, -116, -19]$[136, 20, 10, 0]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_WjkpoDU1EeG5pL_fpN2DgQ" type="4013" source="_TSTtMDU1EeG5pL_fpN2DgQ" target="_6fSfgDU0EeG5pL_fpN2DgQ" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_WjlQsDU1EeG5pL_fpN2DgQ" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_WjlQsTU1EeG5pL_fpN2DgQ" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_WjlQsjU1EeG5pL_fpN2DgQ" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_WjlQszU1EeG5pL_fpN2DgQ" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_WjlQtDU1EeG5pL_fpN2DgQ" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_WjlQtTU1EeG5pL_fpN2DgQ" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_WjlQtjU1EeG5pL_fpN2DgQ" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_WjlQtzU1EeG5pL_fpN2DgQ" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_WjkpoTU1EeG5pL_fpN2DgQ" fontName="Ubuntu"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_WjUK8DU1EeG5pL_fpN2DgQ"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_WjkpojU1EeG5pL_fpN2DgQ" points="[10, 0, -116, -8]$[128, 18, 2, 10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_cXyD8DU1EeG5pL_fpN2DgQ" type="4013" source="_Mri0kDU1EeG5pL_fpN2DgQ" target="_X8_ToDU1EeG5pL_fpN2DgQ" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_cXyrADU1EeG5pL_fpN2DgQ" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_cXyrATU1EeG5pL_fpN2DgQ" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_cXyrAjU1EeG5pL_fpN2DgQ" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_cXyrAzU1EeG5pL_fpN2DgQ" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_cXyrBDU1EeG5pL_fpN2DgQ" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_cXyrBTU1EeG5pL_fpN2DgQ" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_cXyrBjU1EeG5pL_fpN2DgQ" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_cXyrBzU1EeG5pL_fpN2DgQ" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_cXyD8TU1EeG5pL_fpN2DgQ" fontName="Ubuntu"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_cXizYDU1EeG5pL_fpN2DgQ"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_cXyD8jU1EeG5pL_fpN2DgQ" points="[10, 0, -755, -194]$[719, 0, -46, -194]$[719, 194, -46, 0]$[755, 194, -10, 0]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_dpp7gDU1EeG5pL_fpN2DgQ" type="4013" source="_MrkCsDU1EeG5pL_fpN2DgQ" target="_X9BI0zU1EeG5pL_fpN2DgQ" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_dpqikDU1EeG5pL_fpN2DgQ" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_dpqikTU1EeG5pL_fpN2DgQ" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_dpqikjU1EeG5pL_fpN2DgQ" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_dpqikzU1EeG5pL_fpN2DgQ" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_dpqilDU1EeG5pL_fpN2DgQ" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_dpqilTU1EeG5pL_fpN2DgQ" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_dpqiljU1EeG5pL_fpN2DgQ" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_dpqilzU1EeG5pL_fpN2DgQ" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_dpp7gTU1EeG5pL_fpN2DgQ" fontName="Ubuntu"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_dpY1wDU1EeG5pL_fpN2DgQ"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_dpp7gjU1EeG5pL_fpN2DgQ" points="[10, -6, -755, -215]$[709, -6, -56, -215]$[709, 209, -56, 0]$[755, 209, -10, 0]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_fSCOkDU1EeG5pL_fpN2DgQ" type="4013" source="_MrkpyDU1EeG5pL_fpN2DgQ" target="_X9AhwDU1EeG5pL_fpN2DgQ" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_fSCOkzU1EeG5pL_fpN2DgQ" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_fSCOlDU1EeG5pL_fpN2DgQ" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_fSC1oDU1EeG5pL_fpN2DgQ" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_fSC1oTU1EeG5pL_fpN2DgQ" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_fSC1ojU1EeG5pL_fpN2DgQ" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_fSC1ozU1EeG5pL_fpN2DgQ" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_fSC1pDU1EeG5pL_fpN2DgQ" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_fSC1pTU1EeG5pL_fpN2DgQ" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_fSCOkTU1EeG5pL_fpN2DgQ" fontName="Ubuntu"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_fRxI0DU1EeG5pL_fpN2DgQ"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_fSCOkjU1EeG5pL_fpN2DgQ" points="[10, 0, -755, -244]$[694, 0, -71, -244]$[694, 244, -71, 0]$[755, 244, -10, 0]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_m3u0oDU1EeG5pL_fpN2DgQ" type="4013" source="_Mri0kDU1EeG5pL_fpN2DgQ" target="_6fTtpTU0EeG5pL_fpN2DgQ" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_m3vbsDU1EeG5pL_fpN2DgQ" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_m3vbsTU1EeG5pL_fpN2DgQ" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_m3vbsjU1EeG5pL_fpN2DgQ" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_m3vbszU1EeG5pL_fpN2DgQ" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_m3vbtDU1EeG5pL_fpN2DgQ" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_m3vbtTU1EeG5pL_fpN2DgQ" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_m3vbtjU1EeG5pL_fpN2DgQ" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_m3vbtzU1EeG5pL_fpN2DgQ" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_m3u0oTU1EeG5pL_fpN2DgQ" fontName="Ubuntu"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_m3ZdcDU1EeG5pL_fpN2DgQ"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_m3u0ojU1EeG5pL_fpN2DgQ" points="[10, 0, -124, -110]$[109, 0, -25, -110]$[109, 110, -25, 0]$[124, 110, -10, 0]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_nrraEDU1EeG5pL_fpN2DgQ" type="4013" source="_MrkCsDU1EeG5pL_fpN2DgQ" target="_6fU7wDU0EeG5pL_fpN2DgQ" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_nrraEzU1EeG5pL_fpN2DgQ" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_nrsBIDU1EeG5pL_fpN2DgQ" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_nrsBITU1EeG5pL_fpN2DgQ" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_nrsBIjU1EeG5pL_fpN2DgQ" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_nrsBIzU1EeG5pL_fpN2DgQ" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_nrsBJDU1EeG5pL_fpN2DgQ" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_nrsBJTU1EeG5pL_fpN2DgQ" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_nrsBJjU1EeG5pL_fpN2DgQ" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_nrraETU1EeG5pL_fpN2DgQ" fontName="Ubuntu"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_nraUUDU1EeG5pL_fpN2DgQ"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_nrraEjU1EeG5pL_fpN2DgQ" points="[10, 0, -124, -99]$[94, 0, -40, -99]$[94, 99, -40, 0]$[124, 99, -10, 0]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_ovbWEDU1EeG5pL_fpN2DgQ" type="4013" source="_MrkpyDU1EeG5pL_fpN2DgQ" target="_6fVi0jU0EeG5pL_fpN2DgQ" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_ovbWEzU1EeG5pL_fpN2DgQ" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_ovbWFDU1EeG5pL_fpN2DgQ" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_ovbWFTU1EeG5pL_fpN2DgQ" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_ovbWFjU1EeG5pL_fpN2DgQ" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_ovb9IDU1EeG5pL_fpN2DgQ" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_ovb9ITU1EeG5pL_fpN2DgQ" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_ovb9IjU1EeG5pL_fpN2DgQ" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_ovb9IzU1EeG5pL_fpN2DgQ" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_ovbWETU1EeG5pL_fpN2DgQ" fontName="Ubuntu"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_ovKQUDU1EeG5pL_fpN2DgQ"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_ovbWEjU1EeG5pL_fpN2DgQ" points="[10, 0, -124, -84]$[84, 0, -50, -84]$[84, 84, -50, 0]$[124, 84, -10, 0]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_1k2okEHnEeGGXpGscpkjdg" type="4013" source="_TGbEwB8lEeG4gPCEznVNOA" target="_MCNU8B9CEeGetOLfkLNwfg" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_1k32sEHnEeGGXpGscpkjdg" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_1k32sUHnEeGGXpGscpkjdg" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_1k32skHnEeGGXpGscpkjdg" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_1k32s0HnEeGGXpGscpkjdg" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_1k32tEHnEeGGXpGscpkjdg" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_1k32tUHnEeGGXpGscpkjdg" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_1k32tkHnEeGGXpGscpkjdg" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_1k32t0HnEeGGXpGscpkjdg" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_1k2okUHnEeGGXpGscpkjdg" fontName="Ubuntu"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_1kW5UEHnEeGGXpGscpkjdg"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_1k2okkHnEeGGXpGscpkjdg" points="[8, 2, -87, 2]$[96, 8, 1, 8]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_3mtLkEHnEeGGXpGscpkjdg" type="4013" source="_BmQkMB8mEeG4gPCEznVNOA" target="_MCN8AB9CEeGetOLfkLNwfg" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_3mtyoEHnEeGGXpGscpkjdg" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_3mtyoUHnEeGGXpGscpkjdg" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_3mtyokHnEeGGXpGscpkjdg" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_3mtyo0HnEeGGXpGscpkjdg" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_3mtypEHnEeGGXpGscpkjdg" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_3mtypUHnEeGGXpGscpkjdg" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_3mtypkHnEeGGXpGscpkjdg" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_3mtyp0HnEeGGXpGscpkjdg" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_3mtLkUHnEeGGXpGscpkjdg" fontName="Ubuntu"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_3mcF0EHnEeGGXpGscpkjdg"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_3mtLkkHnEeGGXpGscpkjdg" points="[8, 2, -87, 1]$[92, 9, -3, 8]"/>
-    </edges>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_glL5wBwhEeGa5bH_RJFzBQ" type="CompositeStructure" name="SingletonComponentsDiagram" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_g5n4sBwhEeGa5bH_RJFzBQ" type="2073" fontHeight="8" transparency="0" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g5n4sRwhEeGa5bH_RJFzBQ" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g5n4shwhEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g5n4sxwhEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g5n4tBwhEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g5n4tRwhEeGa5bH_RJFzBQ" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g5n4thwhEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g5n4txwhEeGa5bH_RJFzBQ" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8C11cJX2EeGQNuf8-SlVhg" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8C11cZX2EeGQNuf8-SlVhg" key="StereotypeList" value="RobotML::Software"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8C11cpX2EeGQNuf8-SlVhg" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8C11c5X2EeGQNuf8-SlVhg" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8C11dJX2EeGQNuf8-SlVhg" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_g5n4vRwhEeGa5bH_RJFzBQ" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_g5n4vhwhEeGa5bH_RJFzBQ" type="7073">
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_g5n4vxwhEeGa5bH_RJFzBQ"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_C-FckBwiEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_C-FckhwiEeGa5bH_RJFzBQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_C-GDoBwiEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_C-GDoRwiEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_C-GDohwiEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_C-GDoxwiEeGa5bH_RJFzBQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_C-GDpBwiEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_C-GDpRwiEeGa5bH_RJFzBQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_C-GDphwiEeGa5bH_RJFzBQ" x="25" y="11"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_C-GDpxwiEeGa5bH_RJFzBQ" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_C-GDqBwiEeGa5bH_RJFzBQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzKZak_EeCXqcRV-18f6Q"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_C-FckRwiEeGa5bH_RJFzBQ" x="-10" y="60"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_C-GDqRwiEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_C-GDqxwiEeGa5bH_RJFzBQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_C-GDrBwiEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_C-GDrRwiEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_C-GDrhwiEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_C-GDrxwiEeGa5bH_RJFzBQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_C-GDsBwiEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_C-GqsBwiEeGa5bH_RJFzBQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_C-GqsRwiEeGa5bH_RJFzBQ" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_C-GqshwiEeGa5bH_RJFzBQ" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_C-GqsxwiEeGa5bH_RJFzBQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzKaak_EeCXqcRV-18f6Q"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_C-GDqhwiEeGa5bH_RJFzBQ" x="-10" y="96"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_C-GqtBwiEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_C-GqthwiEeGa5bH_RJFzBQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_C-GqtxwiEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_C-GquBwiEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_C-GquRwiEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_C-GquhwiEeGa5bH_RJFzBQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_C-GquxwiEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_C-GqvBwiEeGa5bH_RJFzBQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_C-GqvRwiEeGa5bH_RJFzBQ" x="-171" y="6"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_C-GqvhwiEeGa5bH_RJFzBQ" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_C-GqvxwiEeGa5bH_RJFzBQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzKcak_EeCXqcRV-18f6Q"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_C-GqtRwiEeGa5bH_RJFzBQ" x="363" y="84"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_gFqeMB8sEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gFqeMh8sEeG4gPCEznVNOA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gFqeMx8sEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gFqeNB8sEeG4gPCEznVNOA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gFqeNR8sEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gFqeNh8sEeG4gPCEznVNOA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gFqeNx8sEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_gFqeOB8sEeG4gPCEznVNOA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_gFqeOR8sEeG4gPCEznVNOA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_gFrFQB8sEeG4gPCEznVNOA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_gFrFQR8sEeG4gPCEznVNOA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_gFYxYB8sEeG4gPCEznVNOA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_gFqeMR8sEeG4gPCEznVNOA" x="-10" y="126" width="20" height="20"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_fdzKVKk_EeCXqcRV-18f6Q"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_g5n4wBwhEeGa5bH_RJFzBQ" x="30" y="30" width="373" height="157"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_g5ofwBwhEeGa5bH_RJFzBQ" type="2073" fontHeight="8" transparency="0" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g5ofwRwhEeGa5bH_RJFzBQ" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g5ofwhwhEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g5ofwxwhEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g5ofxBwhEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g5ofxRwhEeGa5bH_RJFzBQ" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g5ofxhwhEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_g5ofzRwhEeGa5bH_RJFzBQ" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_g5ofzhwhEeGa5bH_RJFzBQ" type="7073">
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_g5ofzxwhEeGa5bH_RJFzBQ"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_b3mT1xwiEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_b3mT2RwiEeGa5bH_RJFzBQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_b3mT2hwiEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_b3mT2xwiEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_b3mT3BwiEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_b3mT3RwiEeGa5bH_RJFzBQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_b3mT3hwiEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_b3mT3xwiEeGa5bH_RJFzBQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_b3mT4BwiEeGa5bH_RJFzBQ" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_b3mT4RwiEeGa5bH_RJFzBQ" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_b3mT4hwiEeGa5bH_RJFzBQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzK6ak_EeCXqcRV-18f6Q"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_b3mT2BwiEeGa5bH_RJFzBQ" x="-10" y="96"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_b3nh-hwiEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_b3nh_BwiEeGa5bH_RJFzBQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_b3nh_RwiEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_b3nh_hwiEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_b3nh_xwiEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_b3niABwiEeGa5bH_RJFzBQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_b3niARwiEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_b3oJABwiEeGa5bH_RJFzBQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_b3oJARwiEeGa5bH_RJFzBQ" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_b3oJAhwiEeGa5bH_RJFzBQ" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_b3oJAxwiEeGa5bH_RJFzBQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzK9ak_EeCXqcRV-18f6Q"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_b3nh-xwiEeGa5bH_RJFzBQ" x="-10" y="57"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_b3oJBBwiEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_b3oJBhwiEeGa5bH_RJFzBQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_b3oJBxwiEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_b3oJCBwiEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_b3oJCRwiEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_b3oJChwiEeGa5bH_RJFzBQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_b3oJCxwiEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_b3oJDBwiEeGa5bH_RJFzBQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_b3oJDRwiEeGa5bH_RJFzBQ" x="-201" y="5"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_b3oJDhwiEeGa5bH_RJFzBQ" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_b3oJDxwiEeGa5bH_RJFzBQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzK-ak_EeCXqcRV-18f6Q"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_b3oJBRwiEeGa5bH_RJFzBQ" x="453" y="150"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_b3owEBwiEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_b3owEhwiEeGa5bH_RJFzBQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_b3owExwiEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_b3owFBwiEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_b3owFRwiEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_b3owFhwiEeGa5bH_RJFzBQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_b3owFxwiEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_b3owGBwiEeGa5bH_RJFzBQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_b3owGRwiEeGa5bH_RJFzBQ" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_b3owGhwiEeGa5bH_RJFzBQ" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_b3owGxwiEeGa5bH_RJFzBQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_UIObEKloEeCLku4RFrI7uw"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_b3owERwiEeGa5bH_RJFzBQ" x="-10" y="137"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_UexE0DUrEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_UexE0jUrEeG5pL_fpN2DgQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Uexr4DUrEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Uexr4TUrEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Uexr4jUrEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Uexr4zUrEeG5pL_fpN2DgQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Uexr5DUrEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_Uexr5TUrEeG5pL_fpN2DgQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_Uexr5jUrEeG5pL_fpN2DgQ" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_Uexr5zUrEeG5pL_fpN2DgQ" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_Uexr6DUrEeG5pL_fpN2DgQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_UegmIDUrEeG5pL_fpN2DgQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_UexE0TUrEeG5pL_fpN2DgQ" x="-10" y="182" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_bejhcDUrEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_bejhcjUrEeG5pL_fpN2DgQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_bejhczUrEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_bejhdDUrEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_bejhdTUrEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_bekIgDUrEeG5pL_fpN2DgQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_bekIgTUrEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_benL0DUrEeG5pL_fpN2DgQ" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_bg5q0DUrEeG5pL_fpN2DgQ" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_bg5q0TUrEeG5pL_fpN2DgQ" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_bg5q0jUrEeG5pL_fpN2DgQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_bg5q0zUrEeG5pL_fpN2DgQ" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_bg5q1DUrEeG5pL_fpN2DgQ" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_bekIgjUrEeG5pL_fpN2DgQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_bekIgzUrEeG5pL_fpN2DgQ" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_bekIhDUrEeG5pL_fpN2DgQ" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_bekIhTUrEeG5pL_fpN2DgQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_beSbsDUrEeG5pL_fpN2DgQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_bejhcTUrEeG5pL_fpN2DgQ" x="-10" y="239" width="20" height="20"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_fdzK5Kk_EeCXqcRV-18f6Q"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_g5of0BwhEeGa5bH_RJFzBQ" x="465" y="30" width="463" height="282"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_oFCWgBwhEeGa5bH_RJFzBQ" type="2073" fontName="Ubuntu" fontHeight="7" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_oFC9kBwhEeGa5bH_RJFzBQ" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_oFC9kRwhEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_oFC9khwhEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_oFC9kxwhEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_oFDkoBwhEeGa5bH_RJFzBQ" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_oFDkoRwhEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_oFDkohwhEeGa5bH_RJFzBQ" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_oFDkoxwhEeGa5bH_RJFzBQ" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_oFDkpBwhEeGa5bH_RJFzBQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_oFDkpRwhEeGa5bH_RJFzBQ"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_BCscABwkEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BCtDEBwkEeGa5bH_RJFzBQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BCtDERwkEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BCtDEhwkEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BCtDExwkEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BCtDFBwkEeGa5bH_RJFzBQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BCtDFRwkEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_BCtDFhwkEeGa5bH_RJFzBQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_BCtDFxwkEeGa5bH_RJFzBQ" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_BCtDGBwkEeGa5bH_RJFzBQ" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_BCtqIBwkEeGa5bH_RJFzBQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzKI6k_EeCXqcRV-18f6Q"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_BCscARwkEeGa5bH_RJFzBQ" x="-10" y="36"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_BCtqIRwkEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BCuRMBwkEeGa5bH_RJFzBQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BCuRMRwkEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BCu4QBwkEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BCu4QRwkEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BCu4QhwkEeGa5bH_RJFzBQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BCu4QxwkEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_BCu4RBwkEeGa5bH_RJFzBQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_BCu4RRwkEeGa5bH_RJFzBQ" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_BCvfUBwkEeGa5bH_RJFzBQ" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_BCvfURwkEeGa5bH_RJFzBQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzKJ6k_EeCXqcRV-18f6Q"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_BCtqIhwkEeGa5bH_RJFzBQ" x="-10" y="66"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_BCvfUhwkEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BCvfVBwkEeGa5bH_RJFzBQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BCvfVRwkEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BCvfVhwkEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BCvfVxwkEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BCvfWBwkEeGa5bH_RJFzBQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BCvfWRwkEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_BCvfWhwkEeGa5bH_RJFzBQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_BCvfWxwkEeGa5bH_RJFzBQ" x="-165"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_BCwGYBwkEeGa5bH_RJFzBQ" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_BCwGYRwkEeGa5bH_RJFzBQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzKK6k_EeCXqcRV-18f6Q"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_BCvfUxwkEeGa5bH_RJFzBQ" x="321" y="78"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_BCwGYhwkEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BCwGZBwkEeGa5bH_RJFzBQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BCwGZRwkEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BCwGZhwkEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BCwGZxwkEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BCwGaBwkEeGa5bH_RJFzBQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BCwGaRwkEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_BCwGahwkEeGa5bH_RJFzBQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_BCwGaxwkEeGa5bH_RJFzBQ" x="-123"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_BCwGbBwkEeGa5bH_RJFzBQ" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_BCwGbRwkEeGa5bH_RJFzBQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzKL6k_EeCXqcRV-18f6Q"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_BCwGYxwkEeGa5bH_RJFzBQ" x="321" y="36"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_fdzKIqk_EeCXqcRV-18f6Q"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_oFCWgRwhEeGa5bH_RJFzBQ" x="985" y="30" width="331" height="115"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_pxFooBwhEeGa5bH_RJFzBQ" type="2073" fontName="Ubuntu" fontHeight="7" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_pxGPsBwhEeGa5bH_RJFzBQ" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pxGPsRwhEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_pxG2wBwhEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pxG2wRwhEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_pxG2whwhEeGa5bH_RJFzBQ" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pxG2wxwhEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_pxG2xBwhEeGa5bH_RJFzBQ" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_pxG2xRwhEeGa5bH_RJFzBQ" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_pxG2xhwhEeGa5bH_RJFzBQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_pxG2xxwhEeGa5bH_RJFzBQ"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_mo9SuhwkEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_mo9SvBwkEeGa5bH_RJFzBQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mo9SvRwkEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_mo95wBwkEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mo95wRwkEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_mo95whwkEeGa5bH_RJFzBQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mo95wxwkEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_mo95xBwkEeGa5bH_RJFzBQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_mo95xRwkEeGa5bH_RJFzBQ" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_mo95xhwkEeGa5bH_RJFzBQ" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_mo95xxwkEeGa5bH_RJFzBQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzK06k_EeCXqcRV-18f6Q"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_mo9SuxwkEeGa5bH_RJFzBQ" x="-10" y="90"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_mo-g0BwkEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_mo-g0hwkEeGa5bH_RJFzBQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mo-g0xwkEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_mo-g1BwkEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mo-g1RwkEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_mo-g1hwkEeGa5bH_RJFzBQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mo-g1xwkEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_mo-g2BwkEeGa5bH_RJFzBQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_mo-g2RwkEeGa5bH_RJFzBQ" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_mo-g2hwkEeGa5bH_RJFzBQ" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_mo-g2xwkEeGa5bH_RJFzBQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzK36k_EeCXqcRV-18f6Q"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_mo-g0RwkEeGa5bH_RJFzBQ" x="-10" y="120"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_mo_u8BwkEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_mo_u8hwkEeGa5bH_RJFzBQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mo_u8xwkEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_mo_u9BwkEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mo_u9RwkEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_mo_u9hwkEeGa5bH_RJFzBQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mo_u9xwkEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_mo_u-BwkEeGa5bH_RJFzBQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_mo_u-RwkEeGa5bH_RJFzBQ" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_mo_u-hwkEeGa5bH_RJFzBQ" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_mo_u-xwkEeGa5bH_RJFzBQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_GJzrUKlbEeCYfbnxVSyZ9g"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_mo_u8RwkEeGa5bH_RJFzBQ" x="-10" y="150"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_6Vrq0B8rEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6Vrq0h8rEeG4gPCEznVNOA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6Vrq0x8rEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6Vrq1B8rEeG4gPCEznVNOA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6Vrq1R8rEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6Vrq1h8rEeG4gPCEznVNOA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6Vrq1x8rEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6VvVMB8rEeG4gPCEznVNOA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6YVWMB8rEeG4gPCEznVNOA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6YVWMR8rEeG4gPCEznVNOA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6YVWMh8rEeG4gPCEznVNOA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6YVWMx8rEeG4gPCEznVNOA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6YVWNB8rEeG4gPCEznVNOA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_6Vrq2B8rEeG4gPCEznVNOA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_6Vrq2R8rEeG4gPCEznVNOA" x="-185" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_6Vrq2h8rEeG4gPCEznVNOA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_6Vrq2x8rEeG4gPCEznVNOA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_6VYv4B8rEeG4gPCEznVNOA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_6Vrq0R8rEeG4gPCEznVNOA" x="351" y="89" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_6ohuUB8rEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6oiVYB8rEeG4gPCEznVNOA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6oiVYR8rEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6oiVYh8rEeG4gPCEznVNOA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6oiVYx8rEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6oiVZB8rEeG4gPCEznVNOA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6oiVZR8rEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6olYsB8rEeG4gPCEznVNOA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6rKLkB8rEeG4gPCEznVNOA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6rKLkR8rEeG4gPCEznVNOA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6rKLkh8rEeG4gPCEznVNOA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6rKLkx8rEeG4gPCEznVNOA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6rKLlB8rEeG4gPCEznVNOA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_6oiVZh8rEeG4gPCEznVNOA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_6oiVZx8rEeG4gPCEznVNOA" x="25" y="2"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_6oiVaB8rEeG4gPCEznVNOA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_6oiVaR8rEeG4gPCEznVNOA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_6oOzYB8rEeG4gPCEznVNOA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_6ohuUR8rEeG4gPCEznVNOA" x="-10" y="55" width="20" height="20"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_fdzKoKk_EeCXqcRV-18f6Q"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_pxFooRwhEeGa5bH_RJFzBQ" x="1375" y="30" width="361" height="191"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_qC38MBwhEeGa5bH_RJFzBQ" type="2073" fontName="Ubuntu" fontHeight="7" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_qC4jQBwhEeGa5bH_RJFzBQ" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qC5KUBwhEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_qC5KURwhEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qC5KUhwhEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_qC5KUxwhEeGa5bH_RJFzBQ" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qC5KVBwhEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_qC5KVRwhEeGa5bH_RJFzBQ" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_qC5xYBwhEeGa5bH_RJFzBQ" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_qC5xYRwhEeGa5bH_RJFzBQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_qC5xYhwhEeGa5bH_RJFzBQ"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_zM37sBwjEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_zM4iwBwjEeGa5bH_RJFzBQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_zM4iwRwjEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_zM4iwhwjEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_zM5J0BwjEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_zM5J0RwjEeGa5bH_RJFzBQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_zM5J0hwjEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_zM5J0xwjEeGa5bH_RJFzBQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_zM5J1BwjEeGa5bH_RJFzBQ" x="-87"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_zM5J1RwjEeGa5bH_RJFzBQ" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_zM5J1hwjEeGa5bH_RJFzBQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_cPiaEKlgEeCYfbnxVSyZ9g"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_zM37sRwjEeGa5bH_RJFzBQ" x="111" y="36"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_aG5SkKlgEeCYfbnxVSyZ9g"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_qC38MRwhEeGa5bH_RJFzBQ" x="1800" y="30" width="121" height="85"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_MalMMBwiEeGa5bH_RJFzBQ" type="2073" fontName="Ubuntu" fontHeight="7" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MalMMhwiEeGa5bH_RJFzBQ" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MalMMxwiEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MalMNBwiEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MalMNRwiEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MalMNhwiEeGa5bH_RJFzBQ" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MalMNxwiEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_MalMOBwiEeGa5bH_RJFzBQ" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_MalMORwiEeGa5bH_RJFzBQ" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_MalMOhwiEeGa5bH_RJFzBQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MalMOxwiEeGa5bH_RJFzBQ"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_RsopwBwkEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_RsopwhwkEeGa5bH_RJFzBQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_RsopwxwkEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_RsopxBwkEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_RsopxRwkEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_RsopxhwkEeGa5bH_RJFzBQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_RspQ0BwkEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_RsrGABwkEeGa5bH_RJFzBQ" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_RtvdABwkEeGa5bH_RJFzBQ" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_RtvdARwkEeGa5bH_RJFzBQ" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_RtvdAhwkEeGa5bH_RJFzBQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_RtvdAxwkEeGa5bH_RJFzBQ" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_RtvdBBwkEeGa5bH_RJFzBQ" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_RspQ0RwkEeGa5bH_RJFzBQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_RspQ0hwkEeGa5bH_RJFzBQ" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_RspQ0xwkEeGa5bH_RJFzBQ" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_RspQ1BwkEeGa5bH_RJFzBQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_Rsb1cBwkEeGa5bH_RJFzBQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_RsopwRwkEeGa5bH_RJFzBQ" x="-10" y="56" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_W2mNMBwkEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_W2mNMhwkEeGa5bH_RJFzBQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W2mNMxwkEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_W2mNNBwkEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W2mNNRwkEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_W2mNNhwkEeGa5bH_RJFzBQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W2mNNxwkEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_W2opcBwkEeGa5bH_RJFzBQ" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W3xR4BwkEeGa5bH_RJFzBQ" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W3xR4RwkEeGa5bH_RJFzBQ" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W3xR4hwkEeGa5bH_RJFzBQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W3xR4xwkEeGa5bH_RJFzBQ" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W3xR5BwkEeGa5bH_RJFzBQ" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_W2mNOBwkEeGa5bH_RJFzBQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_W2mNORwkEeGa5bH_RJFzBQ" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_W2mNOhwkEeGa5bH_RJFzBQ" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_W2mNOxwkEeGa5bH_RJFzBQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_W2W8oBwkEeGa5bH_RJFzBQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_W2mNMRwkEeGa5bH_RJFzBQ" x="-10" y="104" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_f6rc0BwkEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_f6sD4BwkEeGa5bH_RJFzBQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_f6sD4RwkEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_f6sD4hwkEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_f6sD4xwkEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_f6sD5BwkEeGa5bH_RJFzBQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_f6sD5RwkEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_f6ugIBwkEeGa5bH_RJFzBQ" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_f71TYBwkEeGa5bH_RJFzBQ" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_f71TYRwkEeGa5bH_RJFzBQ" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_f71TYhwkEeGa5bH_RJFzBQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_f71TYxwkEeGa5bH_RJFzBQ" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_f71TZBwkEeGa5bH_RJFzBQ" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_f6sD5hwkEeGa5bH_RJFzBQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_f6sD5xwkEeGa5bH_RJFzBQ" x="-159" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_f6sD6BwkEeGa5bH_RJFzBQ" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_f6sD6RwkEeGa5bH_RJFzBQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_f6a-IBwkEeGa5bH_RJFzBQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_f6rc0RwkEeGa5bH_RJFzBQ" x="363" y="81" width="20" height="20"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_MaVUkBwiEeGa5bH_RJFzBQ"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MalMMRwiEeGa5bH_RJFzBQ" x="1980" y="30" width="373" height="151"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_2p9RIBwkEeGa5bH_RJFzBQ" type="2073" fontName="Ubuntu" fontHeight="7" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_2p94MBwkEeGa5bH_RJFzBQ" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2p94MRwkEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_2p-fQBwkEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2p-fQRwkEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_2p-fQhwkEeGa5bH_RJFzBQ" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2p-fQxwkEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Fp4LsJX4EeGQNuf8-SlVhg" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Fp4LsZX4EeGQNuf8-SlVhg" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FqBVoJX4EeGQNuf8-SlVhg" key="StereotypeList" value="RobotML::Software"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FqBVoZX4EeGQNuf8-SlVhg" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FqBVopX4EeGQNuf8-SlVhg" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FqBVo5X4EeGQNuf8-SlVhg" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_2p-fRBwkEeGa5bH_RJFzBQ" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_2p-fRRwkEeGa5bH_RJFzBQ" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_2p-fRhwkEeGa5bH_RJFzBQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_2p-fRxwkEeGa5bH_RJFzBQ"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_07AcABwkEeGa5bH_RJFzBQ"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_2p9RIRwkEeGa5bH_RJFzBQ" x="2410" y="30" width="403" height="229"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_lNOqYB8rEeG4gPCEznVNOA" type="2073" fontName="Ubuntu" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lNPRcB8rEeG4gPCEznVNOA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lNPRcR8rEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lNPRch8rEeG4gPCEznVNOA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lNPRcx8rEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lNPRdB8rEeG4gPCEznVNOA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lNPRdR8rEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_lNPRdh8rEeG4gPCEznVNOA" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_lNPRdx8rEeG4gPCEznVNOA" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_lNPReB8rEeG4gPCEznVNOA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_lNPReR8rEeG4gPCEznVNOA"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_vQgtMB8rEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_vQgtMh8rEeG4gPCEznVNOA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vQgtMx8rEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_vQgtNB8rEeG4gPCEznVNOA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vQgtNR8rEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_vQgtNh8rEeG4gPCEznVNOA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vQgtNx8rEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_vQkXkB8rEeG4gPCEznVNOA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vTFgEB8rEeG4gPCEznVNOA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vTFgER8rEeG4gPCEznVNOA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vTFgEh8rEeG4gPCEznVNOA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vTFgEx8rEeG4gPCEznVNOA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vTFgFB8rEeG4gPCEznVNOA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_vQgtOB8rEeG4gPCEznVNOA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_vQgtOR8rEeG4gPCEznVNOA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_vQhUQB8rEeG4gPCEznVNOA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_vQhUQR8rEeG4gPCEznVNOA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_vQPAYB8rEeG4gPCEznVNOA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_vQgtMR8rEeG4gPCEznVNOA" x="-10" y="52" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_xHT2wB8rEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_xHT2wh8rEeG4gPCEznVNOA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_xHT2wx8rEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_xHT2xB8rEeG4gPCEznVNOA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_xHT2xR8rEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_xHT2xh8rEeG4gPCEznVNOA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_xHUd0B8rEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_xHXhIB8rEeG4gPCEznVNOA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_xKBMgB8rEeG4gPCEznVNOA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_xKBMgR8rEeG4gPCEznVNOA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_xKBzkB8rEeG4gPCEznVNOA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_xKBzkR8rEeG4gPCEznVNOA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_xKBzkh8rEeG4gPCEznVNOA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_xHUd0R8rEeG4gPCEznVNOA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_xHUd0h8rEeG4gPCEznVNOA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_xHUd0x8rEeG4gPCEznVNOA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_xHUd1B8rEeG4gPCEznVNOA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_xHBi4B8rEeG4gPCEznVNOA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_xHT2wR8rEeG4gPCEznVNOA" x="-10" y="80" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_01v3YB8rEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_01wecB8rEeG4gPCEznVNOA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_01wecR8rEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_01wech8rEeG4gPCEznVNOA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_01wecx8rEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_01wedB8rEeG4gPCEznVNOA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_01wedR8rEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_010I0B8rEeG4gPCEznVNOA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_06zWgB8rEeG4gPCEznVNOA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_06zWgR8rEeG4gPCEznVNOA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_06zWgh8rEeG4gPCEznVNOA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_06zWgx8rEeG4gPCEznVNOA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_06zWhB8rEeG4gPCEznVNOA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_01wedh8rEeG4gPCEznVNOA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_01wedx8rEeG4gPCEznVNOA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_01weeB8rEeG4gPCEznVNOA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_01weeR8rEeG4gPCEznVNOA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_01c8cB8rEeG4gPCEznVNOA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_01v3YR8rEeG4gPCEznVNOA" x="-10" y="105" width="20" height="20"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_kdlWIB8rEeG4gPCEznVNOA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_lNOqYR8rEeG4gPCEznVNOA" x="2875" y="30" width="373" height="191"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_dHtt0EHzEeGwG_JKFhyhxw" type="2073" fontName="Ubuntu" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_dHu78EHzEeGwG_JKFhyhxw" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_dHu78UHzEeGwG_JKFhyhxw" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_dHu78kHzEeGwG_JKFhyhxw" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_dHu780HzEeGwG_JKFhyhxw" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_dHu79EHzEeGwG_JKFhyhxw" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_dHu79UHzEeGwG_JKFhyhxw" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_N51HAEH2EeGwG_JKFhyhxw" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OzqSAEH2EeGwG_JKFhyhxw" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Ozq5EEH2EeGwG_JKFhyhxw" key="StereotypeList" value="RobotML::Software"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Ozq5EUH2EeGwG_JKFhyhxw" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Ozq5EkH2EeGwG_JKFhyhxw" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Ozq5E0H2EeGwG_JKFhyhxw" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_dHvjAEHzEeGwG_JKFhyhxw" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_dHvjAUHzEeGwG_JKFhyhxw" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_dHvjAkHzEeGwG_JKFhyhxw"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_dHvjA0HzEeGwG_JKFhyhxw"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_4R8VYEHxEeGGXpGscpkjdg"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_dHtt0UHzEeGwG_JKFhyhxw" x="3310" y="30" width="445" height="345"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_jPmcoEH0EeGwG_JKFhyhxw" type="2073" fontName="Ubuntu" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_jPnDsEH0EeGwG_JKFhyhxw" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jPnDsUH0EeGwG_JKFhyhxw" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_jPnDskH0EeGwG_JKFhyhxw" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jPnDs0H0EeGwG_JKFhyhxw" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_jPnDtEH0EeGwG_JKFhyhxw" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jPnqwEH0EeGwG_JKFhyhxw" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_yjk9AEH0EeGwG_JKFhyhxw" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFD-8CG4EeKBc8qhxlvO_Q" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFD-8SG4EeKBc8qhxlvO_Q" key="StereotypeList" value=",RobotML::Software"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFD-8iG4EeKBc8qhxlvO_Q" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFD-8yG4EeKBc8qhxlvO_Q" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFD-9CG4EeKBc8qhxlvO_Q" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_jPnqwUH0EeGwG_JKFhyhxw" type="5156">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ugLZAEH0EeGwG_JKFhyhxw" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ugLZAUH0EeGwG_JKFhyhxw" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ugLZAkH0EeGwG_JKFhyhxw" key="StereotypeList" value="RobotML::Software"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ugLZA0H0EeGwG_JKFhyhxw" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ugLZBEH0EeGwG_JKFhyhxw" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ugLZBUH0EeGwG_JKFhyhxw" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-      </children>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_jPnqwkH0EeGwG_JKFhyhxw" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_jPnqw0H0EeGwG_JKFhyhxw"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_jPnqxEH0EeGwG_JKFhyhxw"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_mKAYQEH0EeGwG_JKFhyhxw" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_mKAYQkH0EeGwG_JKFhyhxw" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mKAYQ0H0EeGwG_JKFhyhxw" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_mKA_UEH0EeGwG_JKFhyhxw" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mKA_UUH0EeGwG_JKFhyhxw" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_mKA_UkH0EeGwG_JKFhyhxw" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mKA_U0H0EeGwG_JKFhyhxw" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_mKNMkEH0EeGwG_JKFhyhxw" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mLbUkEH0EeGwG_JKFhyhxw" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mLbUkUH0EeGwG_JKFhyhxw" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mLbUkkH0EeGwG_JKFhyhxw" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mLbUk0H0EeGwG_JKFhyhxw" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mLbUlEH0EeGwG_JKFhyhxw" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_mKA_VEH0EeGwG_JKFhyhxw" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_mKA_VUH0EeGwG_JKFhyhxw" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_mKA_VkH0EeGwG_JKFhyhxw" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_mKA_V0H0EeGwG_JKFhyhxw" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_mJzj8EH0EeGwG_JKFhyhxw"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_mKAYQUH0EeGwG_JKFhyhxw" x="-10" y="94" width="20" height="20"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_irmXsEH0EeGwG_JKFhyhxw"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_jPmcoUH0EeGwG_JKFhyhxw" x="3815" y="30" width="425" height="180"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_glL5wRwhEeGa5bH_RJFzBQ"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_ks9WhX7LEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Model" href="RoboCab.uml#_fdzJx6k_EeCXqcRV-18f6Q"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Model" href="RoboCab.uml#_fdzJx6k_EeCXqcRV-18f6Q"/>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_A0k2UB8rEeG4gPCEznVNOA" type="CompositeStructure" name="OrganizerSystemDiagram" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_Cp71cB8rEeG4gPCEznVNOA" type="2073" fontHeight="8" transparency="0" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Cp71cR8rEeG4gPCEznVNOA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Cp71ch8rEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Cp71cx8rEeG4gPCEznVNOA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Cp71dB8rEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Cp71dR8rEeG4gPCEznVNOA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Cp71dh8rEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Cp71dx8rEeG4gPCEznVNOA" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Cp71eB8rEeG4gPCEznVNOA" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Cp71eR8rEeG4gPCEznVNOA" key="StereotypeList" value="RobotML::System"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Cp71eh8rEeG4gPCEznVNOA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Cp71ex8rEeG4gPCEznVNOA" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Cp71fB8rEeG4gPCEznVNOA" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_tC61cKEDEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_OCVFkBwAEeGa5bH_RJFzBQ">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tC61caEDEeKNa6EfGASSWw" key="tooltip_text" value="RobocabDefaultArchitecture"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tC61cqEDEeKNa6EfGASSWw" key="diagram_name" value="RobocabDefaultArchitecture"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tC61c6EDEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_Cp71gR8rEeG4gPCEznVNOA" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_Cp71gh8rEeG4gPCEznVNOA" type="7073">
-        <children xmi:type="notation:Shape" xmi:id="_Gd2L8B8rEeG4gPCEznVNOA" type="3070" fontName="Ubuntu" fillColor="8047085" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Gd2zAB8rEeG4gPCEznVNOA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Gd2zAR8rEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Gd2zAh8rEeG4gPCEznVNOA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Gd2zAx8rEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Gd2zBB8rEeG4gPCEznVNOA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Gd2zBR8rEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_QLfV8B8rEeG4gPCEznVNOA" source="Stereotype_Annotation">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QLfV8R8rEeG4gPCEznVNOA" key="StereotypeWithQualifiedNameList" value=""/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QLfV8h8rEeG4gPCEznVNOA" key="StereotypeList" value=""/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QLfV8x8rEeG4gPCEznVNOA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QLf9AB8rEeG4gPCEznVNOA" key="PropStereoDisplay" value=""/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QLf9AR8rEeG4gPCEznVNOA" key="StereotypePropertyLocation" value="Compartment"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_Gd2zBh8rEeG4gPCEznVNOA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_Gd2zBx8rEeG4gPCEznVNOA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_Gd2zCB8rEeG4gPCEznVNOA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Gd2zCR8rEeG4gPCEznVNOA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_K0xI4B8rEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_K02ocB8rEeG4gPCEznVNOA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_K02ocR8rEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_K02och8rEeG4gPCEznVNOA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_K02ocx8rEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_K03PgB8rEeG4gPCEznVNOA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_K03PgR8rEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_K03Pgh8rEeG4gPCEznVNOA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_K03Pgx8rEeG4gPCEznVNOA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_K03PhB8rEeG4gPCEznVNOA" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_K03PhR8rEeG4gPCEznVNOA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_PhiE4B8pEeG4gPCEznVNOA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_K0xI4R8rEeG4gPCEznVNOA" x="-10" y="42"/>
-          </children>
-          <element xmi:type="uml:Property" href="RoboCab.uml#_Gde_kB8rEeG4gPCEznVNOA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Gd2L8R8rEeG4gPCEznVNOA" x="823" y="175" width="190" height="98"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_qK96QB8sEeG4gPCEznVNOA" type="3070" fontName="Ubuntu" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_qK-hUB8sEeG4gPCEznVNOA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qK-hUR8sEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_qK-hUh8sEeG4gPCEznVNOA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qK-hUx8sEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_qK-hVB8sEeG4gPCEznVNOA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qK-hVR8sEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_qK-hVh8sEeG4gPCEznVNOA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_qK-hVx8sEeG4gPCEznVNOA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_qK-hWB8sEeG4gPCEznVNOA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_qK-hWR8sEeG4gPCEznVNOA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_W-6foB8tEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_W-6foh8tEeG4gPCEznVNOA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W-6fox8tEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_W-6fpB8tEeG4gPCEznVNOA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W-6fpR8tEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_W-6fph8tEeG4gPCEznVNOA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W-7GsB8tEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_W-7GsR8tEeG4gPCEznVNOA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_W-7Gsh8tEeG4gPCEznVNOA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_W-7Gsx8tEeG4gPCEznVNOA" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_W-7GtB8tEeG4gPCEznVNOA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_vQPAYB8rEeG4gPCEznVNOA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_W-6foR8tEeG4gPCEznVNOA" x="-10" y="15"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_W-7GtR8tEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_W-7twB8tEeG4gPCEznVNOA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W-7twR8tEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_W-7twh8tEeG4gPCEznVNOA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W-7twx8tEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_W-7txB8tEeG4gPCEznVNOA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W-7txR8tEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_W-7txh8tEeG4gPCEznVNOA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_W-7txx8tEeG4gPCEznVNOA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_W-7tyB8tEeG4gPCEznVNOA" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_W-7tyR8tEeG4gPCEznVNOA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_xHBi4B8rEeG4gPCEznVNOA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_W-7Gth8tEeG4gPCEznVNOA" x="-10" y="50"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_W-8U0B8tEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_W-8U0h8tEeG4gPCEznVNOA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W-8U0x8tEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_W-874B8tEeG4gPCEznVNOA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W-874R8tEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_W-874h8tEeG4gPCEznVNOA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W-874x8tEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_W-875B8tEeG4gPCEznVNOA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_W-875R8tEeG4gPCEznVNOA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_W-875h8tEeG4gPCEznVNOA" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_W-875x8tEeG4gPCEznVNOA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_01c8cB8rEeG4gPCEznVNOA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_W-8U0R8tEeG4gPCEznVNOA" x="-10" y="85"/>
-          </children>
-          <element xmi:type="uml:Property" href="RoboCab.uml#_qKrmYB8sEeG4gPCEznVNOA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_qK96QR8sEeG4gPCEznVNOA" x="425" y="367" width="286" height="121"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_F-QwJh8vEeG4gPCEznVNOA" type="3070" fontName="Ubuntu" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_F-QwKB8vEeG4gPCEznVNOA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_F-RXMB8vEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_F-RXMR8vEeG4gPCEznVNOA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_F-RXMh8vEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_F-RXMx8vEeG4gPCEznVNOA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_F-RXNB8vEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_F-RXNR8vEeG4gPCEznVNOA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_F-RXNh8vEeG4gPCEznVNOA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_F-RXNx8vEeG4gPCEznVNOA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_F-RXOB8vEeG4gPCEznVNOA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_MrmK0B8vEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrmK0h8vEeG4gPCEznVNOA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MrmK0x8vEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrmK1B8vEeG4gPCEznVNOA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Mrmx4B8vEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Mrmx4R8vEeG4gPCEznVNOA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Mrmx4h8vEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_Mrmx4x8vEeG4gPCEznVNOA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_Mrmx5B8vEeG4gPCEznVNOA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_Mrmx5R8vEeG4gPCEznVNOA" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_Mrmx5h8vEeG4gPCEznVNOA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzK06k_EeCXqcRV-18f6Q"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MrmK0R8vEeG4gPCEznVNOA" x="-10" y="47"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_Mrmx5x8vEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Mrmx6R8vEeG4gPCEznVNOA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MrnY8B8vEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrnY8R8vEeG4gPCEznVNOA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MrnY8h8vEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrnY8x8vEeG4gPCEznVNOA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MrnY9B8vEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_MrnY9R8vEeG4gPCEznVNOA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_MrnY9h8vEeG4gPCEznVNOA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_MrnY9x8vEeG4gPCEznVNOA" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_MrnY-B8vEeG4gPCEznVNOA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzK36k_EeCXqcRV-18f6Q"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Mrmx6B8vEeG4gPCEznVNOA" x="-11" y="238" width="20" height="20"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_MrnY-R8vEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MroAAB8vEeG4gPCEznVNOA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MroAAR8vEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MroAAh8vEeG4gPCEznVNOA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MroAAx8vEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MroABB8vEeG4gPCEznVNOA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MroABR8vEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_MroABh8vEeG4gPCEznVNOA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_MroABx8vEeG4gPCEznVNOA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_MroACB8vEeG4gPCEznVNOA" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_MroACR8vEeG4gPCEznVNOA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_GJzrUKlbEeCYfbnxVSyZ9g"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MrnY-h8vEeG4gPCEznVNOA" x="-10" y="75"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_MroACh8vEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MronEB8vEeG4gPCEznVNOA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MronER8vEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MronEh8vEeG4gPCEznVNOA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MronEx8vEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MronFB8vEeG4gPCEznVNOA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MronFR8vEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_MronFh8vEeG4gPCEznVNOA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_MronFx8vEeG4gPCEznVNOA" x="-146" y="-22"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_MronGB8vEeG4gPCEznVNOA" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_MronGR8vEeG4gPCEznVNOA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_6VYv4B8rEeG4gPCEznVNOA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MroACx8vEeG4gPCEznVNOA" x="278" y="132"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_MrpOIB8vEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrpOIh8vEeG4gPCEznVNOA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MrpOIx8vEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrpOJB8vEeG4gPCEznVNOA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Mrp1MB8vEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Mrp1MR8vEeG4gPCEznVNOA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Mrp1Mh8vEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_Mrp1Mx8vEeG4gPCEznVNOA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_Mrp1NB8vEeG4gPCEznVNOA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_Mrp1NR8vEeG4gPCEznVNOA" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_Mrp1Nh8vEeG4gPCEznVNOA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_6oOzYB8rEeG4gPCEznVNOA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MrpOIR8vEeG4gPCEznVNOA" x="-10" y="177"/>
-          </children>
-          <element xmi:type="uml:Property" href="RoboCab.uml#_fdzJzak_EeCXqcRV-18f6Q"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_F-QwJx8vEeG4gPCEznVNOA" x="423" y="90" width="288" height="255"/>
-        </children>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Cp71vx8rEeG4gPCEznVNOA"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_tRe_QB8sEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_tRfmUB8sEeG4gPCEznVNOA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tRfmUR8sEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_tRfmUh8sEeG4gPCEznVNOA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tRfmUx8sEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_tRfmVB8sEeG4gPCEznVNOA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tRfmVR8sEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_tRipoB8sEeG4gPCEznVNOA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tT-5oB8sEeG4gPCEznVNOA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tT-5oR8sEeG4gPCEznVNOA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tT-5oh8sEeG4gPCEznVNOA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tT-5ox8sEeG4gPCEznVNOA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tT_gsB8sEeG4gPCEznVNOA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_tRfmVh8sEeG4gPCEznVNOA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_tRfmVx8sEeG4gPCEznVNOA" x="26" y="-8"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_tRfmWB8sEeG4gPCEznVNOA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_tRfmWR8sEeG4gPCEznVNOA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_tRMrYB8sEeG4gPCEznVNOA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_tRe_QR8sEeG4gPCEznVNOA" x="-10" y="309" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_00tgIB8sEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_00tgIh8sEeG4gPCEznVNOA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_00tgIx8sEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_00uHMB8sEeG4gPCEznVNOA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_00uHMR8sEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_00uHMh8sEeG4gPCEznVNOA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_00uHMx8sEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_00xKgB8sEeG4gPCEznVNOA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_03HT4B8sEeG4gPCEznVNOA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_03HT4R8sEeG4gPCEznVNOA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_03HT4h8sEeG4gPCEznVNOA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_03HT4x8sEeG4gPCEznVNOA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_03HT5B8sEeG4gPCEznVNOA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_00uHNB8sEeG4gPCEznVNOA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_00uHNR8sEeG4gPCEznVNOA" x="25" y="-8"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_00uHNh8sEeG4gPCEznVNOA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_00uHNx8sEeG4gPCEznVNOA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_00caYB8sEeG4gPCEznVNOA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_00tgIR8sEeG4gPCEznVNOA" x="-10" y="366" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_vQRYcDUrEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_vQR_gDUrEeG5pL_fpN2DgQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vQR_gTUrEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_vQR_gjUrEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vQR_gzUrEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_vQR_hDUrEeG5pL_fpN2DgQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vQR_hTUrEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_vQVC0DUrEeG5pL_fpN2DgQ" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vSg0IDUrEeG5pL_fpN2DgQ" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vSg0ITUrEeG5pL_fpN2DgQ" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vSg0IjUrEeG5pL_fpN2DgQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vSg0IzUrEeG5pL_fpN2DgQ" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vSg0JDUrEeG5pL_fpN2DgQ" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_vQR_hjUrEeG5pL_fpN2DgQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_vQR_hzUrEeG5pL_fpN2DgQ" x="25" y="-5"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_vQR_iDUrEeG5pL_fpN2DgQ" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_vQR_iTUrEeG5pL_fpN2DgQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_vP_roDUrEeG5pL_fpN2DgQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_vQRYcTUrEeG5pL_fpN2DgQ" x="-10" y="181" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="__VBOcDUrEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__VBOcjUrEeG5pL_fpN2DgQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__VBOczUrEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__VBOdDUrEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__VBOdTUrEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__VBOdjUrEeG5pL_fpN2DgQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__VBOdzUrEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__VE40DUrEeG5pL_fpN2DgQ" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__XPcADUrEeG5pL_fpN2DgQ" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__XPcATUrEeG5pL_fpN2DgQ" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__XPcAjUrEeG5pL_fpN2DgQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__XPcAzUrEeG5pL_fpN2DgQ" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__XPcBDUrEeG5pL_fpN2DgQ" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="__VBOeDUrEeG5pL_fpN2DgQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="__VB1gDUrEeG5pL_fpN2DgQ" x="25" y="-4"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="__VB1gTUrEeG5pL_fpN2DgQ" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="__VB1gjUrEeG5pL_fpN2DgQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#__UwIsDUrEeG5pL_fpN2DgQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="__VBOcTUrEeG5pL_fpN2DgQ" x="-10" y="270" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="__vx30DUrEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__vye4DUrEeG5pL_fpN2DgQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__vye4TUrEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__vye4jUrEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__vye4zUrEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__vye5DUrEeG5pL_fpN2DgQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__vye5TUrEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__v2JQDUrEeG5pL_fpN2DgQ" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__x4woDUrEeG5pL_fpN2DgQ" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__x4woTUrEeG5pL_fpN2DgQ" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__x4wojUrEeG5pL_fpN2DgQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__x4wozUrEeG5pL_fpN2DgQ" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__x4wpDUrEeG5pL_fpN2DgQ" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="__vye5jUrEeG5pL_fpN2DgQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="__vye5zUrEeG5pL_fpN2DgQ" x="25" y="-1"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="__vzF8DUrEeG5pL_fpN2DgQ" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="__vzF8TUrEeG5pL_fpN2DgQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#__vhZIDUrEeG5pL_fpN2DgQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="__vx30TUrEeG5pL_fpN2DgQ" x="-10" y="212" width="20" height="20"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_fdzJyKk_EeCXqcRV-18f6Q"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Cp71wB8rEeG4gPCEznVNOA" x="-70" y="34" width="1039" height="602"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_A0k2UR8rEeG4gPCEznVNOA"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_ks9Whn7LEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Model" href="RoboCab.uml#_fdzJx6k_EeCXqcRV-18f6Q"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Model" href="RoboCab.uml#_fdzJx6k_EeCXqcRV-18f6Q"/>
-    <edges xmi:type="notation:Connector" xmi:id="_cbZWcB8tEeG4gPCEznVNOA" type="4013" source="_00tgIB8sEeG4gPCEznVNOA" target="_W-8U0B8tEeG4gPCEznVNOA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_cbZWcx8tEeG4gPCEznVNOA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_cbZWdB8tEeG4gPCEznVNOA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_cbZ9gB8tEeG4gPCEznVNOA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_cbZ9gR8tEeG4gPCEznVNOA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_cbZ9gh8tEeG4gPCEznVNOA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_cbZ9gx8tEeG4gPCEznVNOA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_cbZ9hB8tEeG4gPCEznVNOA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_cbZ9hR8tEeG4gPCEznVNOA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_cbZWcR8tEeG4gPCEznVNOA" fontName="Ubuntu"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_cbA78B8tEeG4gPCEznVNOA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_cbZWch8tEeG4gPCEznVNOA" points="[10, 0, -420, -140]$[80, 0, -350, -140]$[225, 0, -205, -140]$[225, 140, -205, 0]$[420, 140, -10, 0]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_UOetcB8vEeG4gPCEznVNOA" type="4013" source="_00tgIB8sEeG4gPCEznVNOA" target="_Mrmx5x8vEeG4gPCEznVNOA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_UOfUgB8vEeG4gPCEznVNOA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_UOfUgR8vEeG4gPCEznVNOA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_UOfUgh8vEeG4gPCEznVNOA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_UOfUgx8vEeG4gPCEznVNOA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_UOfUhB8vEeG4gPCEznVNOA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_UOfUhR8vEeG4gPCEznVNOA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_UOfUhh8vEeG4gPCEznVNOA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_UOfUhx8vEeG4gPCEznVNOA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_UOetcR8vEeG4gPCEznVNOA" fontName="Ubuntu"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_UOGS8B8vEeG4gPCEznVNOA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_UOetch8vEeG4gPCEznVNOA" points="[10, -2, -490, 86]$[497, -78, -3, 10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_VclfUB8vEeG4gPCEznVNOA" type="4013" source="_tRe_QB8sEeG4gPCEznVNOA" target="_MrpOIB8vEeG4gPCEznVNOA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_VclfUx8vEeG4gPCEznVNOA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_VclfVB8vEeG4gPCEznVNOA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_VclfVR8vEeG4gPCEznVNOA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_VclfVh8vEeG4gPCEznVNOA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_VclfVx8vEeG4gPCEznVNOA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_VcmGYB8vEeG4gPCEznVNOA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_VcmGYR8vEeG4gPCEznVNOA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_VcmGYh8vEeG4gPCEznVNOA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_VclfUR8vEeG4gPCEznVNOA" fontName="Ubuntu"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_VcOS8B8vEeG4gPCEznVNOA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_VclfUh8vEeG4gPCEznVNOA" points="[10, -3, -418, 0]$[95, -3, -333, 0]$[418, -3, -10, 0]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_XotYoB8vEeG4gPCEznVNOA" type="4013" source="_MroACh8vEeG4gPCEznVNOA" target="_K0xI4B8rEeG4gPCEznVNOA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_Xot_sB8vEeG4gPCEznVNOA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_Xot_sR8vEeG4gPCEznVNOA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_Xot_sh8vEeG4gPCEznVNOA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_Xot_sx8vEeG4gPCEznVNOA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_Xot_tB8vEeG4gPCEznVNOA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_Xot_tR8vEeG4gPCEznVNOA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_Xot_th8vEeG4gPCEznVNOA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_Xot_tx8vEeG4gPCEznVNOA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_XotYoR8vEeG4gPCEznVNOA" fontName="Ubuntu"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_XoXaYB8vEeG4gPCEznVNOA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_XotYoh8vEeG4gPCEznVNOA" points="[10, -2, -101, -2]$[111, -10, 0, -10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_LteY4DUsEeG5pL_fpN2DgQ" type="4013" source="__VBOcDUrEeG5pL_fpN2DgQ" target="_W-7GtR8tEeG4gPCEznVNOA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_Lte_8DUsEeG5pL_fpN2DgQ" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_Lte_8TUsEeG5pL_fpN2DgQ" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_Lte_8jUsEeG5pL_fpN2DgQ" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_Lte_8zUsEeG5pL_fpN2DgQ" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_Lte_9DUsEeG5pL_fpN2DgQ" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_Lte_9TUsEeG5pL_fpN2DgQ" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_LtfnADUsEeG5pL_fpN2DgQ" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_LtfnATUsEeG5pL_fpN2DgQ" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_LteY4TUsEeG5pL_fpN2DgQ" fontName="Ubuntu"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_LtN6MDUsEeG5pL_fpN2DgQ"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_LteY4jUsEeG5pL_fpN2DgQ" points="[10, 0, -420, -186]$[245, 0, -185, -186]$[245, 186, -185, 0]$[420, 186, -10, 0]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_RC7aoDUsEeG5pL_fpN2DgQ" type="4013" source="_W-6foB8tEeG4gPCEznVNOA" target="_vQRYcDUrEeG5pL_fpN2DgQ" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_RC8BsDUsEeG5pL_fpN2DgQ" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_RC8BsTUsEeG5pL_fpN2DgQ" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_RC8BsjUsEeG5pL_fpN2DgQ" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_RC8BszUsEeG5pL_fpN2DgQ" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_RC8BtDUsEeG5pL_fpN2DgQ" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_RC8BtTUsEeG5pL_fpN2DgQ" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_RC8BtjUsEeG5pL_fpN2DgQ" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_RC8BtzUsEeG5pL_fpN2DgQ" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_RC7aoTUsEeG5pL_fpN2DgQ" fontName="Ubuntu"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_RCtYMDUsEeG5pL_fpN2DgQ"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_RC7aojUsEeG5pL_fpN2DgQ" points="[-10, 0, 420, 240]$[-155, 0, 275, 240]$[-155, -240, 275, 0]$[-420, -240, 10, 0]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_RyAHIDUsEeG5pL_fpN2DgQ" type="4013" source="__vx30DUrEeG5pL_fpN2DgQ" target="_MrnY-R8vEeG4gPCEznVNOA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_RyAHIzUsEeG5pL_fpN2DgQ" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_RyAHJDUsEeG5pL_fpN2DgQ" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_RyAHJTUsEeG5pL_fpN2DgQ" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_RyAHJjUsEeG5pL_fpN2DgQ" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_RyAuMDUsEeG5pL_fpN2DgQ" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_RyAuMTUsEeG5pL_fpN2DgQ" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_RyAuMjUsEeG5pL_fpN2DgQ" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_RyAuMzUsEeG5pL_fpN2DgQ" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_RyAHITUsEeG5pL_fpN2DgQ" fontName="Ubuntu"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_RxvBYDUsEeG5pL_fpN2DgQ"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_RyAHIjUsEeG5pL_fpN2DgQ" points="[10, -1, -418, 12]$[426, -23, -2, -10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_SZxRwDUsEeG5pL_fpN2DgQ" type="4013" source="_vQRYcDUrEeG5pL_fpN2DgQ" target="_MrmK0B8vEeG4gPCEznVNOA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_SZx40jUsEeG5pL_fpN2DgQ" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_SZx40zUsEeG5pL_fpN2DgQ" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_SZx41DUsEeG5pL_fpN2DgQ" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_SZx41TUsEeG5pL_fpN2DgQ" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_SZx41jUsEeG5pL_fpN2DgQ" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_SZx41zUsEeG5pL_fpN2DgQ" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_SZyf4DUsEeG5pL_fpN2DgQ" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_SZyf4TUsEeG5pL_fpN2DgQ" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_SZx40DUsEeG5pL_fpN2DgQ" fontName="Ubuntu"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_SZiBMDUsEeG5pL_fpN2DgQ"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_SZx40TUsEeG5pL_fpN2DgQ" points="[10, -8, -418, 1]$[433, 1, 5, 10]"/>
-    </edges>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_O43JEB8uEeG4gPCEznVNOA" type="CompositeStructure" name="ChallengerSpaceDiagram" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_REnO8B8uEeG4gPCEznVNOA" type="2073" fontHeight="8" transparency="0" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnO8R8uEeG4gPCEznVNOA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnO8h8uEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnO8x8uEeG4gPCEznVNOA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnO9B8uEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnO9R8uEeG4gPCEznVNOA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnO9h8uEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnO9x8uEeG4gPCEznVNOA" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_eY_bYEHmEeGGXpGscpkjdg" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_eY_bYUHmEeGGXpGscpkjdg" key="StereotypeList" value="RobotML::System"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_eY_bYkHmEeGGXpGscpkjdg" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_eY_bY0HmEeGGXpGscpkjdg" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_eY_bZEHmEeGGXpGscpkjdg" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MaxIcKEMEeKLUqX9IJq2Gg" source="PapyrusHyperLink_Diagram" references="_OCVFkBwAEeGa5bH_RJFzBQ">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MaxIcaEMEeKLUqX9IJq2Gg" key="tooltip_text" value="RobocabDefaultArchitecture"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MaxIcqEMEeKLUqX9IJq2Gg" key="diagram_name" value="RobocabDefaultArchitecture"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MaxIc6EMEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_REnO_R8uEeG4gPCEznVNOA" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_REnO_h8uEeG4gPCEznVNOA" type="7073">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_COLYoKEMEeKLUqX9IJq2Gg" source="PapyrusHyperLink_Diagram" references="_O43JEB8uEeG4gPCEznVNOA">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_COLYoaEMEeKLUqX9IJq2Gg" key="tooltip_text" value="ChallengerSpaceDiagram"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_COLYoqEMEeKLUqX9IJq2Gg" key="diagram_name" value="ChallengerSpaceDiagram"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_COLYo6EMEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
-        </eAnnotations>
-        <children xmi:type="notation:Shape" xmi:id="_REnPCx8uEeG4gPCEznVNOA" type="3070" fontName="Ubuntu" fontHeight="7" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnPDB8uEeG4gPCEznVNOA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnPDR8uEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnPDh8uEeG4gPCEznVNOA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnPDx8uEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnPEB8uEeG4gPCEznVNOA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnPER8uEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_REnPEh8uEeG4gPCEznVNOA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_REnPEx8uEeG4gPCEznVNOA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_REnPFB8uEeG4gPCEznVNOA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_REnPFR8uEeG4gPCEznVNOA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_ChLOEGbUEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ChLOEmbUEeGGNuX1IHg1zg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ChLOE2bUEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ChLOFGbUEeGGNuX1IHg1zg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ChLOFWbUEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ChLOFmbUEeGGNuX1IHg1zg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ChLOF2bUEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_ChLOGGbUEeGGNuX1IHg1zg" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_ChLOGWbUEeGGNuX1IHg1zg" x="20" y="15"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_ChLOGmbUEeGGNuX1IHg1zg" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_ChLOG2bUEeGGNuX1IHg1zg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_Rsb1cBwkEeGa5bH_RJFzBQ"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ChLOEWbUEeGGNuX1IHg1zg" x="-11" y="68" width="20" height="20"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_ChLOHGbUEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ChLOHmbUEeGGNuX1IHg1zg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ChLOH2bUEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ChLOIGbUEeGGNuX1IHg1zg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ChLOIWbUEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ChLOImbUEeGGNuX1IHg1zg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ChLOI2bUEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_ChLOJGbUEeGGNuX1IHg1zg" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_ChLOJWbUEeGGNuX1IHg1zg" x="25" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_ChLOJmbUEeGGNuX1IHg1zg" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_ChLOJ2bUEeGGNuX1IHg1zg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_W2W8oBwkEeGa5bH_RJFzBQ"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ChLOHWbUEeGGNuX1IHg1zg" x="-10" y="25"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_ChLOKGbUEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ChLOKmbUEeGGNuX1IHg1zg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ChLOK2bUEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ChLOLGbUEeGGNuX1IHg1zg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ChLOLWbUEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ChLOLmbUEeGGNuX1IHg1zg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ChLOL2bUEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_ChLOMGbUEeGGNuX1IHg1zg" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_ChLOMWbUEeGGNuX1IHg1zg" x="-131" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_ChLOMmbUEeGGNuX1IHg1zg" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_ChLOM2bUEeGGNuX1IHg1zg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_f6a-IBwkEeGa5bH_RJFzBQ"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ChLOKWbUEeGGNuX1IHg1zg" x="206" y="47"/>
-          </children>
-          <element xmi:type="uml:Property" href="RoboCab.uml#_fdzLJ6k_EeCXqcRV-18f6Q"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_REnPFh8uEeG4gPCEznVNOA" x="435" y="388" width="216" height="96"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_REnPFx8uEeG4gPCEznVNOA" type="3070" fontName="Ubuntu" fontHeight="7" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnPGB8uEeG4gPCEznVNOA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnPGR8uEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnPGh8uEeG4gPCEznVNOA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnPGx8uEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnPHB8uEeG4gPCEznVNOA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnPHR8uEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_REnPHh8uEeG4gPCEznVNOA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_REnPHx8uEeG4gPCEznVNOA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_REnPIB8uEeG4gPCEznVNOA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_REnPIR8uEeG4gPCEznVNOA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_HSgPEGbUEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSgPEmbUEeGGNuX1IHg1zg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSgPE2bUEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSgPFGbUEeGGNuX1IHg1zg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSgPFWbUEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSgPFmbUEeGGNuX1IHg1zg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSgPF2bUEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_HSgPGGbUEeGGNuX1IHg1zg" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_LEM_EGbUEeGGNuX1IHg1zg" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_LM_usGbUEeGGNuX1IHg1zg" key="CustomAppearance_MaskValue" value="52"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_HSgPGWbUEeGGNuX1IHg1zg" x="20"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_HSgPGmbUEeGGNuX1IHg1zg" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_HSgPG2bUEeGGNuX1IHg1zg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzKI6k_EeCXqcRV-18f6Q"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_HSgPEWbUEeGGNuX1IHg1zg" x="-11" y="84" width="20" height="20"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_HSgPHGbUEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSgPHmbUEeGGNuX1IHg1zg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSgPH2bUEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSgPIGbUEeGGNuX1IHg1zg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSgPIWbUEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSgPImbUEeGGNuX1IHg1zg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSgPI2bUEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_HSgPJGbUEeGGNuX1IHg1zg" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_JmnmwGbUEeGGNuX1IHg1zg" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OHtMUGbUEeGGNuX1IHg1zg" key="CustomAppearance_MaskValue" value="60"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_HSgPJWbUEeGGNuX1IHg1zg" x="15" y="-13"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_HSgPJmbUEeGGNuX1IHg1zg" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_HSgPJ2bUEeGGNuX1IHg1zg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzKJ6k_EeCXqcRV-18f6Q"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_HSgPHWbUEeGGNuX1IHg1zg" x="-11" y="49" width="20" height="20"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_HSgPKGbUEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSgPKmbUEeGGNuX1IHg1zg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSgPK2bUEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSgPLGbUEeGGNuX1IHg1zg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSgPLWbUEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSgPLmbUEeGGNuX1IHg1zg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSgPL2bUEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_HSgPMGbUEeGGNuX1IHg1zg" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NdYc8GbUEeGGNuX1IHg1zg" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NoQ3QGbUEeGGNuX1IHg1zg" key="CustomAppearance_MaskValue" value="52"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_HSgPMWbUEeGGNuX1IHg1zg" x="-146" y="27"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_HSgPMmbUEeGGNuX1IHg1zg" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_HSgPM2bUEeGGNuX1IHg1zg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzKK6k_EeCXqcRV-18f6Q"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_HSgPKWbUEeGGNuX1IHg1zg" x="176" y="35"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_HSgPNGbUEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSgPNmbUEeGGNuX1IHg1zg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSgPN2bUEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSgPOGbUEeGGNuX1IHg1zg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSgPOWbUEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSgPOmbUEeGGNuX1IHg1zg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSgPO2bUEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_HSgPPGbUEeGGNuX1IHg1zg" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MAQXoGbUEeGGNuX1IHg1zg" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MumEUGbUEeGGNuX1IHg1zg" key="CustomAppearance_MaskValue" value="60"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_HSgPPWbUEeGGNuX1IHg1zg" x="-111" y="2"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_HSgPPmbUEeGGNuX1IHg1zg" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_HSgPP2bUEeGGNuX1IHg1zg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzKL6k_EeCXqcRV-18f6Q"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_HSgPNWbUEeGGNuX1IHg1zg" x="175" y="99" width="20" height="20"/>
-          </children>
-          <element xmi:type="uml:Property" href="RoboCab.uml#_fdzLQqk_EeCXqcRV-18f6Q"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_REnPIh8uEeG4gPCEznVNOA" x="215" y="213" width="186" height="131"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_REnPIx8uEeG4gPCEznVNOA" type="3070" fontName="Ubuntu" fontHeight="7" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnPJB8uEeG4gPCEznVNOA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnPJR8uEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnPJh8uEeG4gPCEznVNOA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnPJx8uEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnPKB8uEeG4gPCEznVNOA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnPKR8uEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_REnPKh8uEeG4gPCEznVNOA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_REnPKx8uEeG4gPCEznVNOA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_REnPLB8uEeG4gPCEznVNOA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_REnPLR8uEeG4gPCEznVNOA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="__qpF0GbTEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__qpF0mbTEeGGNuX1IHg1zg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__qpF02bTEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__qpF1GbTEeGGNuX1IHg1zg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__qpF1WbTEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__qpF1mbTEeGGNuX1IHg1zg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__qpF12bTEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="__qpF2GbTEeGGNuX1IHg1zg" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HlAe4GbVEeGGNuX1IHg1zg" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HwVlIGbVEeGGNuX1IHg1zg" key="CustomAppearance_MaskValue" value="52"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="__qpF2WbTEeGGNuX1IHg1zg" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="__qpF2mbTEeGGNuX1IHg1zg" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="__qpF22bTEeGGNuX1IHg1zg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzKZak_EeCXqcRV-18f6Q"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="__qpF0WbTEeGGNuX1IHg1zg" x="-10" y="25"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="__qpF3GbTEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__qpF3mbTEeGGNuX1IHg1zg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__qpF32bTEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__qpF4GbTEeGGNuX1IHg1zg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__qpF4WbTEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__qpF4mbTEeGGNuX1IHg1zg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__qpF42bTEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="__qpF5GbTEeGGNuX1IHg1zg" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_IMNBwGbVEeGGNuX1IHg1zg" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_IUZUcGbVEeGGNuX1IHg1zg" key="CustomAppearance_MaskValue" value="52"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="__qpF5WbTEeGGNuX1IHg1zg" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="__qpF5mbTEeGGNuX1IHg1zg" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="__qpF52bTEeGGNuX1IHg1zg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzKaak_EeCXqcRV-18f6Q"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="__qpF3WbTEeGGNuX1IHg1zg" x="-10" y="120"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="__qpF6GbTEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__qpF6mbTEeGGNuX1IHg1zg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__qpF62bTEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__qpF7GbTEeGGNuX1IHg1zg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__qpF7WbTEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__qpF7mbTEeGGNuX1IHg1zg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__qpF72bTEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="__qpF8GbTEeGGNuX1IHg1zg" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Ks-8cGbVEeGGNuX1IHg1zg" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_K1L2MGbVEeGGNuX1IHg1zg" key="CustomAppearance_MaskValue" value="52"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="__qpF8WbTEeGGNuX1IHg1zg" x="-116" y="15"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="__qpF8mbTEeGGNuX1IHg1zg" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="__qpF82bTEeGGNuX1IHg1zg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzKcak_EeCXqcRV-18f6Q"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="__qpF6WbTEeGGNuX1IHg1zg" x="221" y="40"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="__qpF9GbTEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__qpF9mbTEeGGNuX1IHg1zg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__qpF92bTEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__qpF-GbTEeGGNuX1IHg1zg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__qpF-WbTEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__qpF-mbTEeGGNuX1IHg1zg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__qpF-2bTEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="__qpF_GbTEeGGNuX1IHg1zg" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Iw3OAGbVEeGGNuX1IHg1zg" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_I4m0wGbVEeGGNuX1IHg1zg" key="CustomAppearance_MaskValue" value="52"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="__qpF_WbTEeGGNuX1IHg1zg" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="__qpF_mbTEeGGNuX1IHg1zg" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="__qpF_2bTEeGGNuX1IHg1zg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_gFYxYB8sEeG4gPCEznVNOA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="__qpF9WbTEeGGNuX1IHg1zg" x="-10" y="85"/>
-          </children>
-          <element xmi:type="uml:Property" href="RoboCab.uml#_fdzLRqk_EeCXqcRV-18f6Q"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_REnPXh8uEeG4gPCEznVNOA" x="715" y="228" width="231" height="151"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_REnPXx8uEeG4gPCEznVNOA" type="3070" fontName="Ubuntu" fontHeight="7" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnPYB8uEeG4gPCEznVNOA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnPYR8uEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnPYh8uEeG4gPCEznVNOA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnPYx8uEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnPZB8uEeG4gPCEznVNOA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnPZR8uEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_REnPZh8uEeG4gPCEznVNOA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_REnPZx8uEeG4gPCEznVNOA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_REnPaB8uEeG4gPCEznVNOA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_REnPaR8uEeG4gPCEznVNOA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_gVPJMGbTEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6MGbTEeGGNuX1IHg1zg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6MWbTEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6MmbTEeGGNuX1IHg1zg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6M2bTEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6NGbTEeGGNuX1IHg1zg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6NWbTEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_gVY6NmbTEeGGNuX1IHg1zg" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_gVY6N2bTEeGGNuX1IHg1zg" x="20" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_gVY6OGbTEeGGNuX1IHg1zg" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_gVY6OWbTEeGGNuX1IHg1zg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzK6ak_EeCXqcRV-18f6Q"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_gVPJMWbTEeGGNuX1IHg1zg" x="-10" y="145"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_gVY6OmbTEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6PGbTEeGGNuX1IHg1zg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6PWbTEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6PmbTEeGGNuX1IHg1zg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6P2bTEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6QGbTEeGGNuX1IHg1zg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6QWbTEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_gVY6QmbTEeGGNuX1IHg1zg" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_rPRi8GbVEeGGNuX1IHg1zg" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_rYESkGbVEeGGNuX1IHg1zg" key="CustomAppearance_MaskValue" value="52"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_gVY6Q2bTEeGGNuX1IHg1zg" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_gVY6RGbTEeGGNuX1IHg1zg" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_gVY6RWbTEeGGNuX1IHg1zg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzK9ak_EeCXqcRV-18f6Q"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_gVY6O2bTEeGGNuX1IHg1zg" x="-11" y="229" width="20" height="20"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_gVY6RmbTEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6SGbTEeGGNuX1IHg1zg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6SWbTEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6SmbTEeGGNuX1IHg1zg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6S2bTEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6TGbTEeGGNuX1IHg1zg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6TWbTEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_gVY6TmbTEeGGNuX1IHg1zg" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_vwcS8GbTEeGGNuX1IHg1zg" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_wOikMGbTEeGGNuX1IHg1zg" key="CustomAppearance_MaskValue" value="52"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_gVY6T2bTEeGGNuX1IHg1zg" x="-81" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_gVY6UGbTEeGGNuX1IHg1zg" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_gVY6UWbTEeGGNuX1IHg1zg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzK-ak_EeCXqcRV-18f6Q"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_gVY6R2bTEeGGNuX1IHg1zg" x="225" y="234" width="20" height="20"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_gVY6UmbTEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6VGbTEeGGNuX1IHg1zg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6VWbTEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6VmbTEeGGNuX1IHg1zg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6V2bTEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6WGbTEeGGNuX1IHg1zg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6WWbTEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_gVY6WmbTEeGGNuX1IHg1zg" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_gVY6W2bTEeGGNuX1IHg1zg" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_gVY6XGbTEeGGNuX1IHg1zg" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_gVY6XWbTEeGGNuX1IHg1zg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_UIObEKloEeCLku4RFrI7uw"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_gVY6U2bTEeGGNuX1IHg1zg" x="-11" y="113" width="20" height="20"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_gVY6XmbTEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6YGbTEeGGNuX1IHg1zg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6YWbTEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6YmbTEeGGNuX1IHg1zg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6Y2bTEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6ZGbTEeGGNuX1IHg1zg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6ZWbTEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_gVY6ZmbTEeGGNuX1IHg1zg" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_gVY6Z2bTEeGGNuX1IHg1zg" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_gVY6aGbTEeGGNuX1IHg1zg" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_gVY6aWbTEeGGNuX1IHg1zg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_UegmIDUrEeG5pL_fpN2DgQ"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_gVY6X2bTEeGGNuX1IHg1zg" x="-11" y="43" width="20" height="20"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_gVY6ambTEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6bGbTEeGGNuX1IHg1zg" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6bWbTEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6bmbTEeGGNuX1IHg1zg" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6b2bTEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6cGbTEeGGNuX1IHg1zg" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6cWbTEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_gVY6cmbTEeGGNuX1IHg1zg" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_gVY6c2bTEeGGNuX1IHg1zg" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_gVY6dGbTEeGGNuX1IHg1zg" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_gVY6dWbTEeGGNuX1IHg1zg" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="RoboCab.uml#_beSbsDUrEeG5pL_fpN2DgQ"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_gVY6a2bTEeGGNuX1IHg1zg" x="-10" y="75"/>
-          </children>
-          <element xmi:type="uml:Property" href="RoboCab.uml#_fdzLSqk_EeCXqcRV-18f6Q"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_REnPah8uEeG4gPCEznVNOA" x="435" y="18" width="236" height="266"/>
-        </children>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_REnPdx8uEeG4gPCEznVNOA"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_REn2Ax8uEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REn2BB8uEeG4gPCEznVNOA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REn2BR8uEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REn2Bh8uEeG4gPCEznVNOA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REn2Bx8uEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REn2CB8uEeG4gPCEznVNOA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REn2CR8uEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_REn2Ch8uEeG4gPCEznVNOA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_REn2Cx8uEeG4gPCEznVNOA" x="25" y="-4"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_REn2DB8uEeG4gPCEznVNOA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_REn2DR8uEeG4gPCEznVNOA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzLNqk_EeCXqcRV-18f6Q"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_REn2Dh8uEeG4gPCEznVNOA" x="-10" y="335" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_REn2Dx8uEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REn2EB8uEeG4gPCEznVNOA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REn2ER8uEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REn2Eh8uEeG4gPCEznVNOA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REn2Ex8uEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REn2FB8uEeG4gPCEznVNOA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REn2FR8uEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_REn2Fh8uEeG4gPCEznVNOA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_REn2Fx8uEeG4gPCEznVNOA" x="25" y="-9"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_REn2GB8uEeG4gPCEznVNOA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_REn2GR8uEeG4gPCEznVNOA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_LA8qUKlkEeCLku4RFrI7uw"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_REn2Gh8uEeG4gPCEznVNOA" x="-11" y="169" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_REn2Jx8uEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REn2KB8uEeG4gPCEznVNOA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REn2KR8uEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REn2Kh8uEeG4gPCEznVNOA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REn2Kx8uEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REn2LB8uEeG4gPCEznVNOA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REn2LR8uEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_REn2Lh8uEeG4gPCEznVNOA" visible="false" type="5125">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gXgkoGbUEeGGNuX1IHg1zg" source="CustomAppearance_Annotation">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gjbgwGbUEeGGNuX1IHg1zg" key="CustomAppearance_MaskValue" value="52"/>
-          </eAnnotations>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_REn2Lx8uEeG4gPCEznVNOA" x="-136" y="10"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_REn2MB8uEeG4gPCEznVNOA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_REn2MR8uEeG4gPCEznVNOA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_ImFDAKlnEeCLku4RFrI7uw"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_REn2Mh8uEeG4gPCEznVNOA" x="1050" y="304" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_eguZUB8vEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_egvAYB8vEeG4gPCEznVNOA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_egvAYR8vEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_egvAYh8vEeG4gPCEznVNOA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_egvAYx8vEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_egvAZB8vEeG4gPCEznVNOA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_egvAZR8vEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_egzR0B8vEeG4gPCEznVNOA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_V8U-QKEMEeKLUqX9IJq2Gg" key="StereotypeWithQualifiedNameList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_V8U-QaEMEeKLUqX9IJq2Gg" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_V8U-QqEMEeKLUqX9IJq2Gg" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_V8U-Q6EMEeKLUqX9IJq2Gg" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_V8U-RKEMEeKLUqX9IJq2Gg" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_egvAZh8vEeG4gPCEznVNOA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_egvAZx8vEeG4gPCEznVNOA" x="20" y="-9"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_egvAaB8vEeG4gPCEznVNOA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_egvAaR8vEeG4gPCEznVNOA" x="45" y="-14"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_egSUcB8vEeG4gPCEznVNOA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_eguZUR8vEeG4gPCEznVNOA" x="-11" y="99" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_Fg5CMB8wEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Fg5pQB8wEeGetOLfkLNwfg" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Fg5pQR8wEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Fg5pQh8wEeGetOLfkLNwfg" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Fg6QUB8wEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Fg6QUR8wEeGetOLfkLNwfg" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Fg6QUh8wEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_FhBlEB8wEeGetOLfkLNwfg" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FjtssB8wEeGetOLfkLNwfg" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FjtssR8wEeGetOLfkLNwfg" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Fjtssh8wEeGetOLfkLNwfg" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Fjtssx8wEeGetOLfkLNwfg" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FjtstB8wEeGetOLfkLNwfg" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_Fg6QUx8wEeGetOLfkLNwfg" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_Fg6QVB8wEeGetOLfkLNwfg" x="20" y="-4"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_Fg6QVR8wEeGetOLfkLNwfg" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_Fg6QVh8wEeGetOLfkLNwfg" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_FgbvMB8wEeGetOLfkLNwfg"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Fg5CMR8wEeGetOLfkLNwfg" x="-11" y="494" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_NkY-kB8wEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NkZloB8wEeGetOLfkLNwfg" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NkZloR8wEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NkZloh8wEeGetOLfkLNwfg" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NkZlox8wEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NkZlpB8wEeGetOLfkLNwfg" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NkZlpR8wEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NkdQAB8wEeGetOLfkLNwfg" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Nm_moB8wEeGetOLfkLNwfg" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Nm_moR8wEeGetOLfkLNwfg" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NnANsB8wEeGetOLfkLNwfg" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NnANsR8wEeGetOLfkLNwfg" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NnANsh8wEeGetOLfkLNwfg" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_NkZlph8wEeGetOLfkLNwfg" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_NkZlpx8wEeGetOLfkLNwfg" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_NkZlqB8wEeGetOLfkLNwfg" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_NkZlqR8wEeGetOLfkLNwfg" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_NkEOcB8wEeGetOLfkLNwfg"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_NkY-kR8wEeGetOLfkLNwfg" x="-10" y="68" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_WZ4_oB8wEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_WZ5msB8wEeGetOLfkLNwfg" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_WZ5msR8wEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_WZ5msh8wEeGetOLfkLNwfg" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_WZ5msx8wEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_WZ5mtB8wEeGetOLfkLNwfg" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_WZ5mtR8wEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_WZ9REB8wEeGetOLfkLNwfg" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_WcpYsB8wEeGetOLfkLNwfg" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_WcpYsR8wEeGetOLfkLNwfg" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_WcpYsh8wEeGetOLfkLNwfg" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_WcpYsx8wEeGetOLfkLNwfg" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_WcpYtB8wEeGetOLfkLNwfg" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_WZ5mth8wEeGetOLfkLNwfg" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_WZ5mtx8wEeGetOLfkLNwfg" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_WZ5muB8wEeGetOLfkLNwfg" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_WZ6NwB8wEeGetOLfkLNwfg" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_WZjocB8wEeGetOLfkLNwfg"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_WZ4_oR8wEeGetOLfkLNwfg" x="-10" y="246" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_x-Ab8B8wEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_x-Ab8h8wEeGetOLfkLNwfg" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_x-Ab8x8wEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_x-Ab9B8wEeGetOLfkLNwfg" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_x-Ab9R8wEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_x-BDAB8wEeGetOLfkLNwfg" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_x-BDAR8wEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_x-EGUB8wEeGetOLfkLNwfg" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_yCCnYB8wEeGetOLfkLNwfg" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_yCCnYR8wEeGetOLfkLNwfg" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_yCCnYh8wEeGetOLfkLNwfg" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_yCDOcB8wEeGetOLfkLNwfg" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_yCDOcR8wEeGetOLfkLNwfg" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_x-BDAh8wEeGetOLfkLNwfg" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_x-BDAx8wEeGetOLfkLNwfg" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_x-BDBB8wEeGetOLfkLNwfg" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_x-BDBR8wEeGetOLfkLNwfg" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_x9oBcB8wEeGetOLfkLNwfg"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_x-Ab8R8wEeGetOLfkLNwfg" x="-10" y="135" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_WDRHAB8-EeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_WDRuEB8-EeGetOLfkLNwfg" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_WDRuER8-EeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_WDRuEh8-EeGetOLfkLNwfg" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_WDRuEx8-EeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_WDRuFB8-EeGetOLfkLNwfg" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_WDRuFR8-EeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_WDUxYB8-EeGetOLfkLNwfg" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_WGNtUB8-EeGetOLfkLNwfg" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_WGNtUR8-EeGetOLfkLNwfg" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_WGOUYB8-EeGetOLfkLNwfg" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_WGOUYR8-EeGetOLfkLNwfg" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_WGOUYh8-EeGetOLfkLNwfg" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_WDRuFh8-EeGetOLfkLNwfg" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_WDRuFx8-EeGetOLfkLNwfg" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_WDRuGB8-EeGetOLfkLNwfg" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_WDRuGR8-EeGetOLfkLNwfg" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_WC5TkB8-EeGetOLfkLNwfg"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_WDRHAR8-EeGetOLfkLNwfg" x="-10" y="410" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_a8YLAB8-EeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_a8YyEB8-EeGetOLfkLNwfg" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_a8YyER8-EeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_a8YyEh8-EeGetOLfkLNwfg" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_a8YyEx8-EeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_a8YyFB8-EeGetOLfkLNwfg" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_a8YyFR8-EeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_a8cccB8-EeGetOLfkLNwfg" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_a_PRwB8-EeGetOLfkLNwfg" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_a_PRwR8-EeGetOLfkLNwfg" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_a_PRwh8-EeGetOLfkLNwfg" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_a_PRwx8-EeGetOLfkLNwfg" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_a_PRxB8-EeGetOLfkLNwfg" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_a8YyFh8-EeGetOLfkLNwfg" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_a8YyFx8-EeGetOLfkLNwfg" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_a8YyGB8-EeGetOLfkLNwfg" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_a8YyGR8-EeGetOLfkLNwfg" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_a8AXkB8-EeGetOLfkLNwfg"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_a8YLAR8-EeGetOLfkLNwfg" x="-10" y="556" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_qP9moDUzEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_qP9mojUzEeG5pL_fpN2DgQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qP9mozUzEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_qP9mpDUzEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qP-NsDUzEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_qP-NsTUzEeG5pL_fpN2DgQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qP-NsjUzEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_qQBRADUzEeG5pL_fpN2DgQ" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qSL0MDUzEeG5pL_fpN2DgQ" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qSL0MTUzEeG5pL_fpN2DgQ" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qSL0MjUzEeG5pL_fpN2DgQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qSL0MzUzEeG5pL_fpN2DgQ" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qSMbQDUzEeG5pL_fpN2DgQ" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_qP-NszUzEeG5pL_fpN2DgQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_qP-NtDUzEeG5pL_fpN2DgQ" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_qP-NtTUzEeG5pL_fpN2DgQ" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_qP-NtjUzEeG5pL_fpN2DgQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_qPrSwDUzEeG5pL_fpN2DgQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_qP9moTUzEeG5pL_fpN2DgQ" x="-10" y="370" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_0-wEkDUzEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_0-wroDUzEeG5pL_fpN2DgQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_0-wroTUzEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_0-wrojUzEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_0-wrozUzEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_0-wrpDUzEeG5pL_fpN2DgQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_0-wrpTUzEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_0-zu8DUzEeG5pL_fpN2DgQ" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_1BLGcDUzEeG5pL_fpN2DgQ" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_1BLGcTUzEeG5pL_fpN2DgQ" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_1BLtgDUzEeG5pL_fpN2DgQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_1BLtgTUzEeG5pL_fpN2DgQ" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_1BLtgjUzEeG5pL_fpN2DgQ" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_0-wrpjUzEeG5pL_fpN2DgQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_0-wrpzUzEeG5pL_fpN2DgQ" x="25" y="-9"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_0-wrqDUzEeG5pL_fpN2DgQ" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_0-wrqTUzEeG5pL_fpN2DgQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_0-eXwDUzEeG5pL_fpN2DgQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_0-wEkTUzEeG5pL_fpN2DgQ" x="-10" y="300" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_2jFlIDUzEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_2jGMMDUzEeG5pL_fpN2DgQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2jGMMTUzEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_2jGMMjUzEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2jGMMzUzEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_2jGMNDUzEeG5pL_fpN2DgQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2jGMNTUzEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_2jJ2kDUzEeG5pL_fpN2DgQ" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2l_vMDUzEeG5pL_fpN2DgQ" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2l_vMTUzEeG5pL_fpN2DgQ" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2l_vMjUzEeG5pL_fpN2DgQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2mAWQDUzEeG5pL_fpN2DgQ" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2mAWQTUzEeG5pL_fpN2DgQ" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_2jGMNjUzEeG5pL_fpN2DgQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_2jGMNzUzEeG5pL_fpN2DgQ" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_2jGMODUzEeG5pL_fpN2DgQ" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_2jGMOTUzEeG5pL_fpN2DgQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_2izRQDUzEeG5pL_fpN2DgQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_2jFlITUzEeG5pL_fpN2DgQ" x="-10" y="205" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_3wcwIDUzEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_3wcwIjUzEeG5pL_fpN2DgQ" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_3wcwIzUzEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_3wcwJDUzEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_3wcwJTUzEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_3wcwJjUzEeG5pL_fpN2DgQ" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_3wdXMDUzEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_3wgagDUzEeG5pL_fpN2DgQ" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_3zOXUDUzEeG5pL_fpN2DgQ" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_3zO-YDUzEeG5pL_fpN2DgQ" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_3zO-YTUzEeG5pL_fpN2DgQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_3zO-YjUzEeG5pL_fpN2DgQ" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_3zO-YzUzEeG5pL_fpN2DgQ" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_3wdXMTUzEeG5pL_fpN2DgQ" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_3wdXMjUzEeG5pL_fpN2DgQ" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_3wdXMzUzEeG5pL_fpN2DgQ" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_3wdXNDUzEeG5pL_fpN2DgQ" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_3wKcQDUzEeG5pL_fpN2DgQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_3wcwITUzEeG5pL_fpN2DgQ" x="-10" y="445" width="20" height="20"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_fdzLHak_EeCXqcRV-18f6Q"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_REn2Mx8uEeG4gPCEznVNOA" x="85" y="30" width="1061" height="601"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_O43JER8uEeG4gPCEznVNOA"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_Y2cbgH7LEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Model" href="RoboCab.uml#_fdzJx6k_EeCXqcRV-18f6Q"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <styles xmi:type="notation:StringValueStyle" xmi:id="_Y2cbgX7LEeSFyNbnLYDCkw" name="diagram_compatibility_version" stringValue="1.0.0"/>
-    <element xmi:type="uml:Model" href="RoboCab.uml#_fdzJx6k_EeCXqcRV-18f6Q"/>
-    <edges xmi:type="notation:Connector" xmi:id="_1ADV8GbUEeGGNuX1IHg1zg" type="4013" source="_HSgPKGbUEeGGNuX1IHg1zg" target="_gVY6OmbTEeGGNuX1IHg1zg" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_1AMf4GbUEeGGNuX1IHg1zg" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_1AMf4WbUEeGGNuX1IHg1zg" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_1AMf4mbUEeGGNuX1IHg1zg" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_1AMf42bUEeGGNuX1IHg1zg" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_1AMf5GbUEeGGNuX1IHg1zg" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_1AMf5WbUEeGGNuX1IHg1zg" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_1AMf5mbUEeGGNuX1IHg1zg" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_1AMf52bUEeGGNuX1IHg1zg" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_1ADV8WbUEeGGNuX1IHg1zg" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_fdzLVqk_EeCXqcRV-18f6Q"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_1ADV8mbUEeGGNuX1IHg1zg" points="[-7, -10, 224, 320]$[-224, -320, 7, 10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_1WGecGbUEeGGNuX1IHg1zg" type="4013" source="__qpF0GbTEeGGNuX1IHg1zg" target="_gVY6RmbTEeGGNuX1IHg1zg" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_1WGec2bUEeGGNuX1IHg1zg" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_1WGedGbUEeGGNuX1IHg1zg" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_1WGedWbUEeGGNuX1IHg1zg" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_1WGedmbUEeGGNuX1IHg1zg" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_1WGed2bUEeGGNuX1IHg1zg" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_1WGeeGbUEeGGNuX1IHg1zg" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_1WGeeWbUEeGGNuX1IHg1zg" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_1WGeembUEeGGNuX1IHg1zg" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_1WGecWbUEeGGNuX1IHg1zg" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_fdzLWak_EeCXqcRV-18f6Q"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_1WGecmbUEeGGNuX1IHg1zg" points="[-3, -10, 41, 145]$[-42, -145, 2, 10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_2BngoGbUEeGGNuX1IHg1zg" type="4013" source="_REn2Ax8uEeG4gPCEznVNOA" target="_HSgPEGbUEeGGNuX1IHg1zg" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_2Bngo2bUEeGGNuX1IHg1zg" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_2BngpGbUEeGGNuX1IHg1zg" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_2BngpWbUEeGGNuX1IHg1zg" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_2BngpmbUEeGGNuX1IHg1zg" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_2Bngp2bUEeGGNuX1IHg1zg" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_2BngqGbUEeGGNuX1IHg1zg" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_2BngqWbUEeGGNuX1IHg1zg" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_2BngqmbUEeGGNuX1IHg1zg" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_2BngoWbUEeGGNuX1IHg1zg" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_fdzLfak_EeCXqcRV-18f6Q"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_2BngombUEeGGNuX1IHg1zg" points="[8, 10, -322, -366]$[321, 366, -9, -10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_2b_IcGbUEeGGNuX1IHg1zg" type="4013" source="__qpF6GbTEeGGNuX1IHg1zg" target="_REn2Jx8uEeG4gPCEznVNOA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_2cI5cGbUEeGGNuX1IHg1zg" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_2cI5cWbUEeGGNuX1IHg1zg" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_2cI5cmbUEeGGNuX1IHg1zg" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_2cI5c2bUEeGGNuX1IHg1zg" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_2cI5dGbUEeGGNuX1IHg1zg" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_2cI5dWbUEeGGNuX1IHg1zg" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_2cI5dmbUEeGGNuX1IHg1zg" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_2cI5d2bUEeGGNuX1IHg1zg" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_2b_IcWbUEeGGNuX1IHg1zg" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_R3I6gKluEeCLku4RFrI7uw"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_2b_IcmbUEeGGNuX1IHg1zg" points="[10, 0, -175, -15]$[175, 14, -10, -1]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_6WxjAGbUEeGGNuX1IHg1zg" type="4013" source="_HSgPNGbUEeGGNuX1IHg1zg" target="__qpF9GbTEeGGNuX1IHg1zg" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_6WxjA2bUEeGGNuX1IHg1zg" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_6WxjBGbUEeGGNuX1IHg1zg" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_6WxjBWbUEeGGNuX1IHg1zg" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_6WxjBmbUEeGGNuX1IHg1zg" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_6W7UAGbUEeGGNuX1IHg1zg" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_6W7UAWbUEeGGNuX1IHg1zg" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_6W7UAmbUEeGGNuX1IHg1zg" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_6W7UA2bUEeGGNuX1IHg1zg" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_6WxjAWbUEeGGNuX1IHg1zg" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_6VbfMGbUEeGGNuX1IHg1zg"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_6WxjAmbUEeGGNuX1IHg1zg" points="[6, -16, -42, 95]$[43, -121, -5, -10]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_6XhJ4GbUEeGGNuX1IHg1zg" id="(0.55,0.8)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_YKuT8GbVEeGGNuX1IHg1zg" type="4013" source="_0-wEkDUzEeG5pL_fpN2DgQ" target="_HSgPHGbUEeGGNuX1IHg1zg" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_YKuT82bVEeGGNuX1IHg1zg" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_YKuT9GbVEeGGNuX1IHg1zg" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_YKuT9WbVEeGGNuX1IHg1zg" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_YKuT9mbVEeGGNuX1IHg1zg" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_YKuT92bVEeGGNuX1IHg1zg" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_YKuT-GbVEeGGNuX1IHg1zg" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_YKuT-WbVEeGGNuX1IHg1zg" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_YKuT-mbVEeGGNuX1IHg1zg" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_YKuT8WbVEeGGNuX1IHg1zg" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_YKRoAGbVEeGGNuX1IHg1zg"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_YKuT8mbVEeGGNuX1IHg1zg" points="[8, -4, -223, 105]$[235, -111, 4, -2]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_YLd60GbVEeGGNuX1IHg1zg" id="(0.25,0.2)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_YLd60WbVEeGGNuX1IHg1zg" id="(0.8,0.4)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_39oE4GbVEeGGNuX1IHg1zg" type="4013" source="_REn2Dx8uEeG4gPCEznVNOA" target="_gVY6UmbTEeGGNuX1IHg1zg" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_39oE42bVEeGGNuX1IHg1zg" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_39oE5GbVEeGGNuX1IHg1zg" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_39oE5WbVEeGGNuX1IHg1zg" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_39oE5mbVEeGGNuX1IHg1zg" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_39oE52bVEeGGNuX1IHg1zg" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_39oE6GbVEeGGNuX1IHg1zg" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_39oE6WbVEeGGNuX1IHg1zg" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_39oE6mbVEeGGNuX1IHg1zg" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_39oE4WbVEeGGNuX1IHg1zg" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_39LY8GbVEeGGNuX1IHg1zg"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_39oE4mbVEeGGNuX1IHg1zg" points="[10, -1, -430, 39]$[450, -40, 10, 0]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_57F3IGbVEeGGNuX1IHg1zg" type="4013" source="_0-wEkDUzEeG5pL_fpN2DgQ" target="_gVPJMGbTEeGGNuX1IHg1zg" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_57F3I2bVEeGGNuX1IHg1zg" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_57F3JGbVEeGGNuX1IHg1zg" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_57F3JWbVEeGGNuX1IHg1zg" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_57F3JmbVEeGGNuX1IHg1zg" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_57F3J2bVEeGGNuX1IHg1zg" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_57F3KGbVEeGGNuX1IHg1zg" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_57F3KWbVEeGGNuX1IHg1zg" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_57F3KmbVEeGGNuX1IHg1zg" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_57F3IWbVEeGGNuX1IHg1zg" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_56pLMGbVEeGGNuX1IHg1zg"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_57F3ImbVEeGGNuX1IHg1zg" points="[10, 0, -430, 85]$[165, 0, -275, 85]$[165, -85, -275, 0]$[430, -85, -10, 0]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_71bc4GbVEeGGNuX1IHg1zg" type="4013" source="_eguZUB8vEeG4gPCEznVNOA" target="_gVY6XmbTEeGGNuX1IHg1zg" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_71bc42bVEeGGNuX1IHg1zg" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_71bc5GbVEeGGNuX1IHg1zg" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_71bc5WbVEeGGNuX1IHg1zg" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_71bc5mbVEeGGNuX1IHg1zg" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_71bc52bVEeGGNuX1IHg1zg" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_71bc6GbVEeGGNuX1IHg1zg" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_71bc6WbVEeGGNuX1IHg1zg" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_71bc6mbVEeGGNuX1IHg1zg" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_71bc4WbVEeGGNuX1IHg1zg" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_70r2AGbVEeGGNuX1IHg1zg"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_71bc4mbVEeGGNuX1IHg1zg" points="[10, -1, -430, 12]$[441, -3, 1, 10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_9Bkf4GbVEeGGNuX1IHg1zg" type="4013" source="_x-Ab8B8wEeGetOLfkLNwfg" target="_gVY6ambTEeGGNuX1IHg1zg" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_9Bkf42bVEeGGNuX1IHg1zg" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_9Bkf5GbVEeGGNuX1IHg1zg" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_9Bkf5WbVEeGGNuX1IHg1zg" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_9Bkf5mbVEeGGNuX1IHg1zg" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_9Bkf52bVEeGGNuX1IHg1zg" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_9Bkf6GbVEeGGNuX1IHg1zg" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_9Bkf6WbVEeGGNuX1IHg1zg" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_9Bkf6mbVEeGGNuX1IHg1zg" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_9Bkf4WbVEeGGNuX1IHg1zg" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_9A-qAGbVEeGGNuX1IHg1zg"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_9Bkf4mbVEeGGNuX1IHg1zg" points="[10, -6, -430, -1]$[445, -15, 5, -10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_OC2PkGbWEeGGNuX1IHg1zg" type="4013" source="_ChLOKGbUEeGGNuX1IHg1zg" target="__qpF3GbTEeGGNuX1IHg1zg" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_OC2Pk2bWEeGGNuX1IHg1zg" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_OC2PlGbWEeGGNuX1IHg1zg" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_OC2PlWbWEeGGNuX1IHg1zg" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_OC2PlmbWEeGGNuX1IHg1zg" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_OC2Pl2bWEeGGNuX1IHg1zg" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_OC2PmGbWEeGGNuX1IHg1zg" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_OC2PmWbWEeGGNuX1IHg1zg" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_OC2PmmbWEeGGNuX1IHg1zg" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_OC2PkWbWEeGGNuX1IHg1zg" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_OCQZsGbWEeGGNuX1IHg1zg"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_OC2PkmbWEeGGNuX1IHg1zg" points="[10, -7, -54, 80]$[29, -7, -35, 80]$[29, -87, -35, 0]$[54, -87, -10, 0]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_VhxfQGbWEeGGNuX1IHg1zg" type="4013" source="_Fg5CMB8wEeGetOLfkLNwfg" target="_ChLOEGbUEeGGNuX1IHg1zg" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_VhxfQ2bWEeGGNuX1IHg1zg" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_VhxfRGbWEeGGNuX1IHg1zg" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_VhxfRWbWEeGGNuX1IHg1zg" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_VhxfRmbWEeGGNuX1IHg1zg" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_VhxfR2bWEeGGNuX1IHg1zg" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_VhxfSGbWEeGGNuX1IHg1zg" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_VhxfSWbWEeGGNuX1IHg1zg" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_VhxfSmbWEeGGNuX1IHg1zg" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_VhxfQWbWEeGGNuX1IHg1zg" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_VhLCUGbWEeGGNuX1IHg1zg"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_VhxfQmbWEeGGNuX1IHg1zg" points="[10, 1, -430, -44]$[439, 35, -1, -10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_aJtTsGbWEeGGNuX1IHg1zg" type="4013" source="_HSgPKGbUEeGGNuX1IHg1zg" target="_ChLOHGbUEeGGNuX1IHg1zg" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_aJtTs2bWEeGGNuX1IHg1zg" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_aJtTtGbWEeGGNuX1IHg1zg" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_aJtTtWbWEeGGNuX1IHg1zg" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_aJtTtmbWEeGGNuX1IHg1zg" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_aJtTt2bWEeGGNuX1IHg1zg" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_aJtTuGbWEeGGNuX1IHg1zg" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_aJtTuWbWEeGGNuX1IHg1zg" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_aJtTumbWEeGGNuX1IHg1zg" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_aJtTsWbWEeGGNuX1IHg1zg" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="RoboCab.uml#_aJQnwGbWEeGGNuX1IHg1zg"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_aJtTsmbWEeGGNuX1IHg1zg" points="[10, 0, -24, -165]$[14, 0, -20, -165]$[14, 165, -20, 0]$[24, 165, -10, 0]"/>
-    </edges>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_QwFooEHZEeG8nvjGjD0Mrg" type="PapyrusUMLStateMachineDiagram" name="SmDiagram" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_QwFooUHZEeG8nvjGjD0Mrg" type="2000" fontName="Ubuntu" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_QwFookHZEeG8nvjGjD0Mrg" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QwFoo0HZEeG8nvjGjD0Mrg" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_QwFopEHZEeG8nvjGjD0Mrg" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QwFopUHZEeG8nvjGjD0Mrg" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_QwFopkHZEeG8nvjGjD0Mrg" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QwFop0HZEeG8nvjGjD0Mrg" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_QwFoqEHZEeG8nvjGjD0Mrg" type="2001">
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_QwFoqUHZEeG8nvjGjD0Mrg" width="691" height="15"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_QwFoqkHZEeG8nvjGjD0Mrg" type="2002">
-        <children xmi:type="notation:Shape" xmi:id="_QwFoq0HZEeG8nvjGjD0Mrg" type="3000" fontName="Ubuntu" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_QwForEHZEeG8nvjGjD0Mrg" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QwForUHZEeG8nvjGjD0Mrg" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_QwForkHZEeG8nvjGjD0Mrg" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QwFor0HZEeG8nvjGjD0Mrg" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_QwFosEHZEeG8nvjGjD0Mrg" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QwFosUHZEeG8nvjGjD0Mrg" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_QwFoskHZEeG8nvjGjD0Mrg" source="RegionAnnotationKey">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QwFos0HZEeG8nvjGjD0Mrg" key="RegionZoneKey" value=""/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_QwFotEHZEeG8nvjGjD0Mrg" type="3002">
-            <children xmi:type="notation:Shape" xmi:id="_lDOxsEHZEeG8nvjGjD0Mrg" type="6000" fontName="Ubuntu" lineColor="0">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lDOxskHZEeG8nvjGjD0Mrg" source="ShadowFigure">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lDOxs0HZEeG8nvjGjD0Mrg" key="ShadowFigure_Value" value="false"/>
-              </eAnnotations>
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lDPYwEHZEeG8nvjGjD0Mrg" source="displayNameLabelIcon">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lDPYwUHZEeG8nvjGjD0Mrg" key="displayNameLabelIcon_value" value="false"/>
-              </eAnnotations>
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lDPYwkHZEeG8nvjGjD0Mrg" source="QualifiedName">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lDPYw0HZEeG8nvjGjD0Mrg" key="QualifiedNameDepth" value="1000"/>
-              </eAnnotations>
-              <children xmi:type="notation:DecorationNode" xmi:id="_lDPYxEHZEeG8nvjGjD0Mrg" type="6001">
-                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_rM9wEEHZEeG8nvjGjD0Mrg" width="125" height="15"/>
-              </children>
-              <children xmi:type="notation:DecorationNode" xmi:id="_lDPYxUHZEeG8nvjGjD0Mrg" type="6002">
-                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_lDPYxkHZEeG8nvjGjD0Mrg" y="15" width="125" height="80"/>
-              </children>
-              <element xmi:type="uml:State" href="RoboCab.uml#_lC9E4EHZEeG8nvjGjD0Mrg"/>
-              <layoutConstraint xmi:type="notation:Bounds" xmi:id="_lDOxsUHZEeG8nvjGjD0Mrg" x="125" y="186" width="125" height="95"/>
-            </children>
-            <children xmi:type="notation:Shape" xmi:id="_thleEEHZEeG8nvjGjD0Mrg" type="6000" fontName="Ubuntu" lineColor="0">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_thleEkHZEeG8nvjGjD0Mrg" source="ShadowFigure">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_thmFIEHZEeG8nvjGjD0Mrg" key="ShadowFigure_Value" value="false"/>
-              </eAnnotations>
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_thmFIUHZEeG8nvjGjD0Mrg" source="displayNameLabelIcon">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_thmFIkHZEeG8nvjGjD0Mrg" key="displayNameLabelIcon_value" value="false"/>
-              </eAnnotations>
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_thmFI0HZEeG8nvjGjD0Mrg" source="QualifiedName">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_thmFJEHZEeG8nvjGjD0Mrg" key="QualifiedNameDepth" value="1000"/>
-              </eAnnotations>
-              <children xmi:type="notation:DecorationNode" xmi:id="_thmFJUHZEeG8nvjGjD0Mrg" type="6001">
-                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_vfZ1oEHZEeG8nvjGjD0Mrg" width="151" height="15"/>
-              </children>
-              <children xmi:type="notation:DecorationNode" xmi:id="_thmFJkHZEeG8nvjGjD0Mrg" type="6002">
-                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_thmFJ0HZEeG8nvjGjD0Mrg" y="15" width="151" height="81"/>
-              </children>
-              <element xmi:type="uml:State" href="RoboCab.uml#_thXboEHZEeG8nvjGjD0Mrg"/>
-              <layoutConstraint xmi:type="notation:Bounds" xmi:id="_thleEUHZEeG8nvjGjD0Mrg" x="470" y="196" width="151" height="96"/>
-            </children>
-            <children xmi:type="notation:Shape" xmi:id="_tpNmoG6oEeGqrd__B0yUNA" type="8000" fontHeight="8" lineColor="0">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_tpNmom6oEeGqrd__B0yUNA" source="ShadowFigure">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tpNmo26oEeGqrd__B0yUNA" key="ShadowFigure_Value" value="false"/>
-              </eAnnotations>
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_tpNmpG6oEeGqrd__B0yUNA" source="displayNameLabelIcon">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tpNmpW6oEeGqrd__B0yUNA" key="displayNameLabelIcon_value" value="false"/>
-              </eAnnotations>
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_tpNmpm6oEeGqrd__B0yUNA" source="QualifiedName">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tpNmp26oEeGqrd__B0yUNA" key="QualifiedNameDepth" value="1000"/>
-              </eAnnotations>
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_tpghkG6oEeGqrd__B0yUNA" source="Stereotype_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tpghkW6oEeGqrd__B0yUNA" key="StereotypeWithQualifiedNameList" value=""/>
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tpghkm6oEeGqrd__B0yUNA" key="StereotypeList" value=""/>
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tpghk26oEeGqrd__B0yUNA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tpghlG6oEeGqrd__B0yUNA" key="PropStereoDisplay" value=""/>
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tpghlW6oEeGqrd__B0yUNA" key="StereotypePropertyLocation" value="Compartment"/>
-              </eAnnotations>
-              <children xmi:type="notation:DecorationNode" xmi:id="_tpNmqG6oEeGqrd__B0yUNA" type="8001">
-                <layoutConstraint xmi:type="notation:Location" xmi:id="_tpNmqW6oEeGqrd__B0yUNA" x="25" y="3"/>
-              </children>
-              <children xmi:type="notation:DecorationNode" xmi:id="_tpNmqm6oEeGqrd__B0yUNA" type="8002">
-                <layoutConstraint xmi:type="notation:Location" xmi:id="_tpNmq26oEeGqrd__B0yUNA" x="25" y="-10"/>
-              </children>
-              <element xmi:type="uml:Pseudostate" href="RoboCab.uml#_todYsG6oEeGqrd__B0yUNA"/>
-              <layoutConstraint xmi:type="notation:Bounds" xmi:id="_tpNmoW6oEeGqrd__B0yUNA" x="170" y="376"/>
-            </children>
-            <children xmi:type="notation:Shape" xmi:id="_ub3yoG6oEeGqrd__B0yUNA" type="5000" fontHeight="8" lineColor="0">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ub3yom6oEeGqrd__B0yUNA" source="ShadowFigure">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ub3yo26oEeGqrd__B0yUNA" key="ShadowFigure_Value" value="false"/>
-              </eAnnotations>
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ub3ypG6oEeGqrd__B0yUNA" source="displayNameLabelIcon">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ub3ypW6oEeGqrd__B0yUNA" key="displayNameLabelIcon_value" value="false"/>
-              </eAnnotations>
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ub3ypm6oEeGqrd__B0yUNA" source="QualifiedName">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ub3yp26oEeGqrd__B0yUNA" key="QualifiedNameDepth" value="1000"/>
-              </eAnnotations>
-              <children xmi:type="notation:DecorationNode" xmi:id="_ub3yqG6oEeGqrd__B0yUNA" type="5001">
-                <layoutConstraint xmi:type="notation:Location" xmi:id="_ub3yqW6oEeGqrd__B0yUNA" x="-15" y="25"/>
-              </children>
-              <children xmi:type="notation:DecorationNode" xmi:id="_ub3yqm6oEeGqrd__B0yUNA" type="5002">
-                <layoutConstraint xmi:type="notation:Location" xmi:id="_ub3yq26oEeGqrd__B0yUNA" x="25" y="-10"/>
-              </children>
-              <element xmi:type="uml:FinalState" href="RoboCab.uml#_ubR8wG6oEeGqrd__B0yUNA"/>
-              <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ub3yoW6oEeGqrd__B0yUNA" x="355" y="371"/>
-            </children>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_QwFotUHZEeG8nvjGjD0Mrg"/>
-          </children>
-          <element xmi:type="uml:Region" href="RoboCab.uml#_Qv-68EHZEeG8nvjGjD0Mrg"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_QwFotkHZEeG8nvjGjD0Mrg" width="691" height="456"/>
-        </children>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_QwFot0HZEeG8nvjGjD0Mrg" y="15" width="691" height="456"/>
-      </children>
-      <element xmi:type="uml:StateMachine" href="RoboCab.uml#_P2-PUEHZEeG8nvjGjD0Mrg"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_QwFouEHZEeG8nvjGjD0Mrg" x="30" y="55" width="691" height="471"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_QwFouUHZEeG8nvjGjD0Mrg"/>
-    <element xmi:type="uml:StateMachine" href="RoboCab.uml#_P2-PUEHZEeG8nvjGjD0Mrg"/>
-    <edges xmi:type="notation:Connector" xmi:id="_3JdXQEHZEeG8nvjGjD0Mrg" type="7000" source="_lDOxsEHZEeG8nvjGjD0Mrg" target="_thleEEHZEeG8nvjGjD0Mrg" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_3J9tkEHZEeG8nvjGjD0Mrg" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_K5wTEG6qEeGqrd__B0yUNA" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_K5wTEW6qEeGqrd__B0yUNA" key="StereotypeList" value="RobotML::Transition"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_K5wTEm6qEeGqrd__B0yUNA" key="PropStereoDisplay" value="RobotML::Transition.guard"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_K5wTE26qEeGqrd__B0yUNA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_K5wTFG6qEeGqrd__B0yUNA" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_3Jd-UEHZEeG8nvjGjD0Mrg" visible="false" type="7001">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_3Jd-UUHZEeG8nvjGjD0Mrg" x="23" y="12"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_3Jd-UkHZEeG8nvjGjD0Mrg" type="7002">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_3Jd-U0HZEeG8nvjGjD0Mrg"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_3Jd-VEHZEeG8nvjGjD0Mrg" type="7003">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Hc6_0G6qEeGqrd__B0yUNA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_H_ycUG6qEeGqrd__B0yUNA" key="StereotypeWithQualifiedNameList" value="RobotML::Transition"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_H_ycUW6qEeGqrd__B0yUNA" key="StereotypeList" value="RobotML::Transition"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_H_ycUm6qEeGqrd__B0yUNA" key="PropStereoDisplay" value="RobotML::Transition.guard"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_H_ycU26qEeGqrd__B0yUNA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_H_ycVG6qEeGqrd__B0yUNA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_3Jd-VUHZEeG8nvjGjD0Mrg" x="18" y="-28"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_3JdXQUHZEeG8nvjGjD0Mrg" fontName="Ubuntu"/>
-      <element xmi:type="uml:Transition" href="RoboCab.uml#_3JM4kEHZEeG8nvjGjD0Mrg"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_3JdXQkHZEeG8nvjGjD0Mrg" points="[0, -47, -341, -58]$[0, -97, -341, -108]$[341, -97, 0, -108]$[341, -37, 0, -48]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_0Rce4G6oEeGqrd__B0yUNA" type="7000" source="_tpNmoG6oEeGqrd__B0yUNA" target="_lDOxsEHZEeG8nvjGjD0Mrg" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_0SV2wG6oEeGqrd__B0yUNA" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tS9-8G6qEeGqrd__B0yUNA" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tS9-8W6qEeGqrd__B0yUNA" key="StereotypeList" value="RobotML::Transition"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tS9-8m6qEeGqrd__B0yUNA" key="PropStereoDisplay" value="RobotML::Transition.guard"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tS9-826qEeGqrd__B0yUNA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tS9-9G6qEeGqrd__B0yUNA" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_0Rce426oEeGqrd__B0yUNA" visible="false" type="7001">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_0Rce5G6oEeGqrd__B0yUNA"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_0Rce5W6oEeGqrd__B0yUNA" type="7002">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_0Rce5m6oEeGqrd__B0yUNA"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_0Rce526oEeGqrd__B0yUNA" type="7003">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_hqv0EG6pEeGqrd__B0yUNA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pwHYsG6pEeGqrd__B0yUNA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pwHYsW6pEeGqrd__B0yUNA" key="StereotypeList" value="RobotML::Transition,RobotML::Transition"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pwHYsm6pEeGqrd__B0yUNA" key="PropStereoDisplay" value="RobotML::Transition.effect,RobotML::Transition.guard"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pwHYs26pEeGqrd__B0yUNA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pwHYtG6pEeGqrd__B0yUNA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_0Rce6G6oEeGqrd__B0yUNA" x="6" y="-9"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_0Rce4W6oEeGqrd__B0yUNA" fontHeight="8"/>
-      <element xmi:type="uml:Transition" href="RoboCab.uml#_0QZ9EG6oEeGqrd__B0yUNA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_0Rce4m6oEeGqrd__B0yUNA" points="[-3, -10, 46, 172]$[-34, -125, 15, 57]"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_0S7soG6oEeGqrd__B0yUNA" id="(0.36,0.9789473684210527)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_b0bg8G6pEeGqrd__B0yUNA" type="7000" source="_lDOxsEHZEeG8nvjGjD0Mrg" target="_lDOxsEHZEeG8nvjGjD0Mrg" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_b1eCwG6pEeGqrd__B0yUNA" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ukB-MG6qEeGqrd__B0yUNA" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ukB-MW6qEeGqrd__B0yUNA" key="StereotypeList" value="RobotML::Transition"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ukB-Mm6qEeGqrd__B0yUNA" key="PropStereoDisplay" value="RobotML::Transition.guard"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ukB-M26qEeGqrd__B0yUNA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ukB-NG6qEeGqrd__B0yUNA" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_b0bg826pEeGqrd__B0yUNA" visible="false" type="7001">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_b0bg9G6pEeGqrd__B0yUNA" x="-58" y="-35"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_b0bg9W6pEeGqrd__B0yUNA" type="7002">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_b0bg9m6pEeGqrd__B0yUNA"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_b0bg926pEeGqrd__B0yUNA" type="7003">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_b0kq4G6pEeGqrd__B0yUNA" x="-40" y="-63"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_b0bg8W6pEeGqrd__B0yUNA" fontHeight="8"/>
-      <element xmi:type="uml:Transition" href="RoboCab.uml#_bziJEG6pEeGqrd__B0yUNA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_b0bg8m6pEeGqrd__B0yUNA" points="[0, -17, -6, -39]$[0, -27, -6, -49]$[-96, -27, -102, -49]$[-96, 22, -102, 0]$[-1, 22, -7, 0]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_ej9pUG6pEeGqrd__B0yUNA" id="(0.0080,0.17894736842105263)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_b2D4oG6pEeGqrd__B0yUNA" id="(0.056,0.4105263157894737)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_RDl_IG6qEeGqrd__B0yUNA" type="7000" source="_thleEEHZEeG8nvjGjD0Mrg" target="_ub3yoG6oEeGqrd__B0yUNA" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REfXAG6qEeGqrd__B0yUNA" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_fTrusG6sEeGqrd__B0yUNA" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_fTrusW6sEeGqrd__B0yUNA" key="StereotypeList" value="RobotML::Transition"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_fTrusm6sEeGqrd__B0yUNA" key="PropStereoDisplay" value="RobotML::Transition.guard"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_fTrus26sEeGqrd__B0yUNA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_fTrutG6sEeGqrd__B0yUNA" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_RDl_I26qEeGqrd__B0yUNA" visible="false" type="7001">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_RDl_JG6qEeGqrd__B0yUNA"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_RDl_JW6qEeGqrd__B0yUNA" type="7002">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_RDl_Jm6qEeGqrd__B0yUNA"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_RDl_J26qEeGqrd__B0yUNA" type="7003">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_RDl_KG6qEeGqrd__B0yUNA" x="-13" y="30"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_RDl_IW6qEeGqrd__B0yUNA" fontHeight="8"/>
-      <element xmi:type="uml:Transition" href="RoboCab.uml#_RCtOUG6qEeGqrd__B0yUNA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_RDl_Im6qEeGqrd__B0yUNA" points="[0, 0, 170, -86]$[0, 86, 170, 0]$[-170, 86, 0, 0]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_RFFz8G6qEeGqrd__B0yUNA" id="(0.4966887417218543,1.0)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="___rq0G6sEeGqrd__B0yUNA" id="(1.0,0.35)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_iXEAIG6sEeGqrd__B0yUNA" type="7000" source="_lDOxsEHZEeG8nvjGjD0Mrg" target="_ub3yoG6oEeGqrd__B0yUNA" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_iYHJAG6sEeGqrd__B0yUNA" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FH2egG6tEeGqrd__B0yUNA" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FH2egW6tEeGqrd__B0yUNA" key="StereotypeList" value="RobotML::Transition"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FH2egm6tEeGqrd__B0yUNA" key="PropStereoDisplay" value="RobotML::Transition.guard"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FH2eg26tEeGqrd__B0yUNA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FH2ehG6tEeGqrd__B0yUNA" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_iXEAI26sEeGqrd__B0yUNA" visible="false" type="7001">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_iXEAJG6sEeGqrd__B0yUNA"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_iXEAJW6sEeGqrd__B0yUNA" type="7002">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_iXEAJm6sEeGqrd__B0yUNA"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_iXEAJ26sEeGqrd__B0yUNA" type="7003">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_iXEAKG6sEeGqrd__B0yUNA" x="-29" y="32"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_iXEAIW6sEeGqrd__B0yUNA" fontHeight="8"/>
-      <element xmi:type="uml:Transition" href="RoboCab.uml#_iWLPUG6sEeGqrd__B0yUNA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_iXEAIm6sEeGqrd__B0yUNA" points="[63, 8, -115, -140]$[178, 8, 0, -140]$[178, 138, 0, -10]"/>
-    </edges>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_v-s3YEHyEeGGXpGscpkjdg" type="CompositeStructure" name="GenerationTestModulesDiagram" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_UB1cgEH1EeGwG_JKFhyhxw" type="2073" fontName="Ubuntu" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_UB1cgkH1EeGwG_JKFhyhxw" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_UB1cg0H1EeGwG_JKFhyhxw" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_UB2DkEH1EeGwG_JKFhyhxw" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_UB2DkUH1EeGwG_JKFhyhxw" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_UB2DkkH1EeGwG_JKFhyhxw" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_UB2Dk0H1EeGwG_JKFhyhxw" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_UB2DlEH1EeGwG_JKFhyhxw" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_UB2DlUH1EeGwG_JKFhyhxw" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_UB2DlkH1EeGwG_JKFhyhxw"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_UB2Dl0H1EeGwG_JKFhyhxw"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_WDYdgEH1EeGwG_JKFhyhxw" type="3069" fontName="Ubuntu" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_WDZEkEH1EeGwG_JKFhyhxw" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_WDZEkUH1EeGwG_JKFhyhxw" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_WDZEkkH1EeGwG_JKFhyhxw" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_WDZEk0H1EeGwG_JKFhyhxw" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_WDZroEH1EeGwG_JKFhyhxw" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_WDZroUH1EeGwG_JKFhyhxw" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_WDZrokH1EeGwG_JKFhyhxw" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_WDZro0H1EeGwG_JKFhyhxw" x="25"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_WDZrpEH1EeGwG_JKFhyhxw" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_WDZrpUH1EeGwG_JKFhyhxw" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="RoboCab.uml#_mJzj8EH0EeGwG_JKFhyhxw"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_WDYdgUH1EeGwG_JKFhyhxw" x="-10" y="60"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_irmXsEH0EeGwG_JKFhyhxw"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_UB1cgUH1EeGwG_JKFhyhxw" x="15" y="20" width="538" height="314"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_hHWN4EJ8EeGaqsrav5IKYg" type="2073" fontName="Ubuntu" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_hHW08EJ8EeGaqsrav5IKYg" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_hHW08UJ8EeGaqsrav5IKYg" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_hHW08kJ8EeGaqsrav5IKYg" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_hHXcAEJ8EeGaqsrav5IKYg" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_hHXcAUJ8EeGaqsrav5IKYg" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_hHXcAkJ8EeGaqsrav5IKYg" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_hHXcA0J8EeGaqsrav5IKYg" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_hHXcBEJ8EeGaqsrav5IKYg" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_hHXcBUJ8EeGaqsrav5IKYg"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_hHXcBkJ8EeGaqsrav5IKYg"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_4R8VYEHxEeGGXpGscpkjdg"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_hHWN4UJ8EeGaqsrav5IKYg" x="580" y="20" width="556" height="316"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_v-s3YUHyEeGGXpGscpkjdg"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_ZuO_IH7LEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Model" href="RoboCab.uml#_fdzJx6k_EeCXqcRV-18f6Q"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <styles xmi:type="notation:StringValueStyle" xmi:id="_ZuO_IX7LEeSFyNbnLYDCkw" name="diagram_compatibility_version" stringValue="1.0.0"/>
-    <element xmi:type="uml:Model" href="RoboCab.uml#_fdzJx6k_EeCXqcRV-18f6Q"/>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_EKbpcEK6EeGv-54Wm4mRWQ" type="PapyrusUMLStateMachineDiagram" name="SmTestDiagram" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_EKbpcUK6EeGv-54Wm4mRWQ" type="2000" fontName="Ubuntu" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_EKbpckK6EeGv-54Wm4mRWQ" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_EKbpc0K6EeGv-54Wm4mRWQ" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_EKbpdEK6EeGv-54Wm4mRWQ" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_EKbpdUK6EeGv-54Wm4mRWQ" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_EKbpdkK6EeGv-54Wm4mRWQ" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_EKbpd0K6EeGv-54Wm4mRWQ" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_EKbpeEK6EeGv-54Wm4mRWQ" type="2001">
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_EKbpeUK6EeGv-54Wm4mRWQ" width="931" height="15"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_EKbpekK6EeGv-54Wm4mRWQ" type="2002">
-        <children xmi:type="notation:Shape" xmi:id="_EKbpe0K6EeGv-54Wm4mRWQ" type="3000" fontName="Ubuntu" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_EKbpfEK6EeGv-54Wm4mRWQ" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_EKbpfUK6EeGv-54Wm4mRWQ" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_EKbpfkK6EeGv-54Wm4mRWQ" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_EKbpf0K6EeGv-54Wm4mRWQ" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_EKbpgEK6EeGv-54Wm4mRWQ" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_EKbpgUK6EeGv-54Wm4mRWQ" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_EKbpgkK6EeGv-54Wm4mRWQ" source="RegionAnnotationKey">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_EKbpg0K6EeGv-54Wm4mRWQ" key="RegionZoneKey" value=""/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_EKbphEK6EeGv-54Wm4mRWQ" type="3002">
-            <children xmi:type="notation:Shape" xmi:id="_M9yVcEK6EeGv-54Wm4mRWQ" type="6000" fontName="Ubuntu" lineColor="0">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_M9y8gEK6EeGv-54Wm4mRWQ" source="ShadowFigure">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_M9y8gUK6EeGv-54Wm4mRWQ" key="ShadowFigure_Value" value="false"/>
-              </eAnnotations>
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_M9y8gkK6EeGv-54Wm4mRWQ" source="displayNameLabelIcon">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_M9y8g0K6EeGv-54Wm4mRWQ" key="displayNameLabelIcon_value" value="false"/>
-              </eAnnotations>
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_M9y8hEK6EeGv-54Wm4mRWQ" source="QualifiedName">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_M9y8hUK6EeGv-54Wm4mRWQ" key="QualifiedNameDepth" value="1000"/>
-              </eAnnotations>
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_M-FQYEK6EeGv-54Wm4mRWQ" source="Stereotype_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_13Le4EK8EeGv-54Wm4mRWQ" key="StereotypeWithQualifiedNameList" value=""/>
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_13Le4UK8EeGv-54Wm4mRWQ" key="StereotypeList" value="RobotML::State"/>
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_13Le4kK8EeGv-54Wm4mRWQ" key="PropStereoDisplay" value="RobotML::State.operation"/>
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_13Le40K8EeGv-54Wm4mRWQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_13Le5EK8EeGv-54Wm4mRWQ" key="StereotypePropertyLocation" value="Compartment"/>
-              </eAnnotations>
-              <children xmi:type="notation:DecorationNode" xmi:id="_M9y8hkK6EeGv-54Wm4mRWQ" type="6001">
-                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_IX0lAEK8EeGv-54Wm4mRWQ" width="191" height="73"/>
-              </children>
-              <children xmi:type="notation:DecorationNode" xmi:id="_M9y8h0K6EeGv-54Wm4mRWQ" type="6002">
-                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_M9y8iEK6EeGv-54Wm4mRWQ" y="73" width="191" height="87"/>
-              </children>
-              <element xmi:type="uml:State" href="RoboCab.uml#_M9id0EK6EeGv-54Wm4mRWQ"/>
-              <layoutConstraint xmi:type="notation:Bounds" xmi:id="_M9yVcUK6EeGv-54Wm4mRWQ" x="35" y="262" width="191" height="160"/>
-            </children>
-            <children xmi:type="notation:Shape" xmi:id="_AsIEoEK8EeGv-54Wm4mRWQ" type="6000" fontName="UnBatang" lineColor="0">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_AsIEokK8EeGv-54Wm4mRWQ" source="ShadowFigure">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_AsIrsEK8EeGv-54Wm4mRWQ" key="ShadowFigure_Value" value="false"/>
-              </eAnnotations>
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_AsIrsUK8EeGv-54Wm4mRWQ" source="displayNameLabelIcon">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_AsIrskK8EeGv-54Wm4mRWQ" key="displayNameLabelIcon_value" value="false"/>
-              </eAnnotations>
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_AsIrs0K8EeGv-54Wm4mRWQ" source="QualifiedName">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_AsIrtEK8EeGv-54Wm4mRWQ" key="QualifiedNameDepth" value="1000"/>
-              </eAnnotations>
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_AsM9IEK8EeGv-54Wm4mRWQ" source="Stereotype_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uHIC8EK8EeGv-54Wm4mRWQ" key="StereotypeWithQualifiedNameList" value=""/>
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uHIC8UK8EeGv-54Wm4mRWQ" key="StereotypeList" value="RobotML::State"/>
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uHIC8kK8EeGv-54Wm4mRWQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uHIC80K8EeGv-54Wm4mRWQ" key="PropStereoDisplay" value="RobotML::State.operation"/>
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uHIC9EK8EeGv-54Wm4mRWQ" key="StereotypePropertyLocation" value="Compartment"/>
-              </eAnnotations>
-              <children xmi:type="notation:DecorationNode" xmi:id="_AsIrtUK8EeGv-54Wm4mRWQ" type="6001">
-                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_NsoGgEK8EeGv-54Wm4mRWQ" width="196" height="73"/>
-              </children>
-              <children xmi:type="notation:DecorationNode" xmi:id="_AsIrtkK8EeGv-54Wm4mRWQ" type="6002">
-                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_AsIrt0K8EeGv-54Wm4mRWQ" y="73" width="196" height="84"/>
-              </children>
-              <element xmi:type="uml:State" href="RoboCab.uml#_Ar40EEK8EeGv-54Wm4mRWQ"/>
-              <layoutConstraint xmi:type="notation:Bounds" xmi:id="_AsIEoUK8EeGv-54Wm4mRWQ" x="295" y="17" width="196" height="157"/>
-            </children>
-            <children xmi:type="notation:Shape" xmi:id="_Pv0GQEK8EeGv-54Wm4mRWQ" type="6000" fontName="Ubuntu" lineColor="0">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Pv0GQkK8EeGv-54Wm4mRWQ" source="ShadowFigure">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Pv0GQ0K8EeGv-54Wm4mRWQ" key="ShadowFigure_Value" value="false"/>
-              </eAnnotations>
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Pv0GREK8EeGv-54Wm4mRWQ" source="displayNameLabelIcon">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Pv0GRUK8EeGv-54Wm4mRWQ" key="displayNameLabelIcon_value" value="false"/>
-              </eAnnotations>
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Pv0GRkK8EeGv-54Wm4mRWQ" source="QualifiedName">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Pv0GR0K8EeGv-54Wm4mRWQ" key="QualifiedNameDepth" value="1000"/>
-              </eAnnotations>
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Pv4-wEK8EeGv-54Wm4mRWQ" source="Stereotype_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_s3hcQEK8EeGv-54Wm4mRWQ" key="StereotypeWithQualifiedNameList" value=""/>
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_s3hcQUK8EeGv-54Wm4mRWQ" key="StereotypeList" value="RobotML::State"/>
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_s3hcQkK8EeGv-54Wm4mRWQ" key="PropStereoDisplay" value="RobotML::State.operation"/>
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_s3hcQ0K8EeGv-54Wm4mRWQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_s3hcREK8EeGv-54Wm4mRWQ" key="StereotypePropertyLocation" value="Compartment"/>
-              </eAnnotations>
-              <children xmi:type="notation:DecorationNode" xmi:id="_Pv0GSEK8EeGv-54Wm4mRWQ" type="6001">
-                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_kYurAEK8EeGv-54Wm4mRWQ" width="191" height="73"/>
-              </children>
-              <children xmi:type="notation:DecorationNode" xmi:id="_Pv0tUEK8EeGv-54Wm4mRWQ" type="6002">
-                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Pv0tUUK8EeGv-54Wm4mRWQ" y="73" width="191" height="91"/>
-              </children>
-              <element xmi:type="uml:State" href="RoboCab.uml#_PvjnkEK8EeGv-54Wm4mRWQ"/>
-              <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Pv0GQUK8EeGv-54Wm4mRWQ" x="545" y="262" width="191" height="164"/>
-            </children>
-            <children xmi:type="notation:Shape" xmi:id="_exomkGLwEeGQvv5wJEmGUQ" type="8000" fontHeight="8" lineColor="0">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_exomkmLwEeGQvv5wJEmGUQ" source="ShadowFigure">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_exomk2LwEeGQvv5wJEmGUQ" key="ShadowFigure_Value" value="false"/>
-              </eAnnotations>
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_exomlGLwEeGQvv5wJEmGUQ" source="displayNameLabelIcon">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_exomlWLwEeGQvv5wJEmGUQ" key="displayNameLabelIcon_value" value="false"/>
-              </eAnnotations>
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_exomlmLwEeGQvv5wJEmGUQ" source="QualifiedName">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_exoml2LwEeGQvv5wJEmGUQ" key="QualifiedNameDepth" value="1000"/>
-              </eAnnotations>
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ex7hgGLwEeGQvv5wJEmGUQ" source="Stereotype_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ex7hgWLwEeGQvv5wJEmGUQ" key="StereotypeWithQualifiedNameList" value=""/>
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ex7hgmLwEeGQvv5wJEmGUQ" key="StereotypeList" value=""/>
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ex7hg2LwEeGQvv5wJEmGUQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_eyFSgGLwEeGQvv5wJEmGUQ" key="PropStereoDisplay" value=""/>
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_eyFSgWLwEeGQvv5wJEmGUQ" key="StereotypePropertyLocation" value="Compartment"/>
-              </eAnnotations>
-              <children xmi:type="notation:DecorationNode" xmi:id="_exyXkGLwEeGQvv5wJEmGUQ" type="8001">
-                <layoutConstraint xmi:type="notation:Location" xmi:id="_exyXkWLwEeGQvv5wJEmGUQ" x="25" y="3"/>
-              </children>
-              <children xmi:type="notation:DecorationNode" xmi:id="_exyXkmLwEeGQvv5wJEmGUQ" type="8002">
-                <layoutConstraint xmi:type="notation:Location" xmi:id="_exyXk2LwEeGQvv5wJEmGUQ" x="25" y="-10"/>
-              </children>
-              <element xmi:type="uml:Pseudostate" href="RoboCab.uml#_exCJoGLwEeGQvv5wJEmGUQ"/>
-              <layoutConstraint xmi:type="notation:Bounds" xmi:id="_exomkWLwEeGQvv5wJEmGUQ" x="89" y="114"/>
-            </children>
-            <children xmi:type="notation:Shape" xmi:id="_g7eA4GLwEeGQvv5wJEmGUQ" type="5000" fontHeight="8" lineColor="0">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g7eA4mLwEeGQvv5wJEmGUQ" source="ShadowFigure">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g7eA42LwEeGQvv5wJEmGUQ" key="ShadowFigure_Value" value="false"/>
-              </eAnnotations>
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g7eA5GLwEeGQvv5wJEmGUQ" source="displayNameLabelIcon">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g7eA5WLwEeGQvv5wJEmGUQ" key="displayNameLabelIcon_value" value="false"/>
-              </eAnnotations>
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g7eA5mLwEeGQvv5wJEmGUQ" source="QualifiedName">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g7eA52LwEeGQvv5wJEmGUQ" key="QualifiedNameDepth" value="1000"/>
-              </eAnnotations>
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g7nx4GLwEeGQvv5wJEmGUQ" source="Stereotype_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_I_PmYGLyEeGQvv5wJEmGUQ" key="StereotypeWithQualifiedNameList" value=""/>
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_I_PmYWLyEeGQvv5wJEmGUQ" key="StereotypeList" value=""/>
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_I_PmYmLyEeGQvv5wJEmGUQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_I_PmY2LyEeGQvv5wJEmGUQ" key="PropStereoDisplay" value=""/>
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_I_PmZGLyEeGQvv5wJEmGUQ" key="StereotypePropertyLocation" value="Compartment"/>
-              </eAnnotations>
-              <children xmi:type="notation:DecorationNode" xmi:id="_g7eA6GLwEeGQvv5wJEmGUQ" type="5001">
-                <layoutConstraint xmi:type="notation:Location" xmi:id="_g7eA6WLwEeGQvv5wJEmGUQ" x="25" y="3"/>
-              </children>
-              <children xmi:type="notation:DecorationNode" xmi:id="_g7eA6mLwEeGQvv5wJEmGUQ" type="5002">
-                <layoutConstraint xmi:type="notation:Location" xmi:id="_g7eA62LwEeGQvv5wJEmGUQ" x="25" y="-10"/>
-              </children>
-              <element xmi:type="uml:FinalState" href="RoboCab.uml#_g7UP4GLwEeGQvv5wJEmGUQ"/>
-              <layoutConstraint xmi:type="notation:Bounds" xmi:id="_g7eA4WLwEeGQvv5wJEmGUQ" x="661" y="116"/>
-            </children>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_EKbphUK6EeGv-54Wm4mRWQ"/>
-          </children>
-          <element xmi:type="uml:Region" href="RoboCab.uml#_EKPcMEK6EeGv-54Wm4mRWQ"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_EKbphkK6EeGv-54Wm4mRWQ" width="931" height="466"/>
-        </children>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_EKbph0K6EeGv-54Wm4mRWQ" y="15" width="931" height="466"/>
-      </children>
-      <element xmi:type="uml:StateMachine" href="RoboCab.uml#_De5ZIEK6EeGv-54Wm4mRWQ"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_EKbpiEK6EeGv-54Wm4mRWQ" x="30" y="30" width="931" height="481"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_EKbpiUK6EeGv-54Wm4mRWQ"/>
-    <element xmi:type="uml:StateMachine" href="RoboCab.uml#_De5ZIEK6EeGv-54Wm4mRWQ"/>
-    <edges xmi:type="notation:Connector" xmi:id="_4nylUEK8EeGv-54Wm4mRWQ" type="7000" source="_M9yVcEK6EeGv-54Wm4mRWQ" target="_AsIEoEK8EeGv-54Wm4mRWQ" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_4pQk8EK8EeGv-54Wm4mRWQ" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4pRMAEK8EeGv-54Wm4mRWQ" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4pRMAUK8EeGv-54Wm4mRWQ" key="StereotypeList" value="RobotML::Transition"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4pRMAkK8EeGv-54Wm4mRWQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4pRMA0K8EeGv-54Wm4mRWQ" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4pRMBEK8EeGv-54Wm4mRWQ" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_4nzMYEK8EeGv-54Wm4mRWQ" type="7001">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_0j4OgEK9EeGv-54Wm4mRWQ" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_0kJ7UEK9EeGv-54Wm4mRWQ" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_0kJ7UUK9EeGv-54Wm4mRWQ" key="StereotypeList" value="RobotML::Transition"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_0kJ7UkK9EeGv-54Wm4mRWQ" key="PropStereoDisplay" value="RobotML::Transition.guard"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_0kJ7U0K9EeGv-54Wm4mRWQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_0kJ7VEK9EeGv-54Wm4mRWQ" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_4nzMYUK8EeGv-54Wm4mRWQ" x="9" y="-33"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_4nzMYkK8EeGv-54Wm4mRWQ" type="7002">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_4nzMY0K8EeGv-54Wm4mRWQ"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_4nzMZEK8EeGv-54Wm4mRWQ" type="7003">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_4nzMZUK8EeGv-54Wm4mRWQ" x="-5" y="-35"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_4nylUUK8EeGv-54Wm4mRWQ" fontName="Ubuntu"/>
-      <element xmi:type="uml:Transition" href="RoboCab.uml#_4nd1MEK8EeGv-54Wm4mRWQ"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_4nylUkK8EeGv-54Wm4mRWQ" points="[10, -20, -167, 234]$[79, -255, -98, -1]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_4pq0oEK8EeGv-54Wm4mRWQ" id="(0.9476439790575916,0.554140127388535)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_6CXs8EK8EeGv-54Wm4mRWQ" type="7000" source="_AsIEoEK8EeGv-54Wm4mRWQ" target="_M9yVcEK6EeGv-54Wm4mRWQ" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6CpZwEK8EeGv-54Wm4mRWQ" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6CpZwUK8EeGv-54Wm4mRWQ" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6CpZwkK8EeGv-54Wm4mRWQ" key="StereotypeList" value="RobotML::Transition"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6CpZw0K8EeGv-54Wm4mRWQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6CpZxEK8EeGv-54Wm4mRWQ" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6CpZxUK8EeGv-54Wm4mRWQ" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_6CYUAEK8EeGv-54Wm4mRWQ" type="7001">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_6CYUAUK8EeGv-54Wm4mRWQ" x="-16" y="-28"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_6CYUAkK8EeGv-54Wm4mRWQ" type="7002">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_6CYUA0K8EeGv-54Wm4mRWQ"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_6CYUBEK8EeGv-54Wm4mRWQ" type="7003">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_6CYUBUK8EeGv-54Wm4mRWQ" x="-2" y="-33"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_6CXs8UK8EeGv-54Wm4mRWQ" fontName="Ubuntu"/>
-      <element xmi:type="uml:Transition" href="RoboCab.uml#_6CGnMEK8EeGv-54Wm4mRWQ"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_6CXs8kK8EeGv-54Wm4mRWQ" points="[-10, 13, 157, -227]$[-146, 256, 21, 16]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_6DB0QEK8EeGv-54Wm4mRWQ" id="(0.39285714285714285,0.9166666666666666)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_6DB0QUK8EeGv-54Wm4mRWQ" id="(0.8900523560209425,0.8789808917197452)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_697WQEK8EeGv-54Wm4mRWQ" type="7000" source="_AsIEoEK8EeGv-54Wm4mRWQ" target="_Pv0GQEK8EeGv-54Wm4mRWQ" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6-NDEEK8EeGv-54Wm4mRWQ" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6-NDEUK8EeGv-54Wm4mRWQ" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6-NDEkK8EeGv-54Wm4mRWQ" key="StereotypeList" value="RobotML::Transition"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6-NqIEK8EeGv-54Wm4mRWQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6-NqIUK8EeGv-54Wm4mRWQ" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6-NqIkK8EeGv-54Wm4mRWQ" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_6979UEK8EeGv-54Wm4mRWQ" type="7001">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_YzyywEK9EeGv-54Wm4mRWQ" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_aiskkEK9EeGv-54Wm4mRWQ" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_aiskkUK9EeGv-54Wm4mRWQ" key="StereotypeList" value="RobotML::Transition"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_aiskkkK9EeGv-54Wm4mRWQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_aiskk0K9EeGv-54Wm4mRWQ" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_aisklEK9EeGv-54Wm4mRWQ" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_6979UUK8EeGv-54Wm4mRWQ" x="-6" y="-45"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_6979UkK8EeGv-54Wm4mRWQ" visible="false" type="7002">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_6979U0K8EeGv-54Wm4mRWQ"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_6979VEK8EeGv-54Wm4mRWQ" type="7003">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_6979VUK8EeGv-54Wm4mRWQ" x="1" y="-42"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_697WQUK8EeGv-54Wm4mRWQ" fontName="Ubuntu"/>
-      <element xmi:type="uml:Transition" href="RoboCab.uml#_69reoEK8EeGv-54Wm4mRWQ"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_697WQkK8EeGv-54Wm4mRWQ" points="[13, 22, -130, -203]$[119, 236, -24, 11]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_6-mEoEK8EeGv-54Wm4mRWQ" id="(0.6683673469387755,0.8589743589743589)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_6-mEoUK8EeGv-54Wm4mRWQ" id="(0.1256544502617801,0.7080745341614907)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_7i-kEEK8EeGv-54Wm4mRWQ" type="7000" source="_Pv0GQEK8EeGv-54Wm4mRWQ" target="_AsIEoEK8EeGv-54Wm4mRWQ" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7jPp0EK8EeGv-54Wm4mRWQ" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7jPp0UK8EeGv-54Wm4mRWQ" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7jQQ4EK8EeGv-54Wm4mRWQ" key="StereotypeList" value="RobotML::Transition"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7jQQ4UK8EeGv-54Wm4mRWQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7jQQ4kK8EeGv-54Wm4mRWQ" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7jQQ40K8EeGv-54Wm4mRWQ" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_7i-kE0K8EeGv-54Wm4mRWQ" type="7001">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lnK-oEK9EeGv-54Wm4mRWQ" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_l53RIEK9EeGv-54Wm4mRWQ" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_l53RIUK9EeGv-54Wm4mRWQ" key="StereotypeList" value="RobotML::Transition"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_l53RIkK9EeGv-54Wm4mRWQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_l53RI0K9EeGv-54Wm4mRWQ" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_l53RJEK9EeGv-54Wm4mRWQ" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_7i_LIEK8EeGv-54Wm4mRWQ" x="15" y="-31"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_7i_LIUK8EeGv-54Wm4mRWQ" type="7002">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_7i_LIkK8EeGv-54Wm4mRWQ"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_7i_LI0K8EeGv-54Wm4mRWQ" type="7003">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_krR-IEK9EeGv-54Wm4mRWQ" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_krhOsEK9EeGv-54Wm4mRWQ" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_krhOsUK9EeGv-54Wm4mRWQ" key="StereotypeList" value="RobotML::Transition"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_krhOskK9EeGv-54Wm4mRWQ" key="PropStereoDisplay" value="RobotML::Transition.guard"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_krhOs0K9EeGv-54Wm4mRWQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_krhOtEK9EeGv-54Wm4mRWQ" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_7i_LJEK8EeGv-54Wm4mRWQ" x="10" y="-37"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_7i-kEUK8EeGv-54Wm4mRWQ" fontName="Ubuntu"/>
-      <element xmi:type="uml:Transition" href="RoboCab.uml#_7irpIEK8EeGv-54Wm4mRWQ"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_7i-kEkK8EeGv-54Wm4mRWQ" points="[-21, -29, 133, 181]$[-152, -200, 2, 10]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_7jorYEK8EeGv-54Wm4mRWQ" id="(0.0,0.7142857142857143)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_7jorYUK8EeGv-54Wm4mRWQ" id="(0.5969387755102041,0.9358974358974359)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_tUqLIGLwEeGQvv5wJEmGUQ" type="7000" source="_exomkGLwEeGQvv5wJEmGUQ" target="_AsIEoEK8EeGv-54Wm4mRWQ" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_tVG3EGLwEeGQvv5wJEmGUQ" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tVG3EWLwEeGQvv5wJEmGUQ" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tVG3EmLwEeGQvv5wJEmGUQ" key="StereotypeList" value="RobotML::Transition"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tVG3E2LwEeGQvv5wJEmGUQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tVG3FGLwEeGQvv5wJEmGUQ" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tVG3FWLwEeGQvv5wJEmGUQ" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_tUqLI2LwEeGQvv5wJEmGUQ" type="7001">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_tUqLJGLwEeGQvv5wJEmGUQ"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_tUqLJWLwEeGQvv5wJEmGUQ" type="7002">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_tUqLJmLwEeGQvv5wJEmGUQ"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_tUqLJ2LwEeGQvv5wJEmGUQ" type="7003">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_tUqLKGLwEeGQvv5wJEmGUQ" y="60"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_tUqLIWLwEeGQvv5wJEmGUQ" fontHeight="8"/>
-      <element xmi:type="uml:Transition" href="RoboCab.uml#_tUNfMGLwEeGQvv5wJEmGUQ"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_tUqLImLwEeGQvv5wJEmGUQ" points="[10, -3, -203, 49]$[196, -51, -17, 1]"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_tVjjAGLwEeGQvv5wJEmGUQ" id="(0.08673469387755102,0.5555555555555556)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_uRAeoGLwEeGQvv5wJEmGUQ" type="7000" source="_AsIEoEK8EeGv-54Wm4mRWQ" target="_g7eA4GLwEeGQvv5wJEmGUQ" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_uRdKkGLwEeGQvv5wJEmGUQ" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uRdKkWLwEeGQvv5wJEmGUQ" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uRdKkmLwEeGQvv5wJEmGUQ" key="StereotypeList" value="RobotML::Transition"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uRdKk2LwEeGQvv5wJEmGUQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uRdKlGLwEeGQvv5wJEmGUQ" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uRdKlWLwEeGQvv5wJEmGUQ" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_uRAeo2LwEeGQvv5wJEmGUQ" visible="false" type="7001">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_uRAepGLwEeGQvv5wJEmGUQ"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_uRAepWLwEeGQvv5wJEmGUQ" type="7002">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_uRAepmLwEeGQvv5wJEmGUQ"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_uRAep2LwEeGQvv5wJEmGUQ" type="7003">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_uRAeqGLwEeGQvv5wJEmGUQ" x="22" y="23"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_uRAeoWLwEeGQvv5wJEmGUQ" fontHeight="8"/>
-      <element xmi:type="uml:Transition" href="RoboCab.uml#_uQtjsGLwEeGQvv5wJEmGUQ"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_uRAeomLwEeGQvv5wJEmGUQ" points="[17, 4, -187, -44]$[207, 47, 3, -1]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_uRm7kGLwEeGQvv5wJEmGUQ" id="(0.9132653061224489,0.4)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_uRm7kWLwEeGQvv5wJEmGUQ" id="(0.85,0.45)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_vPJh4GLwEeGQvv5wJEmGUQ" type="7000" source="_Pv0GQEK8EeGv-54Wm4mRWQ" target="_g7eA4GLwEeGQvv5wJEmGUQ" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_vPmN0GLwEeGQvv5wJEmGUQ" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vPmN0WLwEeGQvv5wJEmGUQ" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vPmN0mLwEeGQvv5wJEmGUQ" key="StereotypeList" value="RobotML::Transition"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vPmN02LwEeGQvv5wJEmGUQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vPmN1GLwEeGQvv5wJEmGUQ" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vPmN1WLwEeGQvv5wJEmGUQ" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_vPJh42LwEeGQvv5wJEmGUQ" visible="false" type="7001">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_vPJh5GLwEeGQvv5wJEmGUQ" x="9" y="35"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_vPJh5WLwEeGQvv5wJEmGUQ" type="7002">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_vPJh5mLwEeGQvv5wJEmGUQ"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_vPJh52LwEeGQvv5wJEmGUQ" type="7003">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_vPJh6GLwEeGQvv5wJEmGUQ" y="60"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_vPJh4WLwEeGQvv5wJEmGUQ" fontHeight="8"/>
-      <element xmi:type="uml:Transition" href="RoboCab.uml#_vO1_4GLwEeGQvv5wJEmGUQ"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_vPJh4mLwEeGQvv5wJEmGUQ" points="[3, -14, -27, 136]$[35, -140, 5, 10]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_vP5IwGLwEeGQvv5wJEmGUQ" id="(0.5026178010471204,0.1320754716981132)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_yPE2sGLwEeGQvv5wJEmGUQ" type="7000" source="_M9yVcEK6EeGv-54Wm4mRWQ" target="_g7eA4GLwEeGQvv5wJEmGUQ" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_yPhioGLwEeGQvv5wJEmGUQ" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_yPhioWLwEeGQvv5wJEmGUQ" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_yPhiomLwEeGQvv5wJEmGUQ" key="StereotypeList" value="RobotML::Transition"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_yPhio2LwEeGQvv5wJEmGUQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_yPhipGLwEeGQvv5wJEmGUQ" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_yPhipWLwEeGQvv5wJEmGUQ" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_yPE2s2LwEeGQvv5wJEmGUQ" visible="false" type="7001">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_yPE2tGLwEeGQvv5wJEmGUQ"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_yPE2tWLwEeGQvv5wJEmGUQ" visible="false" type="7002">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_yPE2tmLwEeGQvv5wJEmGUQ"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_yPE2t2LwEeGQvv5wJEmGUQ" type="7003">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_yPE2uGLwEeGQvv5wJEmGUQ" x="142" y="-16"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_yPE2sWLwEeGQvv5wJEmGUQ" fontHeight="8"/>
-      <element xmi:type="uml:Transition" href="RoboCab.uml#_yOoKwGLwEeGQvv5wJEmGUQ"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_yPE2smLwEeGQvv5wJEmGUQ" points="[39, -19, -445, 209]$[481, -218, -3, 10]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_yPqskGLwEeGQvv5wJEmGUQ" id="(0.7958115183246073,0.9019607843137255)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_1YPAAGLwEeGQvv5wJEmGUQ" type="7000" source="_exomkGLwEeGQvv5wJEmGUQ" target="_M9yVcEK6EeGv-54Wm4mRWQ" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_1Yrr8GLwEeGQvv5wJEmGUQ" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_1Yrr8WLwEeGQvv5wJEmGUQ" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_1Yrr8mLwEeGQvv5wJEmGUQ" key="StereotypeList" value="RobotML::Transition"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_1Yrr82LwEeGQvv5wJEmGUQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_1Yrr9GLwEeGQvv5wJEmGUQ" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_1Yrr9WLwEeGQvv5wJEmGUQ" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_1YPAA2LwEeGQvv5wJEmGUQ" visible="false" type="7001">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_1YPABGLwEeGQvv5wJEmGUQ"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_1YPABWLwEeGQvv5wJEmGUQ" type="7002">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_1YPABmLwEeGQvv5wJEmGUQ"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_1YPAB2LwEeGQvv5wJEmGUQ" type="7003">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_1YPACGLwEeGQvv5wJEmGUQ" x="-1" y="30"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_1YPAAWLwEeGQvv5wJEmGUQ" fontHeight="8"/>
-      <element xmi:type="uml:Transition" href="RoboCab.uml#_1X8FEGLwEeGQvv5wJEmGUQ"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_1YPAAmLwEeGQvv5wJEmGUQ" points="[2, 10, -30, -137]$[32, 138, 0, -9]"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_1Y1c8GLwEeGQvv5wJEmGUQ" id="(0.5026178010471204,0.058823529411764705)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_2wmhIGLwEeGQvv5wJEmGUQ" type="7000" source="_exomkGLwEeGQvv5wJEmGUQ" target="_Pv0GQEK8EeGv-54Wm4mRWQ" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_2xDNEGLwEeGQvv5wJEmGUQ" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2xDNEWLwEeGQvv5wJEmGUQ" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2xDNEmLwEeGQvv5wJEmGUQ" key="StereotypeList" value="RobotML::Transition"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2xDNE2LwEeGQvv5wJEmGUQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2xDNFGLwEeGQvv5wJEmGUQ" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2xDNFWLwEeGQvv5wJEmGUQ" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_2wmhI2LwEeGQvv5wJEmGUQ" visible="false" type="7001">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_2wmhJGLwEeGQvv5wJEmGUQ"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_2wmhJWLwEeGQvv5wJEmGUQ" type="7002">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_2wmhJmLwEeGQvv5wJEmGUQ"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_2wmhJ2LwEeGQvv5wJEmGUQ" type="7003">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_2wmhKGLwEeGQvv5wJEmGUQ" x="-125" y="-1"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_2wmhIWLwEeGQvv5wJEmGUQ" fontHeight="8"/>
-      <element xmi:type="uml:Transition" href="RoboCab.uml#_2wTmMGLwEeGQvv5wJEmGUQ"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_2wmhImLwEeGQvv5wJEmGUQ" points="[17, 5, -451, -148]$[453, 140, -15, -13]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_2xM-EGLwEeGQvv5wJEmGUQ" id="(0.15,0.45)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_2xM-EWLwEeGQvv5wJEmGUQ" id="(0.07853403141361257,0.08917197452229299)"/>
-    </edges>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_HdXyIELAEeGFx4iVEwo0kA" type="PapyrusUMLClassDiagram" name="TestClassDiagram" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_IVMK8ELAEeGFx4iVEwo0kA" type="2008" fontName="Ubuntu" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_IVNZEELAEeGFx4iVEwo0kA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_IVNZEULAEeGFx4iVEwo0kA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_IVNZEkLAEeGFx4iVEwo0kA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_IVNZE0LAEeGFx4iVEwo0kA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_IVNZFELAEeGFx4iVEwo0kA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_IVNZFULAEeGFx4iVEwo0kA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_LP1-MELAEeGFx4iVEwo0kA" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_LQEnsELAEeGFx4iVEwo0kA" key="StereotypeWithQualifiedNameList" value="RobotML::Software"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_LQEnsULAEeGFx4iVEwo0kA" key="StereotypeList" value="RobotML::Software"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_LQEnskLAEeGFx4iVEwo0kA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_LQFOwELAEeGFx4iVEwo0kA" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_LQFOwULAEeGFx4iVEwo0kA" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_IVOAIELAEeGFx4iVEwo0kA" type="5029"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_IVOAIULAEeGFx4iVEwo0kA" type="7017">
-        <children xmi:type="notation:Shape" xmi:id="_TnY38ELAEeGFx4iVEwo0kA" type="3012" fontName="Ubuntu" lineColor="0">
-          <element xmi:type="uml:Port" href="RoboCab.uml#_mJzj8EH0EeGwG_JKFhyhxw"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_TnY38ULAEeGFx4iVEwo0kA"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_IVOAIkLAEeGFx4iVEwo0kA"/>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_IVOAI0LAEeGFx4iVEwo0kA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_IVOAJELAEeGFx4iVEwo0kA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_IVOAJULAEeGFx4iVEwo0kA"/>
-      </children>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_IVOAJkLAEeGFx4iVEwo0kA" type="7018">
-        <children xmi:type="notation:Shape" xmi:id="_M-xlMELAEeGFx4iVEwo0kA" type="3013" fontName="Ubuntu" lineColor="0">
-          <element xmi:type="uml:Operation" href="RoboCab.uml#_gDWe0EK_EeGFx4iVEwo0kA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_M-xlMULAEeGFx4iVEwo0kA"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_IVOAJ0LAEeGFx4iVEwo0kA"/>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_IVOAKELAEeGFx4iVEwo0kA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_IVOAKULAEeGFx4iVEwo0kA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_IVOAKkLAEeGFx4iVEwo0kA"/>
-      </children>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_IVOAK0LAEeGFx4iVEwo0kA" type="7019">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_IVOALELAEeGFx4iVEwo0kA"/>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_IVOALULAEeGFx4iVEwo0kA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_IVOALkLAEeGFx4iVEwo0kA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_IVOAL0LAEeGFx4iVEwo0kA"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_irmXsEH0EeGwG_JKFhyhxw"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_IVMyAELAEeGFx4iVEwo0kA" x="70" y="145" width="281" height="176"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_IvHG0ELAEeGFx4iVEwo0kA" type="2008" fontName="Ubuntu" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_IvHt4ELAEeGFx4iVEwo0kA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_IvHt4ULAEeGFx4iVEwo0kA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_IvHt4kLAEeGFx4iVEwo0kA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_IvHt40LAEeGFx4iVEwo0kA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_IvHt5ELAEeGFx4iVEwo0kA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_IvHt5ULAEeGFx4iVEwo0kA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_IvIU8ELAEeGFx4iVEwo0kA" type="5029"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_IvIU8ULAEeGFx4iVEwo0kA" type="7017">
-        <children xmi:type="notation:Shape" xmi:id="_R_qFIELAEeGFx4iVEwo0kA" type="3012" fontName="Ubuntu" lineColor="0">
-          <element xmi:type="uml:Port" href="RoboCab.uml#_FpXIwEK-EeGv-54Wm4mRWQ"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_R_qFIULAEeGFx4iVEwo0kA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_R_qFIkLAEeGFx4iVEwo0kA" type="3012" fontName="Ubuntu" lineColor="0">
-          <element xmi:type="uml:Port" href="RoboCab.uml#_TVYM0EK-EeGv-54Wm4mRWQ"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_R_qFI0LAEeGFx4iVEwo0kA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_R_qsMELAEeGFx4iVEwo0kA" type="3012" fontName="Ubuntu" lineColor="0">
-          <element xmi:type="uml:Port" href="RoboCab.uml#_aL1HQEK-EeGv-54Wm4mRWQ"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_R_qsMULAEeGFx4iVEwo0kA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_R_rTQELAEeGFx4iVEwo0kA" type="3012" fontName="Ubuntu" lineColor="0">
-          <element xmi:type="uml:Port" href="RoboCab.uml#_d9wgwEK-EeGv-54Wm4mRWQ"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_R_rTQULAEeGFx4iVEwo0kA"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_IvIU8kLAEeGFx4iVEwo0kA"/>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_IvIU80LAEeGFx4iVEwo0kA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_IvIU9ELAEeGFx4iVEwo0kA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_IvIU9ULAEeGFx4iVEwo0kA"/>
-      </children>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_IvIU9kLAEeGFx4iVEwo0kA" type="7018">
-        <children xmi:type="notation:Shape" xmi:id="_R_r6UELAEeGFx4iVEwo0kA" type="3013" fontName="Ubuntu" lineColor="0">
-          <element xmi:type="uml:Operation" href="RoboCab.uml#_LJ25sEK6EeGv-54Wm4mRWQ"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_R_r6UULAEeGFx4iVEwo0kA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_R_r6UkLAEeGFx4iVEwo0kA" type="3013" fontName="Ubuntu" lineColor="0">
-          <element xmi:type="uml:Operation" href="RoboCab.uml#_co9N0EK6EeGv-54Wm4mRWQ"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_R_r6U0LAEeGFx4iVEwo0kA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_R_shYELAEeGFx4iVEwo0kA" type="3013" fontName="Ubuntu" lineColor="0">
-          <element xmi:type="uml:Operation" href="RoboCab.uml#_lxCzsEK6EeGv-54Wm4mRWQ"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_R_shYULAEeGFx4iVEwo0kA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_R_tIcELAEeGFx4iVEwo0kA" type="3013" fontName="Ubuntu" lineColor="0">
-          <element xmi:type="uml:Operation" href="RoboCab.uml#_sD-KUEK6EeGv-54Wm4mRWQ"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_R_tIcULAEeGFx4iVEwo0kA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_R_tIckLAEeGFx4iVEwo0kA" type="3013" fontName="Ubuntu" lineColor="0">
-          <element xmi:type="uml:Operation" href="RoboCab.uml#_rnfNMEK7EeGv-54Wm4mRWQ"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_R_tIc0LAEeGFx4iVEwo0kA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_R_tvgELAEeGFx4iVEwo0kA" type="3013" fontName="Ubuntu" lineColor="0">
-          <element xmi:type="uml:Operation" href="RoboCab.uml#_zsmTIEK7EeGv-54Wm4mRWQ"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_R_tvgULAEeGFx4iVEwo0kA"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_IvIU90LAEeGFx4iVEwo0kA"/>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_IvIU-ELAEeGFx4iVEwo0kA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_IvIU-ULAEeGFx4iVEwo0kA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_IvIU-kLAEeGFx4iVEwo0kA"/>
-      </children>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_IvIU-0LAEeGFx4iVEwo0kA" type="7019">
-        <children xmi:type="notation:Shape" xmi:id="_R_uWkELAEeGFx4iVEwo0kA" type="3014" fontName="Ubuntu" lineColor="0">
-          <element xmi:type="uml:StateMachine" href="RoboCab.uml#_De5ZIEK6EeGv-54Wm4mRWQ"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_R_uWkULAEeGFx4iVEwo0kA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_R_uWkkLAEeGFx4iVEwo0kA" type="3014" fontName="Ubuntu" lineColor="0">
-          <element xmi:type="uml:OpaqueBehavior" href="RoboCab.uml#_6qJJgEK6EeGv-54Wm4mRWQ"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_R_uWk0LAEeGFx4iVEwo0kA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_R_u9oELAEeGFx4iVEwo0kA" type="3014" fontName="Ubuntu" lineColor="0">
-          <element xmi:type="uml:OpaqueBehavior" href="RoboCab.uml#_MJ8oQEK7EeGv-54Wm4mRWQ"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_R_u9oULAEeGFx4iVEwo0kA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_R_vksELAEeGFx4iVEwo0kA" type="3014" fontName="Ubuntu" lineColor="0">
-          <element xmi:type="uml:OpaqueBehavior" href="RoboCab.uml#_M-5TQEK7EeGv-54Wm4mRWQ"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_R_vksULAEeGFx4iVEwo0kA"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_IvIU_ELAEeGFx4iVEwo0kA"/>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_IvIU_ULAEeGFx4iVEwo0kA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_IvIU_kLAEeGFx4iVEwo0kA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_IvIU_0LAEeGFx4iVEwo0kA"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_4R8VYEHxEeGGXpGscpkjdg"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_IvHG0ULAEeGFx4iVEwo0kA" x="390" y="145" width="371" height="336"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_HdXyIULAEeGFx4iVEwo0kA"/>
-    <element xmi:type="uml:Model" href="RoboCab.uml#_fdzJx6k_EeCXqcRV-18f6Q"/>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_zyLisGbWEeGGNuX1IHg1zg" type="CompositeStructure" name="TargetPlatformsDiagram" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_v876AGbXEeGjxc8c7ZBkPQ" type="2073" fontHeight="8" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_v9FrAGbXEeGjxc8c7ZBkPQ" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_v9FrAWbXEeGjxc8c7ZBkPQ" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_v9FrAmbXEeGjxc8c7ZBkPQ" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_v9FrA2bXEeGjxc8c7ZBkPQ" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_v9FrBGbXEeGjxc8c7ZBkPQ" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_v9FrBWbXEeGjxc8c7ZBkPQ" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_wCS7IGbXEeGjxc8c7ZBkPQ" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_5EdfMGbXEeGjxc8c7ZBkPQ" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_5EdfMWbXEeGjxc8c7ZBkPQ" key="StereotypeList" value="RobotML::Platform"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_5EdfMmbXEeGjxc8c7ZBkPQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_5EdfM2bXEeGjxc8c7ZBkPQ" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_5EdfNGbXEeGjxc8c7ZBkPQ" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_v9FrBmbXEeGjxc8c7ZBkPQ" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_v9FrB2bXEeGjxc8c7ZBkPQ" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_v9FrCGbXEeGjxc8c7ZBkPQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_v9FrCWbXEeGjxc8c7ZBkPQ"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_v8CiIGbXEeGjxc8c7ZBkPQ"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_v876AWbXEeGjxc8c7ZBkPQ" x="129" y="72" width="172"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_OlEEcGbZEeGTV_735pzUXQ" type="2073" fontHeight="8" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_OlEEcmbZEeGTV_735pzUXQ" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OlEEc2bZEeGTV_735pzUXQ" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_OlEEdGbZEeGTV_735pzUXQ" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OlEEdWbZEeGTV_735pzUXQ" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_OlEEdmbZEeGTV_735pzUXQ" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OlEEd2bZEeGTV_735pzUXQ" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_bPizAGbZEeGTV_735pzUXQ" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DH5QgyG4EeKBc8qhxlvO_Q" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DH5QhCG4EeKBc8qhxlvO_Q" key="StereotypeList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DH5QhSG4EeKBc8qhxlvO_Q" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DH5QhiG4EeKBc8qhxlvO_Q" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DH5QhyG4EeKBc8qhxlvO_Q" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_OlEEeGbZEeGTV_735pzUXQ" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_OlEEeWbZEeGTV_735pzUXQ" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_OlEEembZEeGTV_735pzUXQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_OlEEe2bZEeGTV_735pzUXQ"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_Oj3xoGbZEeGTV_735pzUXQ"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_OlEEcWbZEeGTV_735pzUXQ" x="155" y="190"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_jdQbUGbZEeGTV_735pzUXQ" type="2073" fontHeight="8" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_jdQbUmbZEeGTV_735pzUXQ" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jdQbU2bZEeGTV_735pzUXQ" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_jdQbVGbZEeGTV_735pzUXQ" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jdQbVWbZEeGTV_735pzUXQ" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_jdQbVmbZEeGTV_735pzUXQ" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jdQbV2bZEeGTV_735pzUXQ" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_jdjWQGbZEeGTV_735pzUXQ" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jdjWQWbZEeGTV_735pzUXQ" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jdjWQmbZEeGTV_735pzUXQ" key="StereotypeList" value="RobotML::RoboticMiddleware"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jdjWQ2bZEeGTV_735pzUXQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jdjWRGbZEeGTV_735pzUXQ" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jdjWRWbZEeGTV_735pzUXQ" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_jdQbWGbZEeGTV_735pzUXQ" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_jdQbWWbZEeGTV_735pzUXQ" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_jdQbWmbZEeGTV_735pzUXQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_jdQbW2bZEeGTV_735pzUXQ"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_jcp-YGbZEeGTV_735pzUXQ"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_jdQbUWbZEeGTV_735pzUXQ" x="160" y="300"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_zyLisWbWEeGGNuX1IHg1zg"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_ktGgcH7LEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Package" href="RoboCab.uml#_tR1bIGbWEeGGNuX1IHg1zg"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Package" href="RoboCab.uml#_tR1bIGbWEeGGNuX1IHg1zg"/>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_Cwt3MGbaEeGTV_735pzUXQ" type="CompositeStructure" name="PlatformArchitectureDiagram" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_DVXcYGbaEeGTV_735pzUXQ" type="2073" fontHeight="8" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_DVhNYGbaEeGTV_735pzUXQ" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DVhNYWbaEeGTV_735pzUXQ" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_DVhNYmbaEeGTV_735pzUXQ" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DVhNY2baEeGTV_735pzUXQ" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_DVhNZGbaEeGTV_735pzUXQ" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DVhNZWbaEeGTV_735pzUXQ" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_DVhNZmbaEeGTV_735pzUXQ" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_DVhNZ2baEeGTV_735pzUXQ" type="7073">
-        <children xmi:type="notation:Shape" xmi:id="_EmSRsGbaEeGTV_735pzUXQ" type="3070" fontHeight="8" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_EmSRsmbaEeGTV_735pzUXQ" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_EmSRs2baEeGTV_735pzUXQ" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_EmSRtGbaEeGTV_735pzUXQ" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_EmSRtWbaEeGTV_735pzUXQ" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_EmSRtmbaEeGTV_735pzUXQ" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_EmSRt2baEeGTV_735pzUXQ" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_EmSRuGbaEeGTV_735pzUXQ" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_EmSRuWbaEeGTV_735pzUXQ" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_EmSRumbaEeGTV_735pzUXQ"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_EmSRu2baEeGTV_735pzUXQ"/>
-          </children>
-          <element xmi:type="uml:Property" href="RoboCab.uml#_El_WwGbaEeGTV_735pzUXQ"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_EmSRsWbaEeGTV_735pzUXQ" x="261" y="32"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_Maq0AGbaEeGTV_735pzUXQ" type="3070" fontHeight="8" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Maq0AmbaEeGTV_735pzUXQ" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Maq0A2baEeGTV_735pzUXQ" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Maq0BGbaEeGTV_735pzUXQ" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Maq0BWbaEeGTV_735pzUXQ" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Maq0BmbaEeGTV_735pzUXQ" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Maq0B2baEeGTV_735pzUXQ" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_Maq0CGbaEeGTV_735pzUXQ" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_Maq0CWbaEeGTV_735pzUXQ" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_Maq0CmbaEeGTV_735pzUXQ"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Maq0C2baEeGTV_735pzUXQ"/>
-          </children>
-          <element xmi:type="uml:Property" href="RoboCab.uml#_MaXSAGbaEeGTV_735pzUXQ"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Maq0AWbaEeGTV_735pzUXQ" x="21" y="37"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_DVhNaGbaEeGTV_735pzUXQ"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_DVhNaWbaEeGTV_735pzUXQ"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_v8CiIGbXEeGjxc8c7ZBkPQ"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_DVXcYWbaEeGTV_735pzUXQ" x="114" y="80" width="422" height="201"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_Cwt3MWbaEeGTV_735pzUXQ"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_ktGgcX7LEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Package" href="RoboCab.uml#_tR1bIGbWEeGGNuX1IHg1zg"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Package" href="RoboCab.uml#_tR1bIGbWEeGGNuX1IHg1zg"/>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_-IQaMKENEeKLUqX9IJq2Gg" type="CompositeStructure" name="RoboCabEnvironmentDiagram" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_--MjsKENEeKLUqX9IJq2Gg" type="2073" gradient="8905185, 16777215, 0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_--WUsKENEeKLUqX9IJq2Gg" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__A4rUKENEeKLUqX9IJq2Gg" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__A4rUaENEeKLUqX9IJq2Gg" key="StereotypeList" value="RobotML::Environment"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__A4rUqENEeKLUqX9IJq2Gg" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__A4rU6ENEeKLUqX9IJq2Gg" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__A4rVKENEeKLUqX9IJq2Gg" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_--MjsqENEeKLUqX9IJq2Gg" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_--Mjs6ENEeKLUqX9IJq2Gg" type="7073">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_--MjtqENEeKLUqX9IJq2Gg" source="PapyrusCSSForceValue">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_--Mjt6ENEeKLUqX9IJq2Gg" key="showTitle" value="true"/>
-        </eAnnotations>
-        <children xmi:type="notation:Shape" xmi:id="_K94BwKEOEeKLUqX9IJq2Gg" type="3070" gradient="10265827, 16777215, 0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_aNbVIKEOEeKLUqX9IJq2Gg" source="PapyrusHyperLink_Diagram" references="_OCVFkBwAEeGa5bH_RJFzBQ">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_aNbVIaEOEeKLUqX9IJq2Gg" key="tooltip_text" value="RobocabDefaultArchitecture"/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_aNbVIqEOEeKLUqX9IJq2Gg" key="diagram_name" value="RobocabDefaultArchitecture"/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_aNbVI6EOEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_K94BwqEOEeKLUqX9IJq2Gg" type="5126">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_VaLBgKEOEeKLUqX9IJq2Gg" source="PapyrusHyperLink_Diagram" references="_OCVFkBwAEeGa5bH_RJFzBQ">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_VaLBgaEOEeKLUqX9IJq2Gg" key="tooltip_text" value="RobocabDefaultArchitecture"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_VaLBgqEOEeKLUqX9IJq2Gg" key="diagram_name" value="RobocabDefaultArchitecture"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_VaLBg6EOEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
-            </eAnnotations>
-          </children>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_K94Bw6EOEeKLUqX9IJq2Gg" type="7077">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_K-BywKEOEeKLUqX9IJq2Gg" source="PapyrusCSSForceValue">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_K-BywaEOEeKLUqX9IJq2Gg" key="showTitle" value="true"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_R0svoKEOEeKLUqX9IJq2Gg" key="visible" value="true"/>
-            </eAnnotations>
-            <styles xmi:type="notation:TitleStyle" xmi:id="_K94BxKEOEeKLUqX9IJq2Gg"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_K94BxaEOEeKLUqX9IJq2Gg"/>
-          </children>
-          <element xmi:type="uml:Property" href="RoboCab.uml#_K9lG0KEOEeKLUqX9IJq2Gg"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_K94BwaEOEeKLUqX9IJq2Gg" x="178" y="115" width="185"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_--MjtKENEeKLUqX9IJq2Gg"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_--MjtaENEeKLUqX9IJq2Gg"/>
-      </children>
-      <element xmi:type="uml:Class" href="RoboCab.uml#_-9mt0KENEeKLUqX9IJq2Gg"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_--MjsaENEeKLUqX9IJq2Gg" x="97" y="90" width="634" height="436"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_-IQaMaENEeKLUqX9IJq2Gg"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_bEBtYH7LEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Model" href="RoboCab.uml#_fdzI0ak_EeCXqcRV-18f6Q"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <styles xmi:type="notation:StringValueStyle" xmi:id="_bEBtYX7LEeSFyNbnLYDCkw" name="diagram_compatibility_version" stringValue="1.0.0"/>
-    <element xmi:type="uml:Model" href="RoboCab.uml#_fdzI0ak_EeCXqcRV-18f6Q"/>
-  </notation:Diagram>
-  <css:ModelStyleSheets xmi:id="_1O5S4MyrEeSbw_7Zqs0KhQ"/>
-</xmi:XMI>
+<?xml version="1.0" encoding="UTF-8"?>
+<xmi:XMI xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:configuration="http://www.eclipse.org/papyrus/infra/viewpoints/configuration" xmlns:css="http://www.eclipse.org/papyrus/infra/gmfdiag/css" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:notation="http://www.eclipse.org/gmf/runtime/1.0.2/notation" xmlns:style="http://www.eclipse.org/papyrus/infra/viewpoints/policy/style" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML">
+  <notation:Diagram xmi:id="_feP206k_EeCXqcRV-18f6Q" type="PapyrusUMLClassDiagram" name="DataTypesDiagram" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_feP21Kk_EeCXqcRV-18f6Q" type="2007" fontHeight="8" transparency="0" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP21ak_EeCXqcRV-18f6Q" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP21qk_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP216k_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP22Kk_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP22ak_EeCXqcRV-18f6Q" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP22qk_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_feP226k_EeCXqcRV-18f6Q" type="5026"/>
+      <children xmi:type="notation:DecorationNode" xmi:id="_feP23Kk_EeCXqcRV-18f6Q" type="7016">
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP23ak_EeCXqcRV-18f6Q"/>
+      </children>
+      <element xmi:type="ecore:EObject" href="platform:/plugin/org.eclipse.papyrus.robotml.templaterepository/resource/model.uml#_8lO84GEQEeC2Epd4sWqg4w"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP23qk_EeCXqcRV-18f6Q" x="122" y="49" width="464" height="222"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_feP236k_EeCXqcRV-18f6Q"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_kszlgH7LEeSFyNbnLYDCkw">
+      <owner xmi:type="ecore:EObject" href="platform:/plugin/org.eclipse.papyrus.robotml.templaterepository/resource/model.uml#_8lO84GEQEeC2Epd4sWqg4w"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWCvL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <element xmi:type="ecore:EObject" href="platform:/plugin/org.eclipse.papyrus.robotml.templaterepository/resource/model.uml#_8lO84GEQEeC2Epd4sWqg4w"/>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_feP24Kk_EeCXqcRV-18f6Q" type="PapyrusUMLClassDiagram" name="InterfacesDiagram" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_feP24ak_EeCXqcRV-18f6Q" type="2007" fontHeight="8" transparency="0" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP24qk_EeCXqcRV-18f6Q" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP246k_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP25Kk_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP25ak_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP25qk_EeCXqcRV-18f6Q" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP256k_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_feP26Kk_EeCXqcRV-18f6Q" type="5026"/>
+      <children xmi:type="notation:DecorationNode" xmi:id="_feP26ak_EeCXqcRV-18f6Q" type="7016">
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP26qk_EeCXqcRV-18f6Q"/>
+      </children>
+      <element xmi:type="ecore:EObject" href="platform:/plugin/org.eclipse.papyrus.robotml.templaterepository/resource/model.uml#_CDtXwGEREeC2Epd4sWqg4w"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP266k_EeCXqcRV-18f6Q" x="101" y="54" width="480" height="252"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_feP27Kk_EeCXqcRV-18f6Q"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_ks9WgH7LEeSFyNbnLYDCkw">
+      <owner xmi:type="ecore:EObject" href="platform:/plugin/org.eclipse.papyrus.robotml.templaterepository/resource/model.uml#_CDtXwGEREeC2Epd4sWqg4w"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kz9EvL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <element xmi:type="ecore:EObject" href="platform:/plugin/org.eclipse.papyrus.robotml.templaterepository/resource/model.uml#_CDtXwGEREeC2Epd4sWqg4w"/>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_feP27ak_EeCXqcRV-18f6Q" type="PapyrusUMLClassDiagram" name="InterfacesDiagram" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_feP27qk_EeCXqcRV-18f6Q" type="2007" fontHeight="8" transparency="0" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP276k_EeCXqcRV-18f6Q" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP28Kk_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP28ak_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP28qk_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP286k_EeCXqcRV-18f6Q" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP29Kk_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_feP29ak_EeCXqcRV-18f6Q" type="5026"/>
+      <children xmi:type="notation:DecorationNode" xmi:id="_feP29qk_EeCXqcRV-18f6Q" type="7016">
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP3W6k_EeCXqcRV-18f6Q"/>
+      </children>
+      <element xmi:type="uml:Model" href="RoboCab.uml#_fdzJTKk_EeCXqcRV-18f6Q"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP3XKk_EeCXqcRV-18f6Q" x="50" y="55" width="561" height="330"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_feP3Xak_EeCXqcRV-18f6Q"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_ks9WgX7LEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Model" href="RoboCab.uml#_fdzJTKk_EeCXqcRV-18f6Q"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kz9EvL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <element xmi:type="uml:Model" href="RoboCab.uml#_fdzJTKk_EeCXqcRV-18f6Q"/>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_feP3Xqk_EeCXqcRV-18f6Q" type="PapyrusUMLClassDiagram" name="DataTypesDiagram" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_feP3X6k_EeCXqcRV-18f6Q" type="2007" fontHeight="8" transparency="0" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP3YKk_EeCXqcRV-18f6Q" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP3Yak_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP3Yqk_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP3Y6k_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP3ZKk_EeCXqcRV-18f6Q" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP3Zak_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_feP3Zqk_EeCXqcRV-18f6Q" type="5026"/>
+      <children xmi:type="notation:DecorationNode" xmi:id="_feP3Z6k_EeCXqcRV-18f6Q" type="7016">
+        <children xmi:type="notation:Shape" xmi:id="_pjTWMKlgEeCYfbnxVSyZ9g" type="3027" fontHeight="8" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_pjTWMqlgEeCYfbnxVSyZ9g" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pjTWM6lgEeCYfbnxVSyZ9g" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_pjTWNKlgEeCYfbnxVSyZ9g" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pjTWNalgEeCYfbnxVSyZ9g" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_pjTWNqlgEeCYfbnxVSyZ9g" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pjTWN6lgEeCYfbnxVSyZ9g" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_pjTWOKlgEeCYfbnxVSyZ9g" type="5061"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_pjTWOalgEeCYfbnxVSyZ9g" type="7032">
+            <children xmi:type="notation:Shape" xmi:id="_rjdQEKlgEeCYfbnxVSyZ9g" type="3018" fontHeight="8" lineColor="0">
+              <element xmi:type="uml:Property" href="RoboCab.uml#_rg65cKlgEeCYfbnxVSyZ9g"/>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_rjdQEalgEeCYfbnxVSyZ9g"/>
+            </children>
+            <children xmi:type="notation:Shape" xmi:id="_YwqNgKliEeCLku4RFrI7uw" type="3018" fontHeight="8" lineColor="0">
+              <element xmi:type="uml:Property" href="RoboCab.uml#_YvxcsKliEeCLku4RFrI7uw"/>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_YwqNgaliEeCLku4RFrI7uw"/>
+            </children>
+            <styles xmi:type="notation:TitleStyle" xmi:id="_pjTWOqlgEeCYfbnxVSyZ9g"/>
+            <styles xmi:type="notation:SortingStyle" xmi:id="_pjTWO6lgEeCYfbnxVSyZ9g"/>
+            <styles xmi:type="notation:FilteringStyle" xmi:id="_pjTWPKlgEeCYfbnxVSyZ9g"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_pjTWPalgEeCYfbnxVSyZ9g"/>
+          </children>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_pjTWPqlgEeCYfbnxVSyZ9g" visible="false" type="7033">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_pjTWP6lgEeCYfbnxVSyZ9g"/>
+            <styles xmi:type="notation:SortingStyle" xmi:id="_pjTWQKlgEeCYfbnxVSyZ9g"/>
+            <styles xmi:type="notation:FilteringStyle" xmi:id="_pjTWQalgEeCYfbnxVSyZ9g"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_pjTWQqlgEeCYfbnxVSyZ9g"/>
+          </children>
+          <element xmi:type="uml:DataType" href="RoboCab.uml#_pf4OwKlgEeCYfbnxVSyZ9g"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_pjTWMalgEeCYfbnxVSyZ9g" x="40" y="34"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_01OVYKlrEeCLku4RFrI7uw" type="3027" fontHeight="8" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_01XfUKlrEeCLku4RFrI7uw" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_01XfUalrEeCLku4RFrI7uw" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_01XfUqlrEeCLku4RFrI7uw" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_01XfU6lrEeCLku4RFrI7uw" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_01XfVKlrEeCLku4RFrI7uw" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_01XfValrEeCLku4RFrI7uw" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_01XfVqlrEeCLku4RFrI7uw" type="5061"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_01XfV6lrEeCLku4RFrI7uw" type="7032">
+            <children xmi:type="notation:Shape" xmi:id="_385Q8KlrEeCLku4RFrI7uw" type="3018" fontHeight="8" lineColor="0">
+              <element xmi:type="uml:Property" href="RoboCab.uml#_36grUKlrEeCLku4RFrI7uw"/>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_385Q8alrEeCLku4RFrI7uw"/>
+            </children>
+            <children xmi:type="notation:Shape" xmi:id="_8OfB8KlrEeCLku4RFrI7uw" type="3018" fontHeight="8" lineColor="0">
+              <element xmi:type="uml:Property" href="RoboCab.uml#_8L9SYKlrEeCLku4RFrI7uw"/>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_8OfB8alrEeCLku4RFrI7uw"/>
+            </children>
+            <styles xmi:type="notation:TitleStyle" xmi:id="_01XfWKlrEeCLku4RFrI7uw"/>
+            <styles xmi:type="notation:SortingStyle" xmi:id="_01XfWalrEeCLku4RFrI7uw"/>
+            <styles xmi:type="notation:FilteringStyle" xmi:id="_01XfWqlrEeCLku4RFrI7uw"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_01XfW6lrEeCLku4RFrI7uw"/>
+          </children>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_01XfXKlrEeCLku4RFrI7uw" visible="false" type="7033">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_01XfXalrEeCLku4RFrI7uw"/>
+            <styles xmi:type="notation:SortingStyle" xmi:id="_01XfXqlrEeCLku4RFrI7uw"/>
+            <styles xmi:type="notation:FilteringStyle" xmi:id="_01XfX6lrEeCLku4RFrI7uw"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_01XfYKlrEeCLku4RFrI7uw"/>
+          </children>
+          <element xmi:type="uml:DataType" href="RoboCab.uml#_0y-5sKlrEeCLku4RFrI7uw"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_01OVYalrEeCLku4RFrI7uw" x="40" y="254"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_nBSZgKltEeCLku4RFrI7uw" type="3027" fontHeight="8" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_nBSZgqltEeCLku4RFrI7uw" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nBSZg6ltEeCLku4RFrI7uw" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_nBSZhKltEeCLku4RFrI7uw" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nBSZhaltEeCLku4RFrI7uw" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_nBSZhqltEeCLku4RFrI7uw" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nBSZh6ltEeCLku4RFrI7uw" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_nBSZiKltEeCLku4RFrI7uw" type="5061"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_nBSZialtEeCLku4RFrI7uw" type="7032">
+            <children xmi:type="notation:Shape" xmi:id="_uO7r8KltEeCLku4RFrI7uw" type="3018" fontHeight="8" lineColor="0">
+              <element xmi:type="uml:Property" href="RoboCab.uml#_uMjGUKltEeCLku4RFrI7uw"/>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_uO7r8altEeCLku4RFrI7uw"/>
+            </children>
+            <children xmi:type="notation:Shape" xmi:id="_5Elm4KltEeCLku4RFrI7uw" type="3018" fontHeight="8" lineColor="0">
+              <element xmi:type="uml:Property" href="RoboCab.uml#_5CNBQKltEeCLku4RFrI7uw"/>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_5Elm4altEeCLku4RFrI7uw"/>
+            </children>
+            <styles xmi:type="notation:TitleStyle" xmi:id="_nBSZiqltEeCLku4RFrI7uw"/>
+            <styles xmi:type="notation:SortingStyle" xmi:id="_nBSZi6ltEeCLku4RFrI7uw"/>
+            <styles xmi:type="notation:FilteringStyle" xmi:id="_nBSZjKltEeCLku4RFrI7uw"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_nBSZjaltEeCLku4RFrI7uw"/>
+          </children>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_nBSZjqltEeCLku4RFrI7uw" visible="false" type="7033">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_nBSZj6ltEeCLku4RFrI7uw"/>
+            <styles xmi:type="notation:SortingStyle" xmi:id="_nBSZkKltEeCLku4RFrI7uw"/>
+            <styles xmi:type="notation:FilteringStyle" xmi:id="_nBSZkaltEeCLku4RFrI7uw"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_nBSZkqltEeCLku4RFrI7uw"/>
+          </children>
+          <element xmi:type="uml:DataType" href="RoboCab.uml#_m-wp8KltEeCLku4RFrI7uw"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_nBSZgaltEeCLku4RFrI7uw" x="40" y="144"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_rzK14B8mEeG4gPCEznVNOA" type="3027" fontName="Ubuntu" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_rzLc8R8mEeG4gPCEznVNOA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_rzLc8h8mEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_rzLc8x8mEeG4gPCEznVNOA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_rzLc9B8mEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_rzMEAB8mEeG4gPCEznVNOA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_rzMEAR8mEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_rzMEAh8mEeG4gPCEznVNOA" type="5061"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_rzMEAx8mEeG4gPCEznVNOA" type="7032">
+            <children xmi:type="notation:Shape" xmi:id="_--6SAB8mEeG4gPCEznVNOA" type="3018" fontName="Ubuntu" lineColor="0">
+              <element xmi:type="uml:Property" href="RoboCab.uml#_9y7AAB8mEeG4gPCEznVNOA"/>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_--6SAR8mEeG4gPCEznVNOA"/>
+            </children>
+            <children xmi:type="notation:Shape" xmi:id="_ci1p8B8nEeG4gPCEznVNOA" type="3018" fontName="Ubuntu" lineColor="0">
+              <element xmi:type="uml:Property" href="RoboCab.uml#_LR0OEB8nEeG4gPCEznVNOA"/>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_ci1p8R8nEeG4gPCEznVNOA"/>
+            </children>
+            <children xmi:type="notation:Shape" xmi:id="_ci2RAB8nEeG4gPCEznVNOA" type="3018" fontName="Ubuntu" lineColor="0">
+              <element xmi:type="uml:Property" href="RoboCab.uml#_QKiQgB8nEeG4gPCEznVNOA"/>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_ci2RAR8nEeG4gPCEznVNOA"/>
+            </children>
+            <children xmi:type="notation:Shape" xmi:id="_ci2RAh8nEeG4gPCEznVNOA" type="3018" fontName="Ubuntu" lineColor="0">
+              <element xmi:type="uml:Property" href="RoboCab.uml#_V1xVAB8nEeG4gPCEznVNOA"/>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_ci2RAx8nEeG4gPCEznVNOA"/>
+            </children>
+            <styles xmi:type="notation:TitleStyle" xmi:id="_rzMEBB8mEeG4gPCEznVNOA"/>
+            <styles xmi:type="notation:SortingStyle" xmi:id="_rzMEBR8mEeG4gPCEznVNOA"/>
+            <styles xmi:type="notation:FilteringStyle" xmi:id="_rzMEBh8mEeG4gPCEznVNOA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_rzMEBx8mEeG4gPCEznVNOA"/>
+          </children>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_rzMECB8mEeG4gPCEznVNOA" visible="false" type="7033">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_rzMECR8mEeG4gPCEznVNOA"/>
+            <styles xmi:type="notation:SortingStyle" xmi:id="_rzMECh8mEeG4gPCEznVNOA"/>
+            <styles xmi:type="notation:FilteringStyle" xmi:id="_rzMECx8mEeG4gPCEznVNOA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_rzMEDB8mEeG4gPCEznVNOA"/>
+          </children>
+          <element xmi:type="uml:DataType" href="RoboCab.uml#_rye5YB8mEeG4gPCEznVNOA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_rzLc8B8mEeG4gPCEznVNOA" x="355" y="34"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_n2JKMB8nEeG4gPCEznVNOA" type="3027" fontName="Ubuntu" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_n2JxQB8nEeG4gPCEznVNOA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_n2JxQR8nEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_n2JxQh8nEeG4gPCEznVNOA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_n2JxQx8nEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_n2JxRB8nEeG4gPCEznVNOA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_n2JxRR8nEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_n2JxRh8nEeG4gPCEznVNOA" type="5061"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_n2JxRx8nEeG4gPCEznVNOA" type="7032">
+            <children xmi:type="notation:Shape" xmi:id="_FYEXAB8oEeG4gPCEznVNOA" type="3018" fontName="Ubuntu" lineColor="0">
+              <element xmi:type="uml:Property" href="RoboCab.uml#_uKPlgB8nEeG4gPCEznVNOA"/>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_FYEXAR8oEeG4gPCEznVNOA"/>
+            </children>
+            <children xmi:type="notation:Shape" xmi:id="_FYEXAh8oEeG4gPCEznVNOA" type="3018" fontName="Ubuntu" lineColor="0">
+              <element xmi:type="uml:Property" href="RoboCab.uml#_u0I3EB8nEeG4gPCEznVNOA"/>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_FYEXAx8oEeG4gPCEznVNOA"/>
+            </children>
+            <styles xmi:type="notation:TitleStyle" xmi:id="_n2JxSB8nEeG4gPCEznVNOA"/>
+            <styles xmi:type="notation:SortingStyle" xmi:id="_n2JxSR8nEeG4gPCEznVNOA"/>
+            <styles xmi:type="notation:FilteringStyle" xmi:id="_n2JxSh8nEeG4gPCEznVNOA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_n2JxSx8nEeG4gPCEznVNOA"/>
+          </children>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_n2JxTB8nEeG4gPCEznVNOA" visible="false" type="7033">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_n2JxTR8nEeG4gPCEznVNOA"/>
+            <styles xmi:type="notation:SortingStyle" xmi:id="_n2JxTh8nEeG4gPCEznVNOA"/>
+            <styles xmi:type="notation:FilteringStyle" xmi:id="_n2JxTx8nEeG4gPCEznVNOA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_n2JxUB8nEeG4gPCEznVNOA"/>
+          </children>
+          <element xmi:type="uml:DataType" href="RoboCab.uml#_n122UB8nEeG4gPCEznVNOA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_n2JKMR8nEeG4gPCEznVNOA" x="195" y="34"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_TLXRUDUtEeG5pL_fpN2DgQ" type="3027" fontName="Ubuntu" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_TLX4YDUtEeG5pL_fpN2DgQ" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_TLX4YTUtEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_TLX4YjUtEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_TLX4YzUtEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_TLYfcDUtEeG5pL_fpN2DgQ" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_TLYfcTUtEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_TLYfcjUtEeG5pL_fpN2DgQ" type="5061"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_TLYfczUtEeG5pL_fpN2DgQ" type="7032">
+            <children xmi:type="notation:Shape" xmi:id="_xUWMMDUvEeG5pL_fpN2DgQ" type="3018" fontName="Ubuntu" lineColor="0">
+              <element xmi:type="uml:Property" href="RoboCab.uml#_xUCqMDUvEeG5pL_fpN2DgQ"/>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_xUWMMTUvEeG5pL_fpN2DgQ"/>
+            </children>
+            <children xmi:type="notation:Shape" xmi:id="_KvmXMDUzEeG5pL_fpN2DgQ" type="3018" fontName="Ubuntu" lineColor="0">
+              <element xmi:type="uml:Property" href="RoboCab.uml#_Ku_6QDUzEeG5pL_fpN2DgQ"/>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_KvmXMTUzEeG5pL_fpN2DgQ"/>
+            </children>
+            <styles xmi:type="notation:TitleStyle" xmi:id="_TLYfdDUtEeG5pL_fpN2DgQ"/>
+            <styles xmi:type="notation:SortingStyle" xmi:id="_TLYfdTUtEeG5pL_fpN2DgQ"/>
+            <styles xmi:type="notation:FilteringStyle" xmi:id="_TLYfdjUtEeG5pL_fpN2DgQ"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_TLYfdzUtEeG5pL_fpN2DgQ"/>
+          </children>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_TLYfeDUtEeG5pL_fpN2DgQ" visible="false" type="7033">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_TLYfeTUtEeG5pL_fpN2DgQ"/>
+            <styles xmi:type="notation:SortingStyle" xmi:id="_TLYfejUtEeG5pL_fpN2DgQ"/>
+            <styles xmi:type="notation:FilteringStyle" xmi:id="_TLYfezUtEeG5pL_fpN2DgQ"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_TLYffDUtEeG5pL_fpN2DgQ"/>
+          </children>
+          <element xmi:type="uml:DataType" href="RoboCab.uml#_TKz3sDUtEeG5pL_fpN2DgQ"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_TLXRUTUtEeG5pL_fpN2DgQ" x="265" y="234" width="151" height="141"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_G1fZcDUwEeG5pL_fpN2DgQ" type="3027" fontName="Ubuntu" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_G1gAgDUwEeG5pL_fpN2DgQ" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_G1gAgTUwEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_G1gAgjUwEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_G1gAgzUwEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_G1gAhDUwEeG5pL_fpN2DgQ" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_G1gAhTUwEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_G1gAhjUwEeG5pL_fpN2DgQ" type="5061"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_G1gAhzUwEeG5pL_fpN2DgQ" type="7032">
+            <children xmi:type="notation:Shape" xmi:id="_K1N-YDUwEeG5pL_fpN2DgQ" type="3018" fontName="Ubuntu" lineColor="0">
+              <element xmi:type="uml:Property" href="RoboCab.uml#_K0p9sDUwEeG5pL_fpN2DgQ"/>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_K1N-YTUwEeG5pL_fpN2DgQ"/>
+            </children>
+            <children xmi:type="notation:Shape" xmi:id="_PctG4DUwEeG5pL_fpN2DgQ" type="3018" fontName="Ubuntu" lineColor="0">
+              <element xmi:type="uml:Property" href="RoboCab.uml#_PcJGMDUwEeG5pL_fpN2DgQ"/>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_PctG4TUwEeG5pL_fpN2DgQ"/>
+            </children>
+            <children xmi:type="notation:Shape" xmi:id="_YIzUUDUwEeG5pL_fpN2DgQ" type="3018" fontName="Ubuntu" lineColor="0">
+              <element xmi:type="uml:Property" href="RoboCab.uml#_YIP6sDUwEeG5pL_fpN2DgQ"/>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_YIzUUTUwEeG5pL_fpN2DgQ"/>
+            </children>
+            <styles xmi:type="notation:TitleStyle" xmi:id="_G1gAiDUwEeG5pL_fpN2DgQ"/>
+            <styles xmi:type="notation:SortingStyle" xmi:id="_G1gAiTUwEeG5pL_fpN2DgQ"/>
+            <styles xmi:type="notation:FilteringStyle" xmi:id="_G1gAijUwEeG5pL_fpN2DgQ"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_G1gAizUwEeG5pL_fpN2DgQ"/>
+          </children>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_G1gAjDUwEeG5pL_fpN2DgQ" visible="false" type="7033">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_G1gAjTUwEeG5pL_fpN2DgQ"/>
+            <styles xmi:type="notation:SortingStyle" xmi:id="_G1gAjjUwEeG5pL_fpN2DgQ"/>
+            <styles xmi:type="notation:FilteringStyle" xmi:id="_G1gAjzUwEeG5pL_fpN2DgQ"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_G1gAkDUwEeG5pL_fpN2DgQ"/>
+          </children>
+          <element xmi:type="uml:DataType" href="RoboCab.uml#_G0xAsDUwEeG5pL_fpN2DgQ"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_G1fZcTUwEeG5pL_fpN2DgQ" x="460" y="234" width="220" height="133"/>
+        </children>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP3wKk_EeCXqcRV-18f6Q"/>
+      </children>
+      <element xmi:type="uml:Model" href="RoboCab.uml#_fdzJQak_EeCXqcRV-18f6Q"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP3wak_EeCXqcRV-18f6Q" x="50" y="50" width="929" height="539"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_feP3wqk_EeCXqcRV-18f6Q"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_ks9Wgn7LEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Model" href="RoboCab.uml#_fdzJQak_EeCXqcRV-18f6Q"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWCvL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <element xmi:type="uml:Model" href="RoboCab.uml#_fdzJQak_EeCXqcRV-18f6Q"/>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_feP4Tak_EeCXqcRV-18f6Q" type="CompositeStructure" name="SensorsDiagram" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_feP4Tqk_EeCXqcRV-18f6Q" type="2073" fontHeight="8" transparency="0" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4T6k_EeCXqcRV-18f6Q" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4UKk_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4Uak_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4Uqk_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4U6k_EeCXqcRV-18f6Q" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4VKk_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4Vak_EeCXqcRV-18f6Q" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ldoY4EZyEeGo2rLT49hsRw" key="StereotypeWithQualifiedNameList" value="RobotML::LidarSystem"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ldoY4UZyEeGo2rLT49hsRw" key="StereotypeList" value="RobotML::LidarSystem"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ldoY4kZyEeGo2rLT49hsRw" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ldoY40ZyEeGo2rLT49hsRw" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ldoY5EZyEeGo2rLT49hsRw" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_feP4W6k_EeCXqcRV-18f6Q" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_feP4XKk_EeCXqcRV-18f6Q" type="7073">
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP4Xak_EeCXqcRV-18f6Q"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_feP4Xqk_EeCXqcRV-18f6Q" type="3069" fontHeight="8" transparency="0" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4X6k_EeCXqcRV-18f6Q" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4YKk_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4Yak_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4Yqk_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4Y6k_EeCXqcRV-18f6Q" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4ZKk_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4Zak_EeCXqcRV-18f6Q" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4Zqk_EeCXqcRV-18f6Q" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4Z6k_EeCXqcRV-18f6Q" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4aKk_EeCXqcRV-18f6Q" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4aak_EeCXqcRV-18f6Q" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4aqk_EeCXqcRV-18f6Q" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_feP4a6k_EeCXqcRV-18f6Q" type="5125">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4bKk_EeCXqcRV-18f6Q" source="CustomAppearance_Annotation">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4bak_EeCXqcRV-18f6Q" key="CustomAppearance_MaskValue" value="16"/>
+          </eAnnotations>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_feP4bqk_EeCXqcRV-18f6Q" x="-123"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_feP4b6k_EeCXqcRV-18f6Q" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_feP4cKk_EeCXqcRV-18f6Q" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzJY6k_EeCXqcRV-18f6Q"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP4cak_EeCXqcRV-18f6Q" x="203" y="73"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_fdzJWqk_EeCXqcRV-18f6Q"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP4cqk_EeCXqcRV-18f6Q" x="30" y="30" width="213" height="119"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_feP4c6k_EeCXqcRV-18f6Q" type="2073" fontHeight="8" transparency="0" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4dKk_EeCXqcRV-18f6Q" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4dak_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4dqk_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4d6k_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4eKk_EeCXqcRV-18f6Q" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4eak_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4eqk_EeCXqcRV-18f6Q" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nW_HMEZyEeGo2rLT49hsRw" key="StereotypeWithQualifiedNameList" value="RobotML::SensorSystem"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nW_HMUZyEeGo2rLT49hsRw" key="StereotypeList" value="RobotML::SensorSystem"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nW_HMkZyEeGo2rLT49hsRw" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nW_HM0ZyEeGo2rLT49hsRw" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nW_uQEZyEeGo2rLT49hsRw" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_feP4gKk_EeCXqcRV-18f6Q" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_feP4gak_EeCXqcRV-18f6Q" type="7073">
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP4gqk_EeCXqcRV-18f6Q"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_feP4g6k_EeCXqcRV-18f6Q" type="3069" fontHeight="8" transparency="0" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4hKk_EeCXqcRV-18f6Q" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4hak_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4hqk_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4h6k_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4iKk_EeCXqcRV-18f6Q" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4iak_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_feP4iqk_EeCXqcRV-18f6Q" type="5125">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4i6k_EeCXqcRV-18f6Q" source="CustomAppearance_Annotation">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_TUF9UKlFEeCgdMhwEBuWIg" key="CustomAppearance_MaskValue" value="24"/>
+          </eAnnotations>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_feP4jak_EeCXqcRV-18f6Q" x="-121" y="5"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_feP4jqk_EeCXqcRV-18f6Q" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_feP4j6k_EeCXqcRV-18f6Q" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzJcKk_EeCXqcRV-18f6Q"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP4kKk_EeCXqcRV-18f6Q" x="186" y="70"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_UONcMKlFEeCgdMhwEBuWIg" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_UONcMqlFEeCgdMhwEBuWIg" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_UONcM6lFEeCgdMhwEBuWIg" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_UONcNKlFEeCgdMhwEBuWIg" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_UONcNalFEeCgdMhwEBuWIg" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_UONcNqlFEeCgdMhwEBuWIg" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_UONcN6lFEeCgdMhwEBuWIg" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_UOphEKlFEeCgdMhwEBuWIg" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_URVosKlFEeCgdMhwEBuWIg" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_URVosalFEeCgdMhwEBuWIg" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_URVosqlFEeCgdMhwEBuWIg" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_URVos6lFEeCgdMhwEBuWIg" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_URVotKlFEeCgdMhwEBuWIg" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_UONcOKlFEeCgdMhwEBuWIg" type="5125">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_yye20KlFEeCniaMk5QUBRg" source="CustomAppearance_Annotation">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_yye20alFEeCniaMk5QUBRg" key="CustomAppearance_MaskValue" value="60"/>
+          </eAnnotations>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_UONcOalFEeCgdMhwEBuWIg" x="-141" y="4"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_UONcOqlFEeCgdMhwEBuWIg" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_UONcO6lFEeCgdMhwEBuWIg" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_UMascKlFEeCgdMhwEBuWIg"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_UONcMalFEeCgdMhwEBuWIg" x="186" y="111" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_nDTS4KlFEeCniaMk5QUBRg" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_nDcc0KlFEeCniaMk5QUBRg" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nDcc0alFEeCniaMk5QUBRg" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_nDcc0qlFEeCniaMk5QUBRg" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nDcc06lFEeCniaMk5QUBRg" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_nDcc1KlFEeCniaMk5QUBRg" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nDcc1alFEeCniaMk5QUBRg" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_nDvXwKlFEeCniaMk5QUBRg" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nF1CcKlFEeCniaMk5QUBRg" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nF1CcalFEeCniaMk5QUBRg" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nF1CcqlFEeCniaMk5QUBRg" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nF1Cc6lFEeCniaMk5QUBRg" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nF1CdKlFEeCniaMk5QUBRg" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_nDcc1qlFEeCniaMk5QUBRg" type="5125">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_zL9t0KlFEeCniaMk5QUBRg" source="CustomAppearance_Annotation">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_zL9t0alFEeCniaMk5QUBRg" key="CustomAppearance_MaskValue" value="60"/>
+          </eAnnotations>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_nDcc16lFEeCniaMk5QUBRg" x="-126" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_nDcc2KlFEeCniaMk5QUBRg" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_nDcc2alFEeCniaMk5QUBRg" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_nCjE8KlFEeCniaMk5QUBRg"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_nDTS4alFEeCniaMk5QUBRg" x="186" y="155" width="20" height="20"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_fdzJZ6k_EeCXqcRV-18f6Q"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP4kak_EeCXqcRV-18f6Q" x="305" y="30" width="196" height="206"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_feP4kqk_EeCXqcRV-18f6Q" type="2073" fontHeight="8" transparency="0" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4k6k_EeCXqcRV-18f6Q" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4lKk_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4lak_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4lqk_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4l6k_EeCXqcRV-18f6Q" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4mKk_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4mak_EeCXqcRV-18f6Q" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pQNSoEZyEeGo2rLT49hsRw" key="StereotypeWithQualifiedNameList" value="RobotML::GPSSystem"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pQNSoUZyEeGo2rLT49hsRw" key="StereotypeList" value="RobotML::GPSSystem"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pQNSokZyEeGo2rLT49hsRw" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pQNSo0ZyEeGo2rLT49hsRw" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pQN5sEZyEeGo2rLT49hsRw" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_feP4n6k_EeCXqcRV-18f6Q" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_feP4oKk_EeCXqcRV-18f6Q" type="7073">
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP4oak_EeCXqcRV-18f6Q"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_feP4oqk_EeCXqcRV-18f6Q" type="3069" fontHeight="8" transparency="0" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4o6k_EeCXqcRV-18f6Q" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4pKk_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4pak_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4pqk_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4p6k_EeCXqcRV-18f6Q" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4qKk_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4qak_EeCXqcRV-18f6Q" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4qqk_EeCXqcRV-18f6Q" key="StereotypeWithQualifiedNameList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4q6k_EeCXqcRV-18f6Q" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4rKk_EeCXqcRV-18f6Q" key="Stereotype_Presentation_Kind" value="TextIconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4rak_EeCXqcRV-18f6Q" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4rqk_EeCXqcRV-18f6Q" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_feP4r6k_EeCXqcRV-18f6Q" type="5125">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4sKk_EeCXqcRV-18f6Q" source="CustomAppearance_Annotation">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FmCNsKlMEeCYfbnxVSyZ9g" key="CustomAppearance_MaskValue" value="24"/>
+          </eAnnotations>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_feP4sqk_EeCXqcRV-18f6Q" x="-101" y="5"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_feP4s6k_EeCXqcRV-18f6Q" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_feP4tKk_EeCXqcRV-18f6Q" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzJfak_EeCXqcRV-18f6Q"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP4tak_EeCXqcRV-18f6Q" x="171" y="45"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_4x1icKlLEeCYfbnxVSyZ9g" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_4x1icqlLEeCYfbnxVSyZ9g" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4x1ic6lLEeCYfbnxVSyZ9g" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_4x1idKlLEeCYfbnxVSyZ9g" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4x1idalLEeCYfbnxVSyZ9g" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_4x1idqlLEeCYfbnxVSyZ9g" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4x1id6lLEeCYfbnxVSyZ9g" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_4yIdYKlLEeCYfbnxVSyZ9g" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_40OIEKlLEeCYfbnxVSyZ9g" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_40OIEalLEeCYfbnxVSyZ9g" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_40OIEqlLEeCYfbnxVSyZ9g" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_40OIE6lLEeCYfbnxVSyZ9g" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_40OIFKlLEeCYfbnxVSyZ9g" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_4x1ieKlLEeCYfbnxVSyZ9g" type="5125">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_G2WmEKlMEeCYfbnxVSyZ9g" source="CustomAppearance_Annotation">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HOgAUKlMEeCYfbnxVSyZ9g" key="CustomAppearance_MaskValue" value="28"/>
+          </eAnnotations>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_4x1iealLEeCYfbnxVSyZ9g" x="-151" y="5"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_4x1ieqlLEeCYfbnxVSyZ9g" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_4x1ie6lLEeCYfbnxVSyZ9g" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_4xF7kKlLEeCYfbnxVSyZ9g"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_4x1icalLEeCYfbnxVSyZ9g" x="171" y="90" width="20" height="20"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_fdzJdKk_EeCXqcRV-18f6Q"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP4tqk_EeCXqcRV-18f6Q" x="560" y="30" width="181" height="126"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_feP4t6k_EeCXqcRV-18f6Q" type="2073" fontHeight="8" transparency="0" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4uKk_EeCXqcRV-18f6Q" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4uak_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4uqk_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4u6k_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4vKk_EeCXqcRV-18f6Q" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4vak_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4vqk_EeCXqcRV-18f6Q" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DGs9sCG4EeKBc8qhxlvO_Q" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DGs9sSG4EeKBc8qhxlvO_Q" key="StereotypeList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DGs9siG4EeKBc8qhxlvO_Q" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DGs9syG4EeKBc8qhxlvO_Q" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DGs9tCG4EeKBc8qhxlvO_Q" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_feP4xKk_EeCXqcRV-18f6Q" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_feP4xak_EeCXqcRV-18f6Q" type="7073">
+        <children xmi:type="notation:Shape" xmi:id="_ZCICoDUoEeG5pL_fpN2DgQ" type="3070" fontName="Ubuntu" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ZCIpsDUoEeG5pL_fpN2DgQ" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ZCIpsTUoEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ZCIpsjUoEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ZCIpszUoEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ZCIptDUoEeG5pL_fpN2DgQ" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ZCIptTUoEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_ZCIptjUoEeG5pL_fpN2DgQ" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_ZCIptzUoEeG5pL_fpN2DgQ" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_ZCIpuDUoEeG5pL_fpN2DgQ"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ZCIpuTUoEeG5pL_fpN2DgQ"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_blG8wDUoEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_blG8wjUoEeG5pL_fpN2DgQ" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_blHj0DUoEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_blHj0TUoEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_blHj0jUoEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_blHj0zUoEeG5pL_fpN2DgQ" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_blHj1DUoEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_blHj1TUoEeG5pL_fpN2DgQ" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_blHj1jUoEeG5pL_fpN2DgQ" x="-118"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_blHj1zUoEeG5pL_fpN2DgQ" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_blHj2DUoEeG5pL_fpN2DgQ" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_lpqYsKlAEeCYaYi0hzq5kg"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_blG8wTUoEeG5pL_fpN2DgQ" x="123" y="35"/>
+          </children>
+          <element xmi:type="uml:Property" href="RoboCab.uml#_ZBvoIDUoEeG5pL_fpN2DgQ"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ZCICoTUoEeG5pL_fpN2DgQ" x="10" y="4" width="133" height="76"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_ZpXo0DUoEeG5pL_fpN2DgQ" type="3070" fontName="Ubuntu" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ZpXo0jUoEeG5pL_fpN2DgQ" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ZpXo0zUoEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ZpXo1DUoEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ZpYP4DUoEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ZpYP4TUoEeG5pL_fpN2DgQ" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ZpYP4jUoEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_ZpYP4zUoEeG5pL_fpN2DgQ" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_ZpYP5DUoEeG5pL_fpN2DgQ" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_ZpYP5TUoEeG5pL_fpN2DgQ"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ZpYP5jUoEeG5pL_fpN2DgQ"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_sPz_gDUoEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_sPz_gjUoEeG5pL_fpN2DgQ" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sPz_gzUoEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_sPz_hDUoEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sPz_hTUoEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_sPz_hjUoEeG5pL_fpN2DgQ" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sPz_hzUoEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_sP0mkDUoEeG5pL_fpN2DgQ" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_sP0mkTUoEeG5pL_fpN2DgQ" x="-112" y="5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_sP0mkjUoEeG5pL_fpN2DgQ" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_sP0mkzUoEeG5pL_fpN2DgQ" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_lpqYsKlAEeCYaYi0hzq5kg"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_sPz_gTUoEeG5pL_fpN2DgQ" x="126" y="35"/>
+          </children>
+          <element xmi:type="uml:Property" href="RoboCab.uml#_Zo_1YDUoEeG5pL_fpN2DgQ"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ZpXo0TUoEeG5pL_fpN2DgQ" x="10" y="89" width="136" height="86"/>
+        </children>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP4xqk_EeCXqcRV-18f6Q"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_zFEnIDUoEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_zFFOMDUoEeG5pL_fpN2DgQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_zFFOMTUoEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_zFFOMjUoEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_zFFOMzUoEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_zFFONDUoEeG5pL_fpN2DgQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_zFF1QDUoEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_zFL74DUoEeG5pL_fpN2DgQ" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_zHwuwDUoEeG5pL_fpN2DgQ" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_zHwuwTUoEeG5pL_fpN2DgQ" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_zHwuwjUoEeG5pL_fpN2DgQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_zHwuwzUoEeG5pL_fpN2DgQ" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_zHwuxDUoEeG5pL_fpN2DgQ" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_zFF1QTUoEeG5pL_fpN2DgQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_zFF1QjUoEeG5pL_fpN2DgQ" x="-121" y="43"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_zFF1QzUoEeG5pL_fpN2DgQ" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_zFF1RDUoEeG5pL_fpN2DgQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_zEf_YDUoEeG5pL_fpN2DgQ"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_zFEnITUoEeG5pL_fpN2DgQ" x="216" y="197" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_2hmYYDUoEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_2hmYYjUoEeG5pL_fpN2DgQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2hmYYzUoEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_2hmYZDUoEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2hmYZTUoEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_2hmYZjUoEeG5pL_fpN2DgQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2hmYZzUoEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_2hqCwDUoEeG5pL_fpN2DgQ" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2kDPcDUoEeG5pL_fpN2DgQ" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2kDPcTUoEeG5pL_fpN2DgQ" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2kDPcjUoEeG5pL_fpN2DgQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2kDPczUoEeG5pL_fpN2DgQ" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2kDPdDUoEeG5pL_fpN2DgQ" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_2hm_cDUoEeG5pL_fpN2DgQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_2hm_cTUoEeG5pL_fpN2DgQ" x="-101" y="-41"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_2hm_cjUoEeG5pL_fpN2DgQ" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_2hm_czUoEeG5pL_fpN2DgQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_2hQaIDUoEeG5pL_fpN2DgQ"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_2hmYYTUoEeG5pL_fpN2DgQ" x="216" y="96" width="20" height="20"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_fdzJgak_EeCXqcRV-18f6Q"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP426k_EeCXqcRV-18f6Q" x="800" y="30" width="226" height="406"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_ejBtMKlAEeCYaYi0hzq5kg" type="2073" fontHeight="8" fillColor="8047085" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ejBtMqlAEeCYaYi0hzq5kg" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ejBtM6lAEeCYaYi0hzq5kg" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ejBtNKlAEeCYaYi0hzq5kg" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ejBtNalAEeCYaYi0hzq5kg" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ejBtNqlAEeCYaYi0hzq5kg" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ejBtN6lAEeCYaYi0hzq5kg" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ekqr8KlAEeCYaYi0hzq5kg" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_5oe-EEZxEeGo2rLT49hsRw" key="StereotypeWithQualifiedNameList" value="RobotML::CameraSystem"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_5oe-EUZxEeGo2rLT49hsRw" key="StereotypeList" value="RobotML::CameraSystem"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_5oe-EkZxEeGo2rLT49hsRw" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_5oe-E0ZxEeGo2rLT49hsRw" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_5oe-FEZxEeGo2rLT49hsRw" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_ejBtOKlAEeCYaYi0hzq5kg" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_ejBtOalAEeCYaYi0hzq5kg" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_ejBtOqlAEeCYaYi0hzq5kg"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ejBtO6lAEeCYaYi0hzq5kg"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_lrAcgKlAEeCYaYi0hzq5kg" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lrAcgqlAEeCYaYi0hzq5kg" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lrAcg6lAEeCYaYi0hzq5kg" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lrAchKlAEeCYaYi0hzq5kg" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lrAchalAEeCYaYi0hzq5kg" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lrAchqlAEeCYaYi0hzq5kg" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lrAch6lAEeCYaYi0hzq5kg" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lrAcjalAEeCYaYi0hzq5kg" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lvCA4KlAEeCYaYi0hzq5kg" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lvCA4alAEeCYaYi0hzq5kg" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lvCA4qlAEeCYaYi0hzq5kg" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lvLK0KlAEeCYaYi0hzq5kg" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lvLK0alAEeCYaYi0hzq5kg" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_lrAciKlAEeCYaYi0hzq5kg" type="5125">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_OPuBUKlBEeCYaYi0hzq5kg" source="CustomAppearance_Annotation">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OzLTsKlBEeCYaYi0hzq5kg" key="CustomAppearance_MaskValue" value="20"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7vP2QEZxEeGo2rLT49hsRw" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7vP2QUZxEeGo2rLT49hsRw" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_8PFM4EZxEeGo2rLT49hsRw" source="Stereotype_Annotation">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8s040EZxEeGo2rLT49hsRw" key="StereotypeWithQualifiedNameList" value=""/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8s1f4EZxEeGo2rLT49hsRw" key="StereotypeList" value=""/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8s1f4UZxEeGo2rLT49hsRw" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8s1f4kZxEeGo2rLT49hsRw" key="PropStereoDisplay" value=""/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8s1f40ZxEeGo2rLT49hsRw" key="StereotypePropertyLocation" value="Compartment"/>
+          </eAnnotations>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_lrAcialAEeCYaYi0hzq5kg" x="-50" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_lrAciqlAEeCYaYi0hzq5kg" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_lrAci6lAEeCYaYi0hzq5kg" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_lpqYsKlAEeCYaYi0hzq5kg"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_lrAcgalAEeCYaYi0hzq5kg" x="166" y="65" width="20" height="20"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_ef5gsKlAEeCYaYi0hzq5kg"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ejBtMalAEeCYaYi0hzq5kg" x="1085" y="30" width="176" height="116"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_5sJF8B8oEeG4gPCEznVNOA" type="2073" fontName="Ubuntu" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_5sJtAB8oEeG4gPCEznVNOA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_5sJtAR8oEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_5sJtAh8oEeG4gPCEznVNOA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_5sJtAx8oEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_5sJtBB8oEeG4gPCEznVNOA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_5sJtBR8oEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_5sSP4B8oEeG4gPCEznVNOA" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_r1Lw0EZyEeGo2rLT49hsRw" key="StereotypeWithQualifiedNameList" value="RobotML::SensorSystem"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_r1Lw0UZyEeGo2rLT49hsRw" key="StereotypeList" value="RobotML::SensorSystem"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_r1Lw0kZyEeGo2rLT49hsRw" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_r1Lw00ZyEeGo2rLT49hsRw" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_r1Lw1EZyEeGo2rLT49hsRw" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_5sJtBh8oEeG4gPCEznVNOA" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_5sJtBx8oEeG4gPCEznVNOA" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_5sJtCB8oEeG4gPCEznVNOA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_5sJtCR8oEeG4gPCEznVNOA"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_9cjcgB8oEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_9ckDkB8oEeG4gPCEznVNOA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_9ckDkR8oEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_9ckDkh8oEeG4gPCEznVNOA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_9ckDkx8oEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_9ckDlB8oEeG4gPCEznVNOA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_9ckDlR8oEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_9cnt8B8oEeG4gPCEznVNOA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_9e1UcB8oEeG4gPCEznVNOA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_9e1UcR8oEeG4gPCEznVNOA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_9e1Uch8oEeG4gPCEznVNOA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_9e17gB8oEeG4gPCEznVNOA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_9e17gR8oEeG4gPCEznVNOA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_9ckDlh8oEeG4gPCEznVNOA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_9ckDlx8oEeG4gPCEznVNOA" x="-276" y="14"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_9ckDmB8oEeG4gPCEznVNOA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_9ckDmR8oEeG4gPCEznVNOA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_9cOsYB8oEeG4gPCEznVNOA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_9cjcgR8oEeG4gPCEznVNOA" x="286" y="56" width="20" height="20"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_5rrL4B8oEeG4gPCEznVNOA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_5sJF8R8oEeG4gPCEznVNOA" x="1320" y="30" width="296" height="151"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_lIAZ4DUpEeG5pL_fpN2DgQ" type="2073" fontName="Ubuntu" fillColor="8047085" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lIBA8DUpEeG5pL_fpN2DgQ" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lIBA8TUpEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lIBA8jUpEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lIBA8zUpEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lIBA9DUpEeG5pL_fpN2DgQ" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lIBA9TUpEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lIFSYDUpEeG5pL_fpN2DgQ" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DHJpoCG4EeKBc8qhxlvO_Q" key="StereotypeWithQualifiedNameList" value="RobotML::CameraSystem"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DHJpoSG4EeKBc8qhxlvO_Q" key="StereotypeList" value=",RobotML::CameraSystem"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DHJpoiG4EeKBc8qhxlvO_Q" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DHJpoyG4EeKBc8qhxlvO_Q" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DHJppCG4EeKBc8qhxlvO_Q" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_lIBA9jUpEeG5pL_fpN2DgQ" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_lIBA9zUpEeG5pL_fpN2DgQ" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_lIBA-DUpEeG5pL_fpN2DgQ"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_lIBA-TUpEeG5pL_fpN2DgQ"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_oALg4DUpEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_oAMH8DUpEeG5pL_fpN2DgQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_oAMH8TUpEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_oAMH8jUpEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_oAMH8zUpEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_oAMH9DUpEeG5pL_fpN2DgQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_oAMH9TUpEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_oAPyUDUpEeG5pL_fpN2DgQ" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_oC4PkDUpEeG5pL_fpN2DgQ" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_oC4PkTUpEeG5pL_fpN2DgQ" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_oC4PkjUpEeG5pL_fpN2DgQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_oC42oDUpEeG5pL_fpN2DgQ" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_oC42oTUpEeG5pL_fpN2DgQ" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_oAMH9jUpEeG5pL_fpN2DgQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_oAMH9zUpEeG5pL_fpN2DgQ" x="-110"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_oAMH-DUpEeG5pL_fpN2DgQ" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_oAMH-TUpEeG5pL_fpN2DgQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_n_2JsDUpEeG5pL_fpN2DgQ"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_oALg4TUpEeG5pL_fpN2DgQ" x="181" y="75" width="20" height="20"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_lHqboDUpEeG5pL_fpN2DgQ"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_lIAZ4TUpEeG5pL_fpN2DgQ" x="1680" y="30" width="191" height="121"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_yp4DcDUpEeG5pL_fpN2DgQ" type="2073" fontName="Ubuntu" fillColor="8047085" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_yp4qgDUpEeG5pL_fpN2DgQ" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_yp4qgTUpEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_yp4qgjUpEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_yp4qgzUpEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_yp4qhDUpEeG5pL_fpN2DgQ" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_yp4qhTUpEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_yp878DUpEeG5pL_fpN2DgQ" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_C2rL8EZyEeGo2rLT49hsRw" key="StereotypeWithQualifiedNameList" value="RobotML::CameraSystem"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_C2rL8UZyEeGo2rLT49hsRw" key="StereotypeList" value="RobotML::CameraSystem"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_C2rL8kZyEeGo2rLT49hsRw" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_C2rzAEZyEeGo2rLT49hsRw" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_C2rzAUZyEeGo2rLT49hsRw" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_yp4qhjUpEeG5pL_fpN2DgQ" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_yp4qhzUpEeG5pL_fpN2DgQ" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_yp4qiDUpEeG5pL_fpN2DgQ"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_yp4qiTUpEeG5pL_fpN2DgQ"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_4Jz24DUpEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_4J0d8DUpEeG5pL_fpN2DgQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4J0d8TUpEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_4J0d8jUpEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4J0d8zUpEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_4J0d9DUpEeG5pL_fpN2DgQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4J0d9TUpEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_4J3hQDUpEeG5pL_fpN2DgQ" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4McUIDUpEeG5pL_fpN2DgQ" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4McUITUpEeG5pL_fpN2DgQ" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4McUIjUpEeG5pL_fpN2DgQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4McUIzUpEeG5pL_fpN2DgQ" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4McUJDUpEeG5pL_fpN2DgQ" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_4J0d9jUpEeG5pL_fpN2DgQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_4J0d9zUpEeG5pL_fpN2DgQ" x="-116" y="2"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_4J0d-DUpEeG5pL_fpN2DgQ" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_4J0d-TUpEeG5pL_fpN2DgQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_4Jd4oDUpEeG5pL_fpN2DgQ"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_4Jz24TUpEeG5pL_fpN2DgQ" x="156" y="73" width="20" height="20"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_ypiFMDUpEeG5pL_fpN2DgQ"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_yp4DcTUpEeG5pL_fpN2DgQ" x="1930" y="30" width="166" height="121"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_feP4-6k_EeCXqcRV-18f6Q"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_Zjqt4H7LEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Model" href="RoboCab.uml#_fdzJWak_EeCXqcRV-18f6Q"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <styles xmi:type="notation:StringValueStyle" xmi:id="_Zjqt4X7LEeSFyNbnLYDCkw" name="diagram_compatibility_version" stringValue="1.0.0"/>
+    <element xmi:type="uml:Model" href="RoboCab.uml#_fdzJWak_EeCXqcRV-18f6Q"/>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_feP4_Kk_EeCXqcRV-18f6Q" type="CompositeStructure" name="ActuatorsDiagram" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_feP4_ak_EeCXqcRV-18f6Q" type="2073" fontHeight="8" transparency="0" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP4_qk_EeCXqcRV-18f6Q" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP4_6k_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP5AKk_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP5Aak_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP5Aqk_EeCXqcRV-18f6Q" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP5A6k_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP5BKk_EeCXqcRV-18f6Q" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFgq4CG4EeKBc8qhxlvO_Q" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFgq4SG4EeKBc8qhxlvO_Q" key="StereotypeList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFgq4iG4EeKBc8qhxlvO_Q" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFgq4yG4EeKBc8qhxlvO_Q" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFgq5CG4EeKBc8qhxlvO_Q" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_feP5Cqk_EeCXqcRV-18f6Q" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_feP5C6k_EeCXqcRV-18f6Q" type="7073">
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP5DKk_EeCXqcRV-18f6Q"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_wBm3YKlVEeCYfbnxVSyZ9g" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_wBm3YqlVEeCYfbnxVSyZ9g" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_wBm3Y6lVEeCYfbnxVSyZ9g" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_wBm3ZKlVEeCYfbnxVSyZ9g" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_wBm3ZalVEeCYfbnxVSyZ9g" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_wBm3ZqlVEeCYfbnxVSyZ9g" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_wBm3Z6lVEeCYfbnxVSyZ9g" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_wBwoYalVEeCYfbnxVSyZ9g" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_wGhzoKlVEeCYfbnxVSyZ9g" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_wGhzoalVEeCYfbnxVSyZ9g" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_wGhzoqlVEeCYfbnxVSyZ9g" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_wGhzo6lVEeCYfbnxVSyZ9g" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_wGhzpKlVEeCYfbnxVSyZ9g" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_wBm3aKlVEeCYfbnxVSyZ9g" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_wBm3aalVEeCYfbnxVSyZ9g" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_wBm3aqlVEeCYfbnxVSyZ9g" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_wBm3a6lVEeCYfbnxVSyZ9g" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_wAakkKlVEeCYfbnxVSyZ9g"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_wBm3YalVEeCYfbnxVSyZ9g" x="-10" y="55" width="20" height="20"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_fdzJoKk_EeCXqcRV-18f6Q"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP5Iak_EeCXqcRV-18f6Q" x="70" y="25" width="126" height="111"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_feP5Iqk_EeCXqcRV-18f6Q" type="2073" fontHeight="8" transparency="0" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP5I6k_EeCXqcRV-18f6Q" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP5JKk_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP5Jak_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP5Jqk_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP5J6k_EeCXqcRV-18f6Q" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP5KKk_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP5Kak_EeCXqcRV-18f6Q" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFp00yG4EeKBc8qhxlvO_Q" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFp01CG4EeKBc8qhxlvO_Q" key="StereotypeList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFp01SG4EeKBc8qhxlvO_Q" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFp01iG4EeKBc8qhxlvO_Q" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFp01yG4EeKBc8qhxlvO_Q" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_feP5L6k_EeCXqcRV-18f6Q" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_feP5MKk_EeCXqcRV-18f6Q" type="7073">
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP5Mak_EeCXqcRV-18f6Q"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_sinykKlWEeCYfbnxVSyZ9g" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_sinykqlWEeCYfbnxVSyZ9g" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sinyk6lWEeCYfbnxVSyZ9g" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_sinylKlWEeCYfbnxVSyZ9g" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sinylalWEeCYfbnxVSyZ9g" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_sinylqlWEeCYfbnxVSyZ9g" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sinyl6lWEeCYfbnxVSyZ9g" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_siw8galWEeCYfbnxVSyZ9g" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_snY90KlWEeCYfbnxVSyZ9g" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_snY90alWEeCYfbnxVSyZ9g" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_snY90qlWEeCYfbnxVSyZ9g" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_snY906lWEeCYfbnxVSyZ9g" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_snY91KlWEeCYfbnxVSyZ9g" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_sinymKlWEeCYfbnxVSyZ9g" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_sinymalWEeCYfbnxVSyZ9g" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_sinymqlWEeCYfbnxVSyZ9g" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_sinym6lWEeCYfbnxVSyZ9g" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_shbfwKlWEeCYfbnxVSyZ9g"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_sinykalWEeCYfbnxVSyZ9g" x="-10" y="68" width="20" height="20"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_fdzJrak_EeCXqcRV-18f6Q"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP5Rqk_EeCXqcRV-18f6Q" x="70" y="160" width="126" height="100"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_feP5R6k_EeCXqcRV-18f6Q" type="2073" fontHeight="8" transparency="0" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP5SKk_EeCXqcRV-18f6Q" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP5Sak_EeCXqcRV-18f6Q" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP5Sqk_EeCXqcRV-18f6Q" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP5S6k_EeCXqcRV-18f6Q" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP5TKk_EeCXqcRV-18f6Q" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_feP5Tak_EeCXqcRV-18f6Q" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_feP5Tqk_EeCXqcRV-18f6Q" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFzl0yG4EeKBc8qhxlvO_Q" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFzl1CG4EeKBc8qhxlvO_Q" key="StereotypeList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFzl1SG4EeKBc8qhxlvO_Q" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFzl1iG4EeKBc8qhxlvO_Q" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFzl1yG4EeKBc8qhxlvO_Q" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_feP5VKk_EeCXqcRV-18f6Q" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_feP5Vak_EeCXqcRV-18f6Q" type="7073">
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP5Vqk_EeCXqcRV-18f6Q"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_ZBSg8KlWEeCYfbnxVSyZ9g" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ZBSg8qlWEeCYfbnxVSyZ9g" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ZBSg86lWEeCYfbnxVSyZ9g" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ZBSg9KlWEeCYfbnxVSyZ9g" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ZBSg9alWEeCYfbnxVSyZ9g" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ZBSg9qlWEeCYfbnxVSyZ9g" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ZBSg96lWEeCYfbnxVSyZ9g" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ZBcR8alWEeCYfbnxVSyZ9g" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ZGWnIKlWEeCYfbnxVSyZ9g" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ZGWnIalWEeCYfbnxVSyZ9g" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ZGWnIqlWEeCYfbnxVSyZ9g" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ZGWnI6lWEeCYfbnxVSyZ9g" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ZGWnJKlWEeCYfbnxVSyZ9g" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_ZBSg-KlWEeCYfbnxVSyZ9g" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_ZBSg-alWEeCYfbnxVSyZ9g" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_ZBSg-qlWEeCYfbnxVSyZ9g" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_ZBSg-6lWEeCYfbnxVSyZ9g" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_ZAGOIKlWEeCYfbnxVSyZ9g"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ZBSg8alWEeCYfbnxVSyZ9g" x="-10" y="59" width="20" height="20"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_fdzJuqk_EeCXqcRV-18f6Q"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_feP5a6k_EeCXqcRV-18f6Q" x="75" y="280" width="126" height="100"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_KqbzEB8pEeG4gPCEznVNOA" type="2073" fontName="Ubuntu" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_KqbzEh8pEeG4gPCEznVNOA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_KqbzEx8pEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_KqbzFB8pEeG4gPCEznVNOA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_KqbzFR8pEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_KqbzFh8pEeG4gPCEznVNOA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_KqbzFx8pEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_KqgrkB8pEeG4gPCEznVNOA" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_KrtlcB8pEeG4gPCEznVNOA" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_KrtlcR8pEeG4gPCEznVNOA" key="StereotypeList" value="RobotML::ActuatorSystem"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Krtlch8pEeG4gPCEznVNOA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Krtlcx8pEeG4gPCEznVNOA" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_KrtldB8pEeG4gPCEznVNOA" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_KqcaIB8pEeG4gPCEznVNOA" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_KqcaIR8pEeG4gPCEznVNOA" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_KqcaIh8pEeG4gPCEznVNOA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_KqcaIx8pEeG4gPCEznVNOA"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_PhyjkB8pEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_PhzKoB8pEeG4gPCEznVNOA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_PhzKoR8pEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_PhzKoh8pEeG4gPCEznVNOA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_PhzKox8pEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_PhzKpB8pEeG4gPCEznVNOA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_PhzKpR8pEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Ph2N8B8pEeG4gPCEznVNOA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Pj0j4B8pEeG4gPCEznVNOA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Pj0j4R8pEeG4gPCEznVNOA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Pj0j4h8pEeG4gPCEznVNOA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Pj0j4x8pEeG4gPCEznVNOA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Pj0j5B8pEeG4gPCEznVNOA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_PhzKph8pEeG4gPCEznVNOA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_PhzKpx8pEeG4gPCEznVNOA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_PhzKqB8pEeG4gPCEznVNOA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_PhzKqR8pEeG4gPCEznVNOA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_PhiE4B8pEeG4gPCEznVNOA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_PhyjkR8pEeG4gPCEznVNOA" x="-10" y="63" width="20" height="20"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_KqA8UB8pEeG4gPCEznVNOA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_KqbzER8pEeG4gPCEznVNOA" x="375" y="141" width="221" height="115"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_feP5bKk_EeCXqcRV-18f6Q"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_ZD_IQH7LEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Model" href="RoboCab.uml#_fdzJn6k_EeCXqcRV-18f6Q"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <styles xmi:type="notation:StringValueStyle" xmi:id="_ZD_IQX7LEeSFyNbnLYDCkw" name="diagram_compatibility_version" stringValue="1.0.0"/>
+    <element xmi:type="uml:Model" href="RoboCab.uml#_fdzJn6k_EeCXqcRV-18f6Q"/>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_feP5bak_EeCXqcRV-18f6Q" type="CompositeStructure" name="NewDiagram" measurementUnit="Pixel">
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_feP5bqk_EeCXqcRV-18f6Q"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_ks9Wg37LEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Class" href="RoboCab.uml#_fdzJWqk_EeCXqcRV-18f6Q"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <element xmi:type="uml:Class" href="RoboCab.uml#_fdzJWqk_EeCXqcRV-18f6Q"/>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_feP5b6k_EeCXqcRV-18f6Q" type="CompositeStructure" name="ArchitectureDiagram" measurementUnit="Pixel">
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_feP5cKk_EeCXqcRV-18f6Q"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_ks9WhH7LEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Class" href="RoboCab.uml#_fdzJWqk_EeCXqcRV-18f6Q"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <styles xmi:type="notation:StringValueStyle" xmi:id="_jwrfYLUlEeWt77Or-22V3Q" name="diagram_compatibility_version" stringValue="1.1.0"/>
+    <element xmi:type="uml:Class" href="RoboCab.uml#_fdzJWqk_EeCXqcRV-18f6Q"/>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_OCVFkBwAEeGa5bH_RJFzBQ" type="CompositeStructure" name="RobocabDefaultArchitecture" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_ly27gBwAEeGa5bH_RJFzBQ" type="2073" fontName="Ubuntu" fontHeight="12" bold="true" fillColor="12632256" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ly3ikBwAEeGa5bH_RJFzBQ" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ly3ikRwAEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ly3ikhwAEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ly3ikxwAEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ly3ilBwAEeGa5bH_RJFzBQ" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ly3ilRwAEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_iTOXkKEOEeKLUqX9IJq2Gg" source="PapyrusHyperLink_Diagram" references="_-IQaMKENEeKLUqX9IJq2Gg">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_iTOXkaEOEeKLUqX9IJq2Gg" key="tooltip_text" value="RoboCabEnvironmentDiagram"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_iTOXkqEOEeKLUqX9IJq2Gg" key="diagram_name" value="RoboCabEnvironmentDiagram"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_iTOXk6EOEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_ly3ilhwAEeGa5bH_RJFzBQ" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_ly3ilxwAEeGa5bH_RJFzBQ" type="7073">
+        <children xmi:type="notation:Shape" xmi:id="_7f6d0BwAEeGa5bH_RJFzBQ" type="3070" fontName="Ubuntu" fontHeight="7" fillColor="8047085" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7f7E4BwAEeGa5bH_RJFzBQ" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7f7E4RwAEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7f7E4hwAEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7f7E4xwAEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7f7r8BwAEeGa5bH_RJFzBQ" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7f7r8RwAEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_qVugUKEMEeKLUqX9IJq2Gg" source="PapyrusHyperLink_Diagram" references="_A0k2UB8rEeG4gPCEznVNOA">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qVugUaEMEeKLUqX9IJq2Gg" key="tooltip_text" value="OrganizerSystemDiagram"/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qVugUqEMEeKLUqX9IJq2Gg" key="diagram_name" value="OrganizerSystemDiagram"/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qVugU6EMEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_7f7r8hwAEeGa5bH_RJFzBQ" type="5126">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_nfWJEKEMEeKLUqX9IJq2Gg" source="PapyrusHyperLink_Diagram" references="_A0k2UB8rEeG4gPCEznVNOA">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nfWJEaEMEeKLUqX9IJq2Gg" key="tooltip_text" value="OrganizerSystemDiagram"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nfWJEqEMEeKLUqX9IJq2Gg" key="diagram_name" value="OrganizerSystemDiagram"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nfWJE6EMEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
+            </eAnnotations>
+          </children>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_7f7r8xwAEeGa5bH_RJFzBQ" type="7077">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_naL8sLUlEeWt77Or-22V3Q" source="PapyrusCSSForceValue">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_naL8sbUlEeWt77Or-22V3Q" key="mutable" value="true"/>
+            </eAnnotations>
+            <styles xmi:type="notation:TitleStyle" xmi:id="_7f7r9BwAEeGa5bH_RJFzBQ"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_7f7r9RwAEeGa5bH_RJFzBQ"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_a3jYkB9CEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_a3jYkh9CEeGetOLfkLNwfg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_a3jYkx9CEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_a3j_oB9CEeGetOLfkLNwfg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_a3j_oR9CEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_a3j_oh9CEeGetOLfkLNwfg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_a3j_ox9CEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_a3j_pB9CEeGetOLfkLNwfg" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_a3j_pR9CEeGetOLfkLNwfg" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_a3j_ph9CEeGetOLfkLNwfg" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_a3j_px9CEeGetOLfkLNwfg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_tRMrYB8sEeG4gPCEznVNOA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_a3jYkR9CEeGetOLfkLNwfg" x="-10" y="323"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_a3kmsB9CEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_a3kmsh9CEeGetOLfkLNwfg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_a3kmsx9CEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_a3kmtB9CEeGetOLfkLNwfg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_a3kmtR9CEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_a3kmth9CEeGetOLfkLNwfg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_a3lNwB9CEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_a3lNwR9CEeGetOLfkLNwfg" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_a3lNwh9CEeGetOLfkLNwfg" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_a3lNwx9CEeGetOLfkLNwfg" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_a3lNxB9CEeGetOLfkLNwfg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_00caYB8sEeG4gPCEznVNOA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_a3kmsR9CEeGetOLfkLNwfg" x="-10" y="508"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_X8_ToDU1EeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_X8_TojU1EeG5pL_fpN2DgQ" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_X8_TozU1EeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_X8_TpDU1EeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_X8_6sDU1EeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_X8_6sTU1EeG5pL_fpN2DgQ" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_X8_6sjU1EeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_X8_6szU1EeG5pL_fpN2DgQ" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_X8_6tDU1EeG5pL_fpN2DgQ" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_X8_6tTU1EeG5pL_fpN2DgQ" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_X8_6tjU1EeG5pL_fpN2DgQ" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_vP_roDUrEeG5pL_fpN2DgQ"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_X8_ToTU1EeG5pL_fpN2DgQ" x="-10" y="81"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_X9AhwDU1EeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_X9AhwjU1EeG5pL_fpN2DgQ" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_X9AhwzU1EeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_X9AhxDU1EeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_X9AhxTU1EeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_X9AhxjU1EeG5pL_fpN2DgQ" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_X9AhxzU1EeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_X9AhyDU1EeG5pL_fpN2DgQ" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_X9BI0DU1EeG5pL_fpN2DgQ" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_X9BI0TU1EeG5pL_fpN2DgQ" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_X9BI0jU1EeG5pL_fpN2DgQ" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#__UwIsDUrEeG5pL_fpN2DgQ"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_X9AhwTU1EeG5pL_fpN2DgQ" x="-10" y="201"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_X9BI0zU1EeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_X9Bv4DU1EeG5pL_fpN2DgQ" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_X9Bv4TU1EeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_X9Bv4jU1EeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_X9Bv4zU1EeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_X9Bv5DU1EeG5pL_fpN2DgQ" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_X9Bv5TU1EeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_X9Bv5jU1EeG5pL_fpN2DgQ" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_X9Bv5zU1EeG5pL_fpN2DgQ" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_X9Bv6DU1EeG5pL_fpN2DgQ" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_X9Bv6TU1EeG5pL_fpN2DgQ" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#__vhZIDUrEeG5pL_fpN2DgQ"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_X9BI1DU1EeG5pL_fpN2DgQ" x="-10" y="131"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_mz-4ULUlEeWt77Or-22V3Q" type="6054">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_mz-4UbUlEeWt77Or-22V3Q" y="5"/>
+          </children>
+          <element xmi:type="uml:Property" href="RoboCab.uml#_bsDDwKlmEeCLku4RFrI7uw"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_7f6d0RwAEeGa5bH_RJFzBQ" x="986" y="138" width="454" height="568"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_D1YT8BwBEeGa5bH_RJFzBQ" type="3070" fontName="Ubuntu" fontHeight="7" fillColor="8047085" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_D1YT8hwBEeGa5bH_RJFzBQ" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_D1YT8xwBEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_D1YT9BwBEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_D1YT9RwBEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_D1Y7ABwBEeGa5bH_RJFzBQ" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_D1Y7ARwBEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_D1Y7AhwBEeGa5bH_RJFzBQ" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_D1Y7AxwBEeGa5bH_RJFzBQ" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_D1Y7BBwBEeGa5bH_RJFzBQ"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_D1Y7BRwBEeGa5bH_RJFzBQ"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_cnm3cBwBEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_cnnegBwBEeGa5bH_RJFzBQ" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_cnnegRwBEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_cnneghwBEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_cnoFkBwBEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_cnoFkRwBEeGa5bH_RJFzBQ" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_cnoFkhwBEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_cnoFkxwBEeGa5bH_RJFzBQ" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_cnoFlBwBEeGa5bH_RJFzBQ" x="51" y="5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_cnoFlRwBEeGa5bH_RJFzBQ" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_cnoFlhwBEeGa5bH_RJFzBQ" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_cPiaEKlgEeCYfbnxVSyZ9g"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_cnm3cRwBEeGa5bH_RJFzBQ" x="-10" y="42"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_mz-4UrUlEeWt77Or-22V3Q" type="6054">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_mz-4U7UlEeWt77Or-22V3Q" y="5"/>
+          </children>
+          <element xmi:type="uml:Property" href="RoboCab.uml#_BE-egKlmEeCLku4RFrI7uw"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_D1YT8RwBEeGa5bH_RJFzBQ" x="1012" y="774"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_ri8ZEBwnEeGa5bH_RJFzBQ" type="3070" fontName="Ubuntu" fontHeight="7" fillColor="10011046" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ri8ZEhwnEeGa5bH_RJFzBQ" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ri9AIBwnEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ri9AIRwnEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ri9AIhwnEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ri9AIxwnEeGa5bH_RJFzBQ" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ri9AJBwnEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_xi0OkKELEeKLUqX9IJq2Gg" source="PapyrusHyperLink_Diagram" references="_O43JEB8uEeG4gPCEznVNOA">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_xi0OkaELEeKLUqX9IJq2Gg" key="tooltip_text" value="ChallengerSpaceDiagram"/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_xi0OkqELEeKLUqX9IJq2Gg" key="diagram_name" value="ChallengerSpaceDiagram"/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_xi0Ok6ELEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_ri9AJRwnEeGa5bH_RJFzBQ" type="5126">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_uf7sYKELEeKLUqX9IJq2Gg" source="PapyrusHyperLink_Diagram" references="_O43JEB8uEeG4gPCEznVNOA">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uf7sYaELEeKLUqX9IJq2Gg" key="tooltip_text" value="ChallengerSpaceDiagram"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uf7sYqELEeKLUqX9IJq2Gg" key="diagram_name" value="ChallengerSpaceDiagram"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uf7sY6ELEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
+            </eAnnotations>
+          </children>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_ri9AJhwnEeGa5bH_RJFzBQ" type="7077">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_h9nl4KEMEeKLUqX9IJq2Gg" source="PapyrusHyperLink_Diagram" references="_O43JEB8uEeG4gPCEznVNOA">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_h9nl4aEMEeKLUqX9IJq2Gg" key="tooltip_text" value="ChallengerSpaceDiagram"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_h9nl4qEMEeKLUqX9IJq2Gg" key="diagram_name" value="ChallengerSpaceDiagram"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_h9nl46EMEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_neSZkLUlEeWt77Or-22V3Q" source="PapyrusCSSForceValue">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_neSZkbUlEeWt77Or-22V3Q" key="mutable" value="true"/>
+            </eAnnotations>
+            <styles xmi:type="notation:TitleStyle" xmi:id="_ri9AJxwnEeGa5bH_RJFzBQ"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ri9AKBwnEeGa5bH_RJFzBQ"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_uTZHcBwnEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_uTZHchwnEeGa5bH_RJFzBQ" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uTZHcxwnEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_uTZHdBwnEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uTZugBwnEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_uTZugRwnEeGa5bH_RJFzBQ" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uTZughwnEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_uTZugxwnEeGa5bH_RJFzBQ" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_uTZuhBwnEeGa5bH_RJFzBQ" x="-110" y="5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_uTZuhRwnEeGa5bH_RJFzBQ" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_uTZuhhwnEeGa5bH_RJFzBQ" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzLNqk_EeCXqcRV-18f6Q"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_uTZHcRwnEeGa5bH_RJFzBQ" x="503" y="667"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_uTaVkBwnEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_uTaVkhwnEeGa5bH_RJFzBQ" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uTaVkxwnEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_uTaVlBwnEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uTaVlRwnEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_uTa8oBwnEeGa5bH_RJFzBQ" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uTa8oRwnEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_uTa8ohwnEeGa5bH_RJFzBQ" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_uTa8oxwnEeGa5bH_RJFzBQ" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_uTa8pBwnEeGa5bH_RJFzBQ" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_uTa8pRwnEeGa5bH_RJFzBQ" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_LA8qUKlkEeCLku4RFrI7uw"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_uTaVkRwnEeGa5bH_RJFzBQ" x="-10" y="327"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_uTcKxhwnEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_uTcx0BwnEeGa5bH_RJFzBQ" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uTcx0RwnEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_uTcx0hwnEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uTcx0xwnEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_uTcx1BwnEeGa5bH_RJFzBQ" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uTcx1RwnEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_uTcx1hwnEeGa5bH_RJFzBQ" visible="false" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_uTcx1xwnEeGa5bH_RJFzBQ" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_uTcx2BwnEeGa5bH_RJFzBQ" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_uTcx2RwnEeGa5bH_RJFzBQ" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_ImFDAKlnEeCLku4RFrI7uw"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_uTcKxxwnEeGa5bH_RJFzBQ" x="503" y="327"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_MCJDgB9CEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCJqkB9CEeGetOLfkLNwfg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCJqkR9CEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCJqkh9CEeGetOLfkLNwfg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCJqkx9CEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCJqlB9CEeGetOLfkLNwfg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCJqlR9CEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_MCJqlh9CEeGetOLfkLNwfg" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_MCJqlx9CEeGetOLfkLNwfg" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_MCJqmB9CEeGetOLfkLNwfg" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_MCJqmR9CEeGetOLfkLNwfg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_egSUcB8vEeG4gPCEznVNOA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MCJDgR9CEeGetOLfkLNwfg" x="-10" y="197"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_MCKRoB9CEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCKRoh9CEeGetOLfkLNwfg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCKRox9CEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCKRpB9CEeGetOLfkLNwfg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCKRpR9CEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCKRph9CEeGetOLfkLNwfg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCKRpx9CEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_MCK4sB9CEeGetOLfkLNwfg" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_MCK4sR9CEeGetOLfkLNwfg" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_MCK4sh9CEeGetOLfkLNwfg" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_MCK4sx9CEeGetOLfkLNwfg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_FgbvMB8wEeGetOLfkLNwfg"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MCKRoR9CEeGetOLfkLNwfg" x="-10" y="69"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_MCK4tB9CEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCK4th9CEeGetOLfkLNwfg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCK4tx9CEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCK4uB9CEeGetOLfkLNwfg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCLfwB9CEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCLfwR9CEeGetOLfkLNwfg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCLfwh9CEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_MCLfwx9CEeGetOLfkLNwfg" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_MCLfxB9CEeGetOLfkLNwfg" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_MCLfxR9CEeGetOLfkLNwfg" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_MCLfxh9CEeGetOLfkLNwfg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_NkEOcB8wEeGetOLfkLNwfg"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MCK4tR9CEeGetOLfkLNwfg" x="-10" y="297"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_MCLfxx9CEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCMG0B9CEeGetOLfkLNwfg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCMG0R9CEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCMG0h9CEeGetOLfkLNwfg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCMG0x9CEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCMG1B9CEeGetOLfkLNwfg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCMG1R9CEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_MCMG1h9CEeGetOLfkLNwfg" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_MCMG1x9CEeGetOLfkLNwfg" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_MCMG2B9CEeGetOLfkLNwfg" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_MCMG2R9CEeGetOLfkLNwfg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_WZjocB8wEeGetOLfkLNwfg"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MCLfyB9CEeGetOLfkLNwfg" x="-11" y="406" width="20" height="20"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_MCMG2h9CEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCMt4B9CEeGetOLfkLNwfg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCMt4R9CEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCMt4h9CEeGetOLfkLNwfg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCMt4x9CEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCMt5B9CEeGetOLfkLNwfg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCMt5R9CEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_MCMt5h9CEeGetOLfkLNwfg" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_MCMt5x9CEeGetOLfkLNwfg" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_MCMt6B9CEeGetOLfkLNwfg" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_MCMt6R9CEeGetOLfkLNwfg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_x9oBcB8wEeGetOLfkLNwfg"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MCMG2x9CEeGetOLfkLNwfg" x="-10" y="552"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_MCNU8B9CEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCNU8h9CEeGetOLfkLNwfg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCNU8x9CEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCNU9B9CEeGetOLfkLNwfg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCNU9R9CEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCNU9h9CEeGetOLfkLNwfg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCNU9x9CEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_MCNU-B9CEeGetOLfkLNwfg" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_MCNU-R9CEeGetOLfkLNwfg" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_MCNU-h9CEeGetOLfkLNwfg" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_MCNU-x9CEeGetOLfkLNwfg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_WC5TkB8-EeGetOLfkLNwfg"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MCNU8R9CEeGetOLfkLNwfg" x="-10" y="652"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_MCN8AB9CEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCN8Ah9CEeGetOLfkLNwfg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCN8Ax9CEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCN8BB9CEeGetOLfkLNwfg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCN8BR9CEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MCN8Bh9CEeGetOLfkLNwfg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MCOjEB9CEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_MCOjER9CEeGetOLfkLNwfg" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_MCOjEh9CEeGetOLfkLNwfg" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_MCOjEx9CEeGetOLfkLNwfg" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_MCOjFB9CEeGetOLfkLNwfg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_a8AXkB8-EeGetOLfkLNwfg"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MCN8AR9CEeGetOLfkLNwfg" x="-10" y="777"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_6fSfgDU0EeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6fTGkDU0EeG5pL_fpN2DgQ" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6fTGkTU0EeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6fTGkjU0EeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6fTGkzU0EeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6fTGlDU0EeG5pL_fpN2DgQ" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6fTtoDU0EeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_6fTtoTU0EeG5pL_fpN2DgQ" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_6fTtojU0EeG5pL_fpN2DgQ" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_6fTtozU0EeG5pL_fpN2DgQ" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_6fTtpDU0EeG5pL_fpN2DgQ" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_qPrSwDUzEeG5pL_fpN2DgQ"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_6fSfgTU0EeG5pL_fpN2DgQ" x="-10" y="455"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_6fTtpTU0EeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6fUUsDU0EeG5pL_fpN2DgQ" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6fUUsTU0EeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6fUUsjU0EeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6fUUszU0EeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6fUUtDU0EeG5pL_fpN2DgQ" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6fUUtTU0EeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_6fUUtjU0EeG5pL_fpN2DgQ" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_6fUUtzU0EeG5pL_fpN2DgQ" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_6fUUuDU0EeG5pL_fpN2DgQ" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_6fUUuTU0EeG5pL_fpN2DgQ" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_0-eXwDUzEeG5pL_fpN2DgQ"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_6fTtpjU0EeG5pL_fpN2DgQ" x="-10" y="1"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_6fU7wDU0EeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6fU7wjU0EeG5pL_fpN2DgQ" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6fU7wzU0EeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6fU7xDU0EeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6fU7xTU0EeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6fU7xjU0EeG5pL_fpN2DgQ" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6fU7xzU0EeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_6fU7yDU0EeG5pL_fpN2DgQ" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_6fU7yTU0EeG5pL_fpN2DgQ" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_6fVi0DU0EeG5pL_fpN2DgQ" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_6fVi0TU0EeG5pL_fpN2DgQ" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_2izRQDUzEeG5pL_fpN2DgQ"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_6fU7wTU0EeG5pL_fpN2DgQ" x="-10" y="25"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_6fVi0jU0EeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6fVi1DU0EeG5pL_fpN2DgQ" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6fWJ4DU0EeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6fWJ4TU0EeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6fWJ4jU0EeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6fWJ4zU0EeG5pL_fpN2DgQ" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6fWJ5DU0EeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_6fWJ5TU0EeG5pL_fpN2DgQ" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_6fWJ5jU0EeG5pL_fpN2DgQ" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_6fWJ5zU0EeG5pL_fpN2DgQ" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_6fWJ6DU0EeG5pL_fpN2DgQ" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_3wKcQDUzEeG5pL_fpN2DgQ"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_6fVi0zU0EeG5pL_fpN2DgQ" x="-10" y="45"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_mz-4VLUlEeWt77Or-22V3Q" type="6054">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_mz-4VbUlEeWt77Or-22V3Q" y="5"/>
+          </children>
+          <element xmi:type="uml:Property" href="RoboCab.uml#_kbbj0BwnEeGa5bH_RJFzBQ"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ri8ZERwnEeGa5bH_RJFzBQ" x="355" y="134" width="513" height="828"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_7QACMB8kEeG4gPCEznVNOA" type="3070" fontName="Ubuntu" fillColor="13420443" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7QApQB8kEeG4gPCEznVNOA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7QApQR8kEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7QApQh8kEeG4gPCEznVNOA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7QApQx8kEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7QBQUB8kEeG4gPCEznVNOA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7QBQUR8kEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_7QBQUh8kEeG4gPCEznVNOA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_7QBQUx8kEeG4gPCEznVNOA" type="7077">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_nftV4LUlEeWt77Or-22V3Q" source="PapyrusCSSForceValue">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_nftV4bUlEeWt77Or-22V3Q" key="mutable" value="true"/>
+            </eAnnotations>
+            <styles xmi:type="notation:TitleStyle" xmi:id="_7QBQVB8kEeG4gPCEznVNOA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_7QBQVR8kEeG4gPCEznVNOA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_TSSfEDU1EeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_TSTGIDU1EeG5pL_fpN2DgQ" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_TSTGITU1EeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_TSTGIjU1EeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_TSTGIzU1EeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_TSTGJDU1EeG5pL_fpN2DgQ" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_TSTGJTU1EeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_TSTGJjU1EeG5pL_fpN2DgQ" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_TSTGJzU1EeG5pL_fpN2DgQ" x="-103"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_TSTGKDU1EeG5pL_fpN2DgQ" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_TSTGKTU1EeG5pL_fpN2DgQ" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_zEf_YDUoEeG5pL_fpN2DgQ"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_TSSfETU1EeG5pL_fpN2DgQ" x="197" y="46"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_TSTtMDU1EeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_TSTtMjU1EeG5pL_fpN2DgQ" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_TSTtMzU1EeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_TSUUQDU1EeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_TSUUQTU1EeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_TSUUQjU1EeG5pL_fpN2DgQ" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_TSUUQzU1EeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_TSUURDU1EeG5pL_fpN2DgQ" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_TSUURTU1EeG5pL_fpN2DgQ" x="-94" y="2"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_TSUURjU1EeG5pL_fpN2DgQ" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_TSUURzU1EeG5pL_fpN2DgQ" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_2hQaIDUoEeG5pL_fpN2DgQ"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_TSTtMTU1EeG5pL_fpN2DgQ" x="197" y="77"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_mz-4VrUlEeWt77Or-22V3Q" type="6054">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_mz-4V7UlEeWt77Or-22V3Q" y="5"/>
+          </children>
+          <element xmi:type="uml:Property" href="RoboCab.uml#_7PWh8B8kEeG4gPCEznVNOA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_7QACMR8kEeG4gPCEznVNOA" x="32" y="521" width="197" height="101"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_NJ2YoB8lEeG4gPCEznVNOA" type="3070" fontName="Ubuntu" fillColor="13420443" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NJ2Yoh8lEeG4gPCEznVNOA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NJ2Yox8lEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NJ2YpB8lEeG4gPCEznVNOA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NJ2YpR8lEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NJ2Yph8lEeG4gPCEznVNOA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NJ2Ypx8lEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_NJ2YqB8lEeG4gPCEznVNOA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_NJ2YqR8lEeG4gPCEznVNOA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_NJ2Yqh8lEeG4gPCEznVNOA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_NJ2Yqx8lEeG4gPCEznVNOA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_R-9tcB8lEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_R-9tch8lEeG4gPCEznVNOA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_R-9tcx8lEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_R-9tdB8lEeG4gPCEznVNOA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_R--UgB8lEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_R--UgR8lEeG4gPCEznVNOA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_R--Ugh8lEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_R--Ugx8lEeG4gPCEznVNOA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_R--UhB8lEeG4gPCEznVNOA" x="-112" y="5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_R--UhR8lEeG4gPCEznVNOA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_R--Uhh8lEeG4gPCEznVNOA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_lpqYsKlAEeCYaYi0hzq5kg"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_R-9tcR8lEeG4gPCEznVNOA" x="186" y="54"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_mz_fYLUlEeWt77Or-22V3Q" type="6054">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_mz_fYbUlEeWt77Or-22V3Q" y="5"/>
+          </children>
+          <element xmi:type="uml:Property" href="RoboCab.uml#_NJdXEB8lEeG4gPCEznVNOA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_NJ2YoR8lEeG4gPCEznVNOA" x="33" y="636" width="196" height="96"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_OElikB8lEeG4gPCEznVNOA" type="3070" fontName="Ubuntu" fillColor="13420443" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_OElikh8lEeG4gPCEznVNOA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OElikx8lEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_OEmJoB8lEeG4gPCEznVNOA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OEmJoR8lEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_OEmJoh8lEeG4gPCEznVNOA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OEmJox8lEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ngUZ4LUlEeWt77Or-22V3Q" source="PapyrusCSSForceValue">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ngUZ4bUlEeWt77Or-22V3Q" key="mutable" value="true"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_OEmJpB8lEeG4gPCEznVNOA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_OEmJpR8lEeG4gPCEznVNOA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_OEmJph8lEeG4gPCEznVNOA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_OEmJpx8lEeG4gPCEznVNOA"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_mz_fYrUlEeWt77Or-22V3Q" type="6054">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_mz_fY7UlEeWt77Or-22V3Q" y="5"/>
+          </children>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_nHPLgLUlEeWt77Or-22V3Q" type="compartment_shape_display">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_nHPLgbUlEeWt77Or-22V3Q"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_nHPLgrUlEeWt77Or-22V3Q"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_nIkBMLUlEeWt77Or-22V3Q" type="3069">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ngUZ4rUlEeWt77Or-22V3Q" source="PapyrusCSSForceValue">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ngUZ47UlEeWt77Or-22V3Q" key="mutable" value="true"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_nIkBMrUlEeWt77Or-22V3Q" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_nIkBM7UlEeWt77Or-22V3Q" x="-92" y="5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_nIkBNLUlEeWt77Or-22V3Q" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_nIkBNbUlEeWt77Or-22V3Q" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_n_2JsDUpEeG5pL_fpN2DgQ"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_nIkBMbUlEeWt77Or-22V3Q" x="195" y="46" width="20" height="20"/>
+          </children>
+          <element xmi:type="uml:Property" href="RoboCab.uml#_OENvIB8lEeG4gPCEznVNOA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_OElikR8lEeG4gPCEznVNOA" x="34" y="748" width="195" height="99"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_94zbAB8lEeG4gPCEznVNOA" type="3070" fontName="Ubuntu" fillColor="13420443" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_94zbAh8lEeG4gPCEznVNOA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_94zbAx8lEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_94zbBB8lEeG4gPCEznVNOA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_94zbBR8lEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_94zbBh8lEeG4gPCEznVNOA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_94zbBx8lEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ngXdMLUlEeWt77Or-22V3Q" source="PapyrusCSSForceValue">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ngXdMbUlEeWt77Or-22V3Q" key="mutable" value="true"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_940CEB8lEeG4gPCEznVNOA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_940CER8lEeG4gPCEznVNOA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_940CEh8lEeG4gPCEznVNOA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_940CEx8lEeG4gPCEznVNOA"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_mz_fZLUlEeWt77Or-22V3Q" type="6054">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_mz_fZbUlEeWt77Or-22V3Q" y="5"/>
+          </children>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_nIw1gLUlEeWt77Or-22V3Q" type="compartment_shape_display">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_nIw1gbUlEeWt77Or-22V3Q"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_nIw1grUlEeWt77Or-22V3Q"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_nJIo8LUlEeWt77Or-22V3Q" type="3069">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ngXdMrUlEeWt77Or-22V3Q" source="PapyrusCSSForceValue">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ngXdM7UlEeWt77Or-22V3Q" key="mutable" value="true"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_nJIo8rUlEeWt77Or-22V3Q" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_nJIo87UlEeWt77Or-22V3Q" x="-85" y="14"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_nJIo9LUlEeWt77Or-22V3Q" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_nJIo9bUlEeWt77Or-22V3Q" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_4Jd4oDUpEeG5pL_fpN2DgQ"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_nJIo8bUlEeWt77Or-22V3Q" x="195" y="36" width="20" height="20"/>
+          </children>
+          <element xmi:type="uml:Property" href="RoboCab.uml#_94cOoB8lEeG4gPCEznVNOA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_94zbAR8lEeG4gPCEznVNOA" x="34" y="865" width="195" height="97"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_KdZvwB9BEeGetOLfkLNwfg" type="3070" fontName="Ubuntu" fillColor="13420443" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_KdZvwh9BEeGetOLfkLNwfg" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_KdZvwx9BEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_KdaW0B9BEeGetOLfkLNwfg" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_KdaW0R9BEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_KdaW0h9BEeGetOLfkLNwfg" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_KdaW0x9BEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_KdaW1B9BEeGetOLfkLNwfg" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_KdaW1R9BEeGetOLfkLNwfg" type="7077">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ngaggLUlEeWt77Or-22V3Q" source="PapyrusCSSForceValue">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ngaggbUlEeWt77Or-22V3Q" key="mutable" value="true"/>
+            </eAnnotations>
+            <styles xmi:type="notation:TitleStyle" xmi:id="_KdaW1h9BEeGetOLfkLNwfg"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_KdaW1x9BEeGetOLfkLNwfg"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_M3DuwB9BEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_M3Duwh9BEeGetOLfkLNwfg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_M3Duwx9BEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_M3EV0B9BEeGetOLfkLNwfg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_M3EV0R9BEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_M3EV0h9BEeGetOLfkLNwfg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_M3EV0x9BEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_M3EV1B9BEeGetOLfkLNwfg" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_M3EV1R9BEeGetOLfkLNwfg" x="-69" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_M3EV1h9BEeGetOLfkLNwfg" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_M3EV1x9BEeGetOLfkLNwfg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzJfak_EeCXqcRV-18f6Q"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_M3DuwR9BEeGetOLfkLNwfg" x="197" y="42"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_M3E84B9BEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_M3E84h9BEeGetOLfkLNwfg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_M3E84x9BEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_M3E85B9BEeGetOLfkLNwfg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_M3E85R9BEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_M3E85h9BEeGetOLfkLNwfg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_M3E85x9BEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_M3E86B9BEeGetOLfkLNwfg" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_M3Fj8B9BEeGetOLfkLNwfg" x="-105" y="4"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_M3Fj8R9BEeGetOLfkLNwfg" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_M3Fj8h9BEeGetOLfkLNwfg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_4xF7kKlLEeCYfbnxVSyZ9g"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_M3E84R9BEeGetOLfkLNwfg" x="197" y="84"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_mz_fZrUlEeWt77Or-22V3Q" type="6054">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_mz_fZ7UlEeWt77Or-22V3Q" y="5"/>
+          </children>
+          <element xmi:type="uml:Property" href="RoboCab.uml#_KdDxgB9BEeGetOLfkLNwfg"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_KdZvwR9BEeGetOLfkLNwfg" x="32" y="398" width="197" height="109"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_YLmlIB9BEeGetOLfkLNwfg" type="3070" fontName="Ubuntu" fillColor="13420443" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_YLnMMB9BEeGetOLfkLNwfg" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_YLnMMR9BEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_YLnMMh9BEeGetOLfkLNwfg" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_YLnMMx9BEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_YLnMNB9BEeGetOLfkLNwfg" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_YLnMNR9BEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_YLnMNh9BEeGetOLfkLNwfg" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_YLnMNx9BEeGetOLfkLNwfg" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_YLnMOB9BEeGetOLfkLNwfg"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_YLnMOR9BEeGetOLfkLNwfg"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_dQHn4B9BEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_dQHn4h9BEeGetOLfkLNwfg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_dQHn4x9BEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_dQIO8B9BEeGetOLfkLNwfg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_dQIO8R9BEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_dQIO8h9BEeGetOLfkLNwfg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_dQIO8x9BEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_dQIO9B9BEeGetOLfkLNwfg" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_dQIO9R9BEeGetOLfkLNwfg" x="-144" y="10"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_dQIO9h9BEeGetOLfkLNwfg" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_dQIO9x9BEeGetOLfkLNwfg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_9cOsYB8oEeG4gPCEznVNOA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_dQHn4R9BEeGetOLfkLNwfg" x="197" y="55"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_mz_faLUlEeWt77Or-22V3Q" type="6054">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_mz_fabUlEeWt77Or-22V3Q" y="5"/>
+          </children>
+          <element xmi:type="uml:Property" href="RoboCab.uml#_YLTDIB9BEeGetOLfkLNwfg"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_YLmlIR9BEeGetOLfkLNwfg" x="32" y="283" width="197" height="99"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_A7RAQB9DEeGetOLfkLNwfg" type="3070" fontName="Ubuntu" fillColor="13420443" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_A7RnUB9DEeGetOLfkLNwfg" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_A7RnUR9DEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_A7RnUh9DEeGetOLfkLNwfg" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_A7RnUx9DEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_A7RnVB9DEeGetOLfkLNwfg" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_A7RnVR9DEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_A7RnVh9DEeGetOLfkLNwfg" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_A7RnVx9DEeGetOLfkLNwfg" type="7077">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ngjDYLUlEeWt77Or-22V3Q" source="PapyrusCSSForceValue">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ngjDYbUlEeWt77Or-22V3Q" key="mutable" value="true"/>
+            </eAnnotations>
+            <styles xmi:type="notation:TitleStyle" xmi:id="_A7RnWB9DEeGetOLfkLNwfg"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_A7RnWR9DEeGetOLfkLNwfg"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_EOFb4B9DEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_EOFb4h9DEeGetOLfkLNwfg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_EOGC8B9DEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_EOGC8R9DEeGetOLfkLNwfg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_EOGC8h9DEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_EOGC8x9DEeGetOLfkLNwfg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_EOGC9B9DEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_EOGC9R9DEeGetOLfkLNwfg" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_EOGC9h9DEeGetOLfkLNwfg" x="-96" y="-1"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_EOGC9x9DEeGetOLfkLNwfg" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_EOGC-B9DEeGetOLfkLNwfg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzJY6k_EeCXqcRV-18f6Q"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_EOFb4R9DEeGetOLfkLNwfg" x="195" y="39"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_mz_farUlEeWt77Or-22V3Q" type="6054">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_mz_fa7UlEeWt77Or-22V3Q" y="5"/>
+          </children>
+          <element xmi:type="uml:Property" href="RoboCab.uml#_A68QIB9DEeGetOLfkLNwfg"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_A7RAQR9DEeGetOLfkLNwfg" x="32" y="163" width="195"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_GhYYYDU1EeG5pL_fpN2DgQ" type="3070" fontName="Ubuntu" fillColor="13420443" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_GhY_cDU1EeG5pL_fpN2DgQ" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_GhY_cTU1EeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_GhY_cjU1EeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_GhY_czU1EeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_GhY_dDU1EeG5pL_fpN2DgQ" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_GhY_dTU1EeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_GhY_djU1EeG5pL_fpN2DgQ" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_GhY_dzU1EeG5pL_fpN2DgQ" type="7077">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ngmtwLUlEeWt77Or-22V3Q" source="PapyrusCSSForceValue">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ngmtwbUlEeWt77Or-22V3Q" key="mutable" value="true"/>
+            </eAnnotations>
+            <styles xmi:type="notation:TitleStyle" xmi:id="_GhY_eDU1EeG5pL_fpN2DgQ"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_GhY_eTU1EeG5pL_fpN2DgQ"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_Mri0kDU1EeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrjboDU1EeG5pL_fpN2DgQ" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MrjboTU1EeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrjbojU1EeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MrjbozU1EeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrjbpDU1EeG5pL_fpN2DgQ" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MrjbpTU1EeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_MrjbpjU1EeG5pL_fpN2DgQ" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_MrjbpzU1EeG5pL_fpN2DgQ" x="-79" y="2"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_MrjbqDU1EeG5pL_fpN2DgQ" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_MrjbqTU1EeG5pL_fpN2DgQ" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzJcKk_EeCXqcRV-18f6Q"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Mri0kTU1EeG5pL_fpN2DgQ" x="186" y="42"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_MrkCsDU1EeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrkCsjU1EeG5pL_fpN2DgQ" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MrkCszU1EeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrkpwDU1EeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MrkpwTU1EeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrkpwjU1EeG5pL_fpN2DgQ" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MrkpwzU1EeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_MrkpxDU1EeG5pL_fpN2DgQ" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_MrkpxTU1EeG5pL_fpN2DgQ" x="-104" y="9"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_MrkpxjU1EeG5pL_fpN2DgQ" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_MrkpxzU1EeG5pL_fpN2DgQ" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_UMascKlFEeCgdMhwEBuWIg"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MrkCsTU1EeG5pL_fpN2DgQ" x="186" y="66"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_MrkpyDU1EeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrlQ0DU1EeG5pL_fpN2DgQ" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MrlQ0TU1EeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrlQ0jU1EeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MrlQ0zU1EeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrlQ1DU1EeG5pL_fpN2DgQ" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MrlQ1TU1EeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_MrlQ1jU1EeG5pL_fpN2DgQ" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_MrlQ1zU1EeG5pL_fpN2DgQ" x="-83" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_Mrl34DU1EeG5pL_fpN2DgQ" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_Mrl34TU1EeG5pL_fpN2DgQ" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_nCjE8KlFEeCniaMk5QUBRg"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MrkpyTU1EeG5pL_fpN2DgQ" x="186" y="98"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_mz_fbLUlEeWt77Or-22V3Q" type="6054">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_mz_fbbUlEeWt77Or-22V3Q" y="5"/>
+          </children>
+          <element xmi:type="uml:Property" href="RoboCab.uml#_fdzI16k_EeCXqcRV-18f6Q"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_GhYYYTU1EeG5pL_fpN2DgQ" x="35" y="10" width="186" height="120"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_ly3imBwAEeGa5bH_RJFzBQ"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ly3imRwAEeGa5bH_RJFzBQ"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_mz-RQLUlEeWt77Or-22V3Q" type="6089">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_mz-RQbUlEeWt77Or-22V3Q" y="5"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_fdzI0qk_EeCXqcRV-18f6Q"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ly27gRwAEeGa5bH_RJFzBQ" x="-1260" y="-680" width="1710" height="1063"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_m8XYQLUlEeWt77Or-22V3Q" type="StereotypeComment">
+      <styles xmi:type="notation:TitleStyle" xmi:id="_m8XYQbUlEeWt77Or-22V3Q" showTitle="true"/>
+      <styles xmi:type="notation:EObjectValueStyle" xmi:id="_m8X_ULUlEeWt77Or-22V3Q" name="BASE_ELEMENT">
+        <eObjectValue xmi:type="uml:Class" href="RoboCab.uml#_fdzI0qk_EeCXqcRV-18f6Q"/>
+      </styles>
+      <element xsi:nil="true"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_m8XYQrUlEeWt77Or-22V3Q" x="-1060" y="-680"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_OCVFkRwAEeGa5bH_RJFzBQ"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_ZzItQH7LEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Model" href="RoboCab.uml#_fdzI0ak_EeCXqcRV-18f6Q"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <styles xmi:type="notation:StringValueStyle" xmi:id="_ZzItQX7LEeSFyNbnLYDCkw" name="diagram_compatibility_version" stringValue="1.1.0"/>
+    <element xmi:type="uml:Model" href="RoboCab.uml#_fdzI0ak_EeCXqcRV-18f6Q"/>
+    <edges xmi:type="notation:Connector" xmi:id="_k9My4B9CEeGetOLfkLNwfg" type="4013" source="_cnm3cBwBEeGa5bH_RJFzBQ" target="_uTZHcBwnEeGa5bH_RJFzBQ" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k9NZ8B9CEeGetOLfkLNwfg" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k9NZ8R9CEeGetOLfkLNwfg" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k9NZ8h9CEeGetOLfkLNwfg" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k9NZ8x9CEeGetOLfkLNwfg" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k9NZ9B9CEeGetOLfkLNwfg" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k9NZ9R9CEeGetOLfkLNwfg" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k9NZ9h9CEeGetOLfkLNwfg" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k9NZ9x9CEeGetOLfkLNwfg" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k9My4R9CEeGetOLfkLNwfg" fontName="Ubuntu"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_k82NkB9CEeGetOLfkLNwfg"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k9My4h9CEeGetOLfkLNwfg" points="[-10, 0, 134, 0]$[-134, 0, 10, 0]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_myXkwB9CEeGetOLfkLNwfg" type="4013" source="_cnm3cBwBEeGa5bH_RJFzBQ" target="_a3kmsB9CEeGetOLfkLNwfg" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_myYL0B9CEeGetOLfkLNwfg" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_myYL0R9CEeGetOLfkLNwfg" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_myYL0h9CEeGetOLfkLNwfg" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_myYL0x9CEeGetOLfkLNwfg" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_myYL1B9CEeGetOLfkLNwfg" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_myYL1R9CEeGetOLfkLNwfg" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_myYL1h9CEeGetOLfkLNwfg" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_myYL1x9CEeGetOLfkLNwfg" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_myXkwR9CEeGetOLfkLNwfg" fontName="Ubuntu"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_myDbsB9CEeGetOLfkLNwfg"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_myXkwh9CEeGetOLfkLNwfg" points="[-10, 0, 16, 170]$[-79, 0, -53, 170]$[-79, -170, -53, 0]$[-36, -170, -10, 0]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_qQ5hIB9CEeGetOLfkLNwfg" type="4013" source="_uTcKxhwnEeGa5bH_RJFzBQ" target="_a3jYkB9CEeGetOLfkLNwfg" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_qQ5hIx9CEeGetOLfkLNwfg" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_qQ5hJB9CEeGetOLfkLNwfg" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_qQ5hJR9CEeGetOLfkLNwfg" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_qQ5hJh9CEeGetOLfkLNwfg" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_qQ5hJx9CEeGetOLfkLNwfg" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_qQ6IMB9CEeGetOLfkLNwfg" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_qQ6IMR9CEeGetOLfkLNwfg" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_qQ6IMh9CEeGetOLfkLNwfg" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_qQ5hIR9CEeGetOLfkLNwfg" fontName="Ubuntu"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_qQmmMB9CEeGetOLfkLNwfg"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_qQ5hIh9CEeGetOLfkLNwfg" points="[8, 2, -81, -28]$[87, 22, -2, -8]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_1OX7UB9CEeGetOLfkLNwfg" type="4013" source="_R-9tcB8lEeG4gPCEznVNOA" target="_MCMG2h9CEeGetOLfkLNwfg" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_1OYiYB9CEeGetOLfkLNwfg" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_1OYiYR9CEeGetOLfkLNwfg" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_1OYiYh9CEeGetOLfkLNwfg" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_1OYiYx9CEeGetOLfkLNwfg" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_1OYiZB9CEeGetOLfkLNwfg" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_1OYiZR9CEeGetOLfkLNwfg" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_1OYiZh9CEeGetOLfkLNwfg" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_1OYiZx9CEeGetOLfkLNwfg" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_1OX7UR9CEeGetOLfkLNwfg" fontName="Ubuntu"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_1ODLMB9CEeGetOLfkLNwfg"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_1OX7Uh9CEeGetOLfkLNwfg" points="[7, -7, -84, 85]$[94, -99, 3, -7]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_QrLOsB9DEeGetOLfkLNwfg" type="4013" source="_EOFb4B9DEeGetOLfkLNwfg" target="_MCKRoB9CEeGetOLfkLNwfg" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_QrL1wB9DEeGetOLfkLNwfg" visible="false" type="6025">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_ejUvELU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_QrL1wR9DEeGetOLfkLNwfg" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_QrL1wh9DEeGetOLfkLNwfg" visible="false" type="6050">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_ej4IsLU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_QrL1wx9DEeGetOLfkLNwfg" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_QrL1xB9DEeGetOLfkLNwfg" visible="false" type="6051">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_ekksQLU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_QrL1xR9DEeGetOLfkLNwfg" x="-19" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_QrL1xh9DEeGetOLfkLNwfg" visible="false" type="6052">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_elR24LU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_QrL1xx9DEeGetOLfkLNwfg" x="20" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_QrLOsR9DEeGetOLfkLNwfg" fontName="Ubuntu"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_Qq3ssB9DEeGetOLfkLNwfg"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_QrLOsh9DEeGetOLfkLNwfg" points="[-1018, -387, -643984, -643984]$[-964, -387, -643984, -643984]$[-964, -365, -643984, -643984]$[-910, -365, -643984, -643984]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_RpzaIB9DEeGetOLfkLNwfg" type="4013" source="_dQHn4B9BEeGetOLfkLNwfg" target="_MCJDgB9CEeGetOLfkLNwfg" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_RpzaIx9DEeGetOLfkLNwfg" visible="false" type="6025">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_d4iFoLU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_RpzaJB9DEeGetOLfkLNwfg" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_RpzaJR9DEeGetOLfkLNwfg" visible="false" type="6050">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_d5bdgLU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_RpzaJh9DEeGetOLfkLNwfg" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_RpzaJx9DEeGetOLfkLNwfg" visible="false" type="6051">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_d5-QELU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_RpzaKB9DEeGetOLfkLNwfg" x="-18" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_RpzaKR9DEeGetOLfkLNwfg" visible="false" type="6052">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_d6iQwLU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_RpzaKh9DEeGetOLfkLNwfg" x="18" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_RpzaIR9DEeGetOLfkLNwfg" fontName="Ubuntu"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_RpgfMB9DEeGetOLfkLNwfg"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_RpzaIh9DEeGetOLfkLNwfg" points="[-1016, -258, -643984, -643984]$[-963, -258, -643984, -643984]$[-963, -243, -643984, -643984]$[-910, -243, -643984, -643984]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_RqVloB9DEeGetOLfkLNwfg" id="(0.45,0.15)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_Wrd9MB9DEeGetOLfkLNwfg" type="4013" source="_M3DuwB9BEeGetOLfkLNwfg" target="_MCK4tB9CEeGetOLfkLNwfg" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_Wrd9Mx9DEeGetOLfkLNwfg" visible="false" type="6025">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_cuHg8LU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_Wrd9NB9DEeGetOLfkLNwfg" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_Wrd9NR9DEeGetOLfkLNwfg" visible="false" type="6050">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_cu91gLU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_Wrd9Nh9DEeGetOLfkLNwfg" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_Wrd9Nx9DEeGetOLfkLNwfg" visible="false" type="6051">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_cvv4oLU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_Wrd9OB9DEeGetOLfkLNwfg" x="-17" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_Wrd9OR9DEeGetOLfkLNwfg" visible="false" type="6052">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_cwccMLU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_Wrd9Oh9DEeGetOLfkLNwfg" x="17" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_Wrd9MR9DEeGetOLfkLNwfg" fontName="Ubuntu"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_WrKbMB9DEeGetOLfkLNwfg"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_Wrd9Mh9DEeGetOLfkLNwfg" points="[-1016, -152, -643984, -643984]$[-963, -152, -643984, -643984]$[-963, -145, -643984, -643984]$[-910, -145, -643984, -643984]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_ba3rkB9DEeGetOLfkLNwfg" type="4013" source="_M3E84B9BEeGetOLfkLNwfg" target="_uTaVkBwnEeGa5bH_RJFzBQ" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_ba3rkx9DEeGetOLfkLNwfg" visible="false" type="6025">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_cKmkMLU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_ba3rlB9DEeGetOLfkLNwfg" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_ba3rlR9DEeGetOLfkLNwfg" visible="false" type="6050">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_cLhxQLU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_ba3rlh9DEeGetOLfkLNwfg" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_ba3rlx9DEeGetOLfkLNwfg" visible="false" type="6051">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_cMVCgLU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_ba3rmB9DEeGetOLfkLNwfg" x="-16" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_ba4SoB9DEeGetOLfkLNwfg" visible="false" type="6052">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_cM-iwLU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_ba4SoR9DEeGetOLfkLNwfg" x="16" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_ba3rkR9DEeGetOLfkLNwfg" fontName="Ubuntu"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_balXsB9DEeGetOLfkLNwfg"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_ba3rkh9DEeGetOLfkLNwfg" points="[9, -2, -187, 25]$[199, -17, 3, 10]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_bbZ3EB9DEeGetOLfkLNwfg" id="(0.55,0.15)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_V2rHYDU1EeG5pL_fpN2DgQ" type="4013" source="_TSSfEDU1EeG5pL_fpN2DgQ" target="_MCLfxx9CEeGetOLfkLNwfg" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_V2rucDU1EeG5pL_fpN2DgQ" visible="false" type="6025">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_bVL_ILU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_V2rucTU1EeG5pL_fpN2DgQ" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_V2rucjU1EeG5pL_fpN2DgQ" visible="false" type="6050">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_bWMrwLU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_V2ruczU1EeG5pL_fpN2DgQ" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_V2rudDU1EeG5pL_fpN2DgQ" visible="false" type="6051">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_bXByMLU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_V2rudTU1EeG5pL_fpN2DgQ" x="-16" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_V2rudjU1EeG5pL_fpN2DgQ" visible="false" type="6052">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_bXxZELU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_V2rudzU1EeG5pL_fpN2DgQ" x="16" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_V2rHYTU1EeG5pL_fpN2DgQ" fontName="Ubuntu"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_V2bPwDU1EeG5pL_fpN2DgQ"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_V2rHYjU1EeG5pL_fpN2DgQ" points="[-1016, -43, -643984, -643984]$[-963, -43, -643984, -643984]$[-963, -40, -643984, -643984]$[-910, -40, -643984, -643984]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_WjkpoDU1EeG5pL_fpN2DgQ" type="4013" source="_TSTtMDU1EeG5pL_fpN2DgQ" target="_6fSfgDU0EeG5pL_fpN2DgQ" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_WjlQsDU1EeG5pL_fpN2DgQ" visible="false" type="6025">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_aedygLU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_WjlQsTU1EeG5pL_fpN2DgQ" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_WjlQsjU1EeG5pL_fpN2DgQ" visible="false" type="6050">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_afP1oLU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_WjlQszU1EeG5pL_fpN2DgQ" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_WjlQtDU1EeG5pL_fpN2DgQ" visible="false" type="6051">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_af5V4LU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_WjlQtTU1EeG5pL_fpN2DgQ" x="-16" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_WjlQtjU1EeG5pL_fpN2DgQ" visible="false" type="6052">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_aghA8LU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_WjlQtzU1EeG5pL_fpN2DgQ" x="16" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_WjkpoTU1EeG5pL_fpN2DgQ" fontName="Ubuntu"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_WjUK8DU1EeG5pL_fpN2DgQ"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_WjkpojU1EeG5pL_fpN2DgQ" points="[-1016, 7, -643984, -643984]$[-910, 7, -643984, -643984]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_ac_L0LU4EeWmy72C-w00OQ" id="(1.0,0.75)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_ac_L0bU4EeWmy72C-w00OQ" id="(0.0,0.5)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_cXyD8DU1EeG5pL_fpN2DgQ" type="4013" source="_Mri0kDU1EeG5pL_fpN2DgQ" target="_X8_ToDU1EeG5pL_fpN2DgQ" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_cXyrADU1EeG5pL_fpN2DgQ" visible="false" type="6025">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gvZlELU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_cXyrATU1EeG5pL_fpN2DgQ" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_cXyrAjU1EeG5pL_fpN2DgQ" visible="false" type="6050">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gwRu0LU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_cXyrAzU1EeG5pL_fpN2DgQ" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_cXyrBDU1EeG5pL_fpN2DgQ" visible="false" type="6051">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gwz6ULU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_cXyrBTU1EeG5pL_fpN2DgQ" x="-107" y="56"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_cXyrBjU1EeG5pL_fpN2DgQ" visible="false" type="6052">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gxVewLU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_cXyrBzU1EeG5pL_fpN2DgQ" x="143" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_cXyD8TU1EeG5pL_fpN2DgQ" fontName="Ubuntu"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_cXizYDU1EeG5pL_fpN2DgQ"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_cXyD8jU1EeG5pL_fpN2DgQ" points="[10, 0, -755, -194]$[719, 0, -46, -194]$[719, 194, -46, 0]$[755, 194, -10, 0]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_dpp7gDU1EeG5pL_fpN2DgQ" type="4013" source="_MrkCsDU1EeG5pL_fpN2DgQ" target="_X9BI0zU1EeG5pL_fpN2DgQ" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_dpqikDU1EeG5pL_fpN2DgQ" visible="false" type="6025">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gV2coLU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_dpqikTU1EeG5pL_fpN2DgQ" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_dpqikjU1EeG5pL_fpN2DgQ" visible="false" type="6050">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gWmDgLU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_dpqikzU1EeG5pL_fpN2DgQ" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_dpqilDU1EeG5pL_fpN2DgQ" visible="false" type="6051">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gXNHgLU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_dpqilTU1EeG5pL_fpN2DgQ" x="-99" y="66"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_dpqiljU1EeG5pL_fpN2DgQ" visible="false" type="6052">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gXxIMLU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_dpqilzU1EeG5pL_fpN2DgQ" x="144" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_dpp7gTU1EeG5pL_fpN2DgQ" fontName="Ubuntu"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_dpY1wDU1EeG5pL_fpN2DgQ"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_dpp7gjU1EeG5pL_fpN2DgQ" points="[10, -6, -755, -215]$[709, -6, -56, -215]$[709, 209, -56, 0]$[755, 209, -10, 0]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_fSCOkDU1EeG5pL_fpN2DgQ" type="4013" source="_MrkpyDU1EeG5pL_fpN2DgQ" target="_X9AhwDU1EeG5pL_fpN2DgQ" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_fSCOkzU1EeG5pL_fpN2DgQ" visible="false" type="6025">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_f5QAMLU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_fSCOlDU1EeG5pL_fpN2DgQ" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_fSC1oDU1EeG5pL_fpN2DgQ" visible="false" type="6050">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_f6CDULU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_fSC1oTU1EeG5pL_fpN2DgQ" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_fSC1ojU1EeG5pL_fpN2DgQ" visible="false" type="6051">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_f6kO0LU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_fSC1ozU1EeG5pL_fpN2DgQ" x="-87" y="81"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_fSC1pDU1EeG5pL_fpN2DgQ" visible="false" type="6052">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_f7JdoLU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_fSC1pTU1EeG5pL_fpN2DgQ" x="148" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_fSCOkTU1EeG5pL_fpN2DgQ" fontName="Ubuntu"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_fRxI0DU1EeG5pL_fpN2DgQ"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_fSCOkjU1EeG5pL_fpN2DgQ" points="[10, 0, -755, -244]$[694, 0, -71, -244]$[694, 244, -71, 0]$[755, 244, -10, 0]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_m3u0oDU1EeG5pL_fpN2DgQ" type="4013" source="_Mri0kDU1EeG5pL_fpN2DgQ" target="_6fTtpTU0EeG5pL_fpN2DgQ" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_m3vbsDU1EeG5pL_fpN2DgQ" visible="false" type="6025">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gx3DMLU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_m3vbsTU1EeG5pL_fpN2DgQ" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_m3vbsjU1EeG5pL_fpN2DgQ" visible="false" type="6050">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gyYAkLU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_m3vbszU1EeG5pL_fpN2DgQ" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_m3vbtDU1EeG5pL_fpN2DgQ" visible="false" type="6051">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gy6zILU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_m3vbtTU1EeG5pL_fpN2DgQ" x="-22" y="35"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_m3vbtjU1EeG5pL_fpN2DgQ" visible="false" type="6052">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gznWsLU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_m3vbtzU1EeG5pL_fpN2DgQ" x="37" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_m3u0oTU1EeG5pL_fpN2DgQ" fontName="Ubuntu"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_m3ZdcDU1EeG5pL_fpN2DgQ"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_m3u0ojU1EeG5pL_fpN2DgQ" points="[10, 0, -124, -110]$[109, 0, -25, -110]$[109, 110, -25, 0]$[124, 110, -10, 0]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_nrraEDU1EeG5pL_fpN2DgQ" type="4013" source="_MrkCsDU1EeG5pL_fpN2DgQ" target="_6fU7wDU0EeG5pL_fpN2DgQ" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_nrraEzU1EeG5pL_fpN2DgQ" visible="false" type="6025">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gYfg8LU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_nrsBIDU1EeG5pL_fpN2DgQ" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_nrsBITU1EeG5pL_fpN2DgQ" visible="false" type="6050">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gZBFYLU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_nrsBIjU1EeG5pL_fpN2DgQ" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_nrsBIzU1EeG5pL_fpN2DgQ" visible="false" type="6051">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gZip0LU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_nrsBJDU1EeG5pL_fpN2DgQ" x="-4" y="50"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_nrsBJTU1EeG5pL_fpN2DgQ" visible="false" type="6052">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gaDnMLU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_nrsBJjU1EeG5pL_fpN2DgQ" x="34" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_nrraETU1EeG5pL_fpN2DgQ" fontName="Ubuntu"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_nraUUDU1EeG5pL_fpN2DgQ"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_nrraEjU1EeG5pL_fpN2DgQ" points="[10, 0, -124, -99]$[94, 0, -40, -99]$[94, 99, -40, 0]$[124, 99, -10, 0]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_ovbWEDU1EeG5pL_fpN2DgQ" type="4013" source="_MrkpyDU1EeG5pL_fpN2DgQ" target="_6fVi0jU0EeG5pL_fpN2DgQ" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_ovbWEzU1EeG5pL_fpN2DgQ" visible="false" type="6025">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_f70zELU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_ovbWFDU1EeG5pL_fpN2DgQ" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_ovbWFTU1EeG5pL_fpN2DgQ" visible="false" type="6050">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_f8aB4LU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_ovbWFjU1EeG5pL_fpN2DgQ" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_ovb9IDU1EeG5pL_fpN2DgQ" visible="false" type="6051">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_f9BF4LU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_ovb9ITU1EeG5pL_fpN2DgQ" x="-31" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_ovb9IjU1EeG5pL_fpN2DgQ" visible="false" type="6052">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_f9ow8LU4EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_ovb9IzU1EeG5pL_fpN2DgQ" x="31" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_ovbWETU1EeG5pL_fpN2DgQ" fontName="Ubuntu"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_ovKQUDU1EeG5pL_fpN2DgQ"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_ovbWEjU1EeG5pL_fpN2DgQ" points="[10, 0, -124, -84]$[84, 0, -50, -84]$[84, 84, -50, 0]$[124, 84, -10, 0]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_m8X_UbUlEeWt77Or-22V3Q" type="StereotypeCommentLink" source="_ly27gBwAEeGa5bH_RJFzBQ" target="_m8XYQLUlEeWt77Or-22V3Q">
+      <styles xmi:type="notation:FontStyle" xmi:id="_m8X_UrUlEeWt77Or-22V3Q"/>
+      <styles xmi:type="notation:EObjectValueStyle" xmi:id="_m8YmYrUlEeWt77Or-22V3Q" name="BASE_ELEMENT">
+        <eObjectValue xmi:type="uml:Class" href="RoboCab.uml#_fdzI0qk_EeCXqcRV-18f6Q"/>
+      </styles>
+      <element xsi:nil="true"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_m8X_U7UlEeWt77Or-22V3Q" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_m8YmYLUlEeWt77Or-22V3Q"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_m8YmYbUlEeWt77Or-22V3Q"/>
+    </edges>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_glL5wBwhEeGa5bH_RJFzBQ" type="CompositeStructure" name="SingletonComponentsDiagram" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_g5n4sBwhEeGa5bH_RJFzBQ" type="2073" fontHeight="8" transparency="0" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g5n4sRwhEeGa5bH_RJFzBQ" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g5n4shwhEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g5n4sxwhEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g5n4tBwhEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g5n4tRwhEeGa5bH_RJFzBQ" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g5n4thwhEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g5n4txwhEeGa5bH_RJFzBQ" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8C11cJX2EeGQNuf8-SlVhg" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8C11cZX2EeGQNuf8-SlVhg" key="StereotypeList" value="RobotML::Software"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8C11cpX2EeGQNuf8-SlVhg" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8C11c5X2EeGQNuf8-SlVhg" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8C11dJX2EeGQNuf8-SlVhg" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_g5n4vRwhEeGa5bH_RJFzBQ" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_g5n4vhwhEeGa5bH_RJFzBQ" type="7073">
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_g5n4vxwhEeGa5bH_RJFzBQ"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_C-FckBwiEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_C-FckhwiEeGa5bH_RJFzBQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_C-GDoBwiEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_C-GDoRwiEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_C-GDohwiEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_C-GDoxwiEeGa5bH_RJFzBQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_C-GDpBwiEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_C-GDpRwiEeGa5bH_RJFzBQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_C-GDphwiEeGa5bH_RJFzBQ" x="25" y="11"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_C-GDpxwiEeGa5bH_RJFzBQ" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_C-GDqBwiEeGa5bH_RJFzBQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzKZak_EeCXqcRV-18f6Q"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_C-FckRwiEeGa5bH_RJFzBQ" x="-10" y="60"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_C-GDqRwiEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_C-GDqxwiEeGa5bH_RJFzBQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_C-GDrBwiEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_C-GDrRwiEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_C-GDrhwiEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_C-GDrxwiEeGa5bH_RJFzBQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_C-GDsBwiEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_C-GqsBwiEeGa5bH_RJFzBQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_C-GqsRwiEeGa5bH_RJFzBQ" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_C-GqshwiEeGa5bH_RJFzBQ" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_C-GqsxwiEeGa5bH_RJFzBQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzKaak_EeCXqcRV-18f6Q"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_C-GDqhwiEeGa5bH_RJFzBQ" x="-10" y="96"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_C-GqtBwiEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_C-GqthwiEeGa5bH_RJFzBQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_C-GqtxwiEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_C-GquBwiEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_C-GquRwiEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_C-GquhwiEeGa5bH_RJFzBQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_C-GquxwiEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_C-GqvBwiEeGa5bH_RJFzBQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_C-GqvRwiEeGa5bH_RJFzBQ" x="-171" y="6"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_C-GqvhwiEeGa5bH_RJFzBQ" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_C-GqvxwiEeGa5bH_RJFzBQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzKcak_EeCXqcRV-18f6Q"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_C-GqtRwiEeGa5bH_RJFzBQ" x="363" y="84"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_gFqeMB8sEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gFqeMh8sEeG4gPCEznVNOA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gFqeMx8sEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gFqeNB8sEeG4gPCEznVNOA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gFqeNR8sEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gFqeNh8sEeG4gPCEznVNOA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gFqeNx8sEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_gFqeOB8sEeG4gPCEznVNOA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_gFqeOR8sEeG4gPCEznVNOA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_gFrFQB8sEeG4gPCEznVNOA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_gFrFQR8sEeG4gPCEznVNOA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_gFYxYB8sEeG4gPCEznVNOA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_gFqeMR8sEeG4gPCEznVNOA" x="-10" y="126" width="20" height="20"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_fdzKVKk_EeCXqcRV-18f6Q"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_g5n4wBwhEeGa5bH_RJFzBQ" x="30" y="30" width="373" height="157"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_g5ofwBwhEeGa5bH_RJFzBQ" type="2073" fontHeight="8" transparency="0" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g5ofwRwhEeGa5bH_RJFzBQ" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g5ofwhwhEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g5ofwxwhEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g5ofxBwhEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g5ofxRwhEeGa5bH_RJFzBQ" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g5ofxhwhEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_g5ofzRwhEeGa5bH_RJFzBQ" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_g5ofzhwhEeGa5bH_RJFzBQ" type="7073">
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_g5ofzxwhEeGa5bH_RJFzBQ"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_b3mT1xwiEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_b3mT2RwiEeGa5bH_RJFzBQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_b3mT2hwiEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_b3mT2xwiEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_b3mT3BwiEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_b3mT3RwiEeGa5bH_RJFzBQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_b3mT3hwiEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_b3mT3xwiEeGa5bH_RJFzBQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_b3mT4BwiEeGa5bH_RJFzBQ" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_b3mT4RwiEeGa5bH_RJFzBQ" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_b3mT4hwiEeGa5bH_RJFzBQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzK6ak_EeCXqcRV-18f6Q"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_b3mT2BwiEeGa5bH_RJFzBQ" x="-10" y="96"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_b3nh-hwiEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_b3nh_BwiEeGa5bH_RJFzBQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_b3nh_RwiEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_b3nh_hwiEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_b3nh_xwiEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_b3niABwiEeGa5bH_RJFzBQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_b3niARwiEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_b3oJABwiEeGa5bH_RJFzBQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_b3oJARwiEeGa5bH_RJFzBQ" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_b3oJAhwiEeGa5bH_RJFzBQ" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_b3oJAxwiEeGa5bH_RJFzBQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzK9ak_EeCXqcRV-18f6Q"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_b3nh-xwiEeGa5bH_RJFzBQ" x="-10" y="57"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_b3oJBBwiEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_b3oJBhwiEeGa5bH_RJFzBQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_b3oJBxwiEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_b3oJCBwiEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_b3oJCRwiEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_b3oJChwiEeGa5bH_RJFzBQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_b3oJCxwiEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_b3oJDBwiEeGa5bH_RJFzBQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_b3oJDRwiEeGa5bH_RJFzBQ" x="-201" y="5"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_b3oJDhwiEeGa5bH_RJFzBQ" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_b3oJDxwiEeGa5bH_RJFzBQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzK-ak_EeCXqcRV-18f6Q"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_b3oJBRwiEeGa5bH_RJFzBQ" x="453" y="150"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_b3owEBwiEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_b3owEhwiEeGa5bH_RJFzBQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_b3owExwiEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_b3owFBwiEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_b3owFRwiEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_b3owFhwiEeGa5bH_RJFzBQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_b3owFxwiEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_b3owGBwiEeGa5bH_RJFzBQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_b3owGRwiEeGa5bH_RJFzBQ" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_b3owGhwiEeGa5bH_RJFzBQ" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_b3owGxwiEeGa5bH_RJFzBQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_UIObEKloEeCLku4RFrI7uw"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_b3owERwiEeGa5bH_RJFzBQ" x="-10" y="137"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_UexE0DUrEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_UexE0jUrEeG5pL_fpN2DgQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Uexr4DUrEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Uexr4TUrEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Uexr4jUrEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Uexr4zUrEeG5pL_fpN2DgQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Uexr5DUrEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_Uexr5TUrEeG5pL_fpN2DgQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_Uexr5jUrEeG5pL_fpN2DgQ" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_Uexr5zUrEeG5pL_fpN2DgQ" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_Uexr6DUrEeG5pL_fpN2DgQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_UegmIDUrEeG5pL_fpN2DgQ"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_UexE0TUrEeG5pL_fpN2DgQ" x="-10" y="182" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_bejhcDUrEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_bejhcjUrEeG5pL_fpN2DgQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_bejhczUrEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_bejhdDUrEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_bejhdTUrEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_bekIgDUrEeG5pL_fpN2DgQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_bekIgTUrEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_benL0DUrEeG5pL_fpN2DgQ" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_bg5q0DUrEeG5pL_fpN2DgQ" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_bg5q0TUrEeG5pL_fpN2DgQ" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_bg5q0jUrEeG5pL_fpN2DgQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_bg5q0zUrEeG5pL_fpN2DgQ" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_bg5q1DUrEeG5pL_fpN2DgQ" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_bekIgjUrEeG5pL_fpN2DgQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_bekIgzUrEeG5pL_fpN2DgQ" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_bekIhDUrEeG5pL_fpN2DgQ" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_bekIhTUrEeG5pL_fpN2DgQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_beSbsDUrEeG5pL_fpN2DgQ"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_bejhcTUrEeG5pL_fpN2DgQ" x="-10" y="239" width="20" height="20"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_fdzK5Kk_EeCXqcRV-18f6Q"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_g5of0BwhEeGa5bH_RJFzBQ" x="465" y="30" width="463" height="282"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_oFCWgBwhEeGa5bH_RJFzBQ" type="2073" fontName="Ubuntu" fontHeight="7" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_oFC9kBwhEeGa5bH_RJFzBQ" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_oFC9kRwhEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_oFC9khwhEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_oFC9kxwhEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_oFDkoBwhEeGa5bH_RJFzBQ" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_oFDkoRwhEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_oFDkohwhEeGa5bH_RJFzBQ" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_oFDkoxwhEeGa5bH_RJFzBQ" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_oFDkpBwhEeGa5bH_RJFzBQ"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_oFDkpRwhEeGa5bH_RJFzBQ"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_BCscABwkEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BCtDEBwkEeGa5bH_RJFzBQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BCtDERwkEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BCtDEhwkEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BCtDExwkEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BCtDFBwkEeGa5bH_RJFzBQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BCtDFRwkEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_BCtDFhwkEeGa5bH_RJFzBQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_BCtDFxwkEeGa5bH_RJFzBQ" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_BCtDGBwkEeGa5bH_RJFzBQ" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_BCtqIBwkEeGa5bH_RJFzBQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzKI6k_EeCXqcRV-18f6Q"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_BCscARwkEeGa5bH_RJFzBQ" x="-10" y="36"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_BCtqIRwkEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BCuRMBwkEeGa5bH_RJFzBQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BCuRMRwkEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BCu4QBwkEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BCu4QRwkEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BCu4QhwkEeGa5bH_RJFzBQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BCu4QxwkEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_BCu4RBwkEeGa5bH_RJFzBQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_BCu4RRwkEeGa5bH_RJFzBQ" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_BCvfUBwkEeGa5bH_RJFzBQ" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_BCvfURwkEeGa5bH_RJFzBQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzKJ6k_EeCXqcRV-18f6Q"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_BCtqIhwkEeGa5bH_RJFzBQ" x="-10" y="66"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_BCvfUhwkEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BCvfVBwkEeGa5bH_RJFzBQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BCvfVRwkEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BCvfVhwkEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BCvfVxwkEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BCvfWBwkEeGa5bH_RJFzBQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BCvfWRwkEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_BCvfWhwkEeGa5bH_RJFzBQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_BCvfWxwkEeGa5bH_RJFzBQ" x="-165"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_BCwGYBwkEeGa5bH_RJFzBQ" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_BCwGYRwkEeGa5bH_RJFzBQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzKK6k_EeCXqcRV-18f6Q"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_BCvfUxwkEeGa5bH_RJFzBQ" x="321" y="78"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_BCwGYhwkEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BCwGZBwkEeGa5bH_RJFzBQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BCwGZRwkEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BCwGZhwkEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BCwGZxwkEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BCwGaBwkEeGa5bH_RJFzBQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BCwGaRwkEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_BCwGahwkEeGa5bH_RJFzBQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_BCwGaxwkEeGa5bH_RJFzBQ" x="-123"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_BCwGbBwkEeGa5bH_RJFzBQ" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_BCwGbRwkEeGa5bH_RJFzBQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzKL6k_EeCXqcRV-18f6Q"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_BCwGYxwkEeGa5bH_RJFzBQ" x="321" y="36"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_fdzKIqk_EeCXqcRV-18f6Q"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_oFCWgRwhEeGa5bH_RJFzBQ" x="985" y="30" width="331" height="115"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_pxFooBwhEeGa5bH_RJFzBQ" type="2073" fontName="Ubuntu" fontHeight="7" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_pxGPsBwhEeGa5bH_RJFzBQ" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pxGPsRwhEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_pxG2wBwhEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pxG2wRwhEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_pxG2whwhEeGa5bH_RJFzBQ" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pxG2wxwhEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_pxG2xBwhEeGa5bH_RJFzBQ" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_pxG2xRwhEeGa5bH_RJFzBQ" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_pxG2xhwhEeGa5bH_RJFzBQ"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_pxG2xxwhEeGa5bH_RJFzBQ"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_mo9SuhwkEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_mo9SvBwkEeGa5bH_RJFzBQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mo9SvRwkEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_mo95wBwkEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mo95wRwkEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_mo95whwkEeGa5bH_RJFzBQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mo95wxwkEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_mo95xBwkEeGa5bH_RJFzBQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_mo95xRwkEeGa5bH_RJFzBQ" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_mo95xhwkEeGa5bH_RJFzBQ" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_mo95xxwkEeGa5bH_RJFzBQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzK06k_EeCXqcRV-18f6Q"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_mo9SuxwkEeGa5bH_RJFzBQ" x="-10" y="90"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_mo-g0BwkEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_mo-g0hwkEeGa5bH_RJFzBQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mo-g0xwkEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_mo-g1BwkEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mo-g1RwkEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_mo-g1hwkEeGa5bH_RJFzBQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mo-g1xwkEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_mo-g2BwkEeGa5bH_RJFzBQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_mo-g2RwkEeGa5bH_RJFzBQ" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_mo-g2hwkEeGa5bH_RJFzBQ" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_mo-g2xwkEeGa5bH_RJFzBQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzK36k_EeCXqcRV-18f6Q"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_mo-g0RwkEeGa5bH_RJFzBQ" x="-10" y="120"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_mo_u8BwkEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_mo_u8hwkEeGa5bH_RJFzBQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mo_u8xwkEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_mo_u9BwkEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mo_u9RwkEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_mo_u9hwkEeGa5bH_RJFzBQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mo_u9xwkEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_mo_u-BwkEeGa5bH_RJFzBQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_mo_u-RwkEeGa5bH_RJFzBQ" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_mo_u-hwkEeGa5bH_RJFzBQ" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_mo_u-xwkEeGa5bH_RJFzBQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_GJzrUKlbEeCYfbnxVSyZ9g"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_mo_u8RwkEeGa5bH_RJFzBQ" x="-10" y="150"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_6Vrq0B8rEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6Vrq0h8rEeG4gPCEznVNOA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6Vrq0x8rEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6Vrq1B8rEeG4gPCEznVNOA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6Vrq1R8rEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6Vrq1h8rEeG4gPCEznVNOA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6Vrq1x8rEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6VvVMB8rEeG4gPCEznVNOA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6YVWMB8rEeG4gPCEznVNOA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6YVWMR8rEeG4gPCEznVNOA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6YVWMh8rEeG4gPCEznVNOA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6YVWMx8rEeG4gPCEznVNOA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6YVWNB8rEeG4gPCEznVNOA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_6Vrq2B8rEeG4gPCEznVNOA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_6Vrq2R8rEeG4gPCEznVNOA" x="-185" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_6Vrq2h8rEeG4gPCEznVNOA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_6Vrq2x8rEeG4gPCEznVNOA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_6VYv4B8rEeG4gPCEznVNOA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_6Vrq0R8rEeG4gPCEznVNOA" x="351" y="89" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_6ohuUB8rEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6oiVYB8rEeG4gPCEznVNOA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6oiVYR8rEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6oiVYh8rEeG4gPCEznVNOA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6oiVYx8rEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6oiVZB8rEeG4gPCEznVNOA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6oiVZR8rEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6olYsB8rEeG4gPCEznVNOA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6rKLkB8rEeG4gPCEznVNOA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6rKLkR8rEeG4gPCEznVNOA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6rKLkh8rEeG4gPCEznVNOA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6rKLkx8rEeG4gPCEznVNOA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6rKLlB8rEeG4gPCEznVNOA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_6oiVZh8rEeG4gPCEznVNOA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_6oiVZx8rEeG4gPCEznVNOA" x="25" y="2"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_6oiVaB8rEeG4gPCEznVNOA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_6oiVaR8rEeG4gPCEznVNOA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_6oOzYB8rEeG4gPCEznVNOA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_6ohuUR8rEeG4gPCEznVNOA" x="-10" y="55" width="20" height="20"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_fdzKoKk_EeCXqcRV-18f6Q"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_pxFooRwhEeGa5bH_RJFzBQ" x="1375" y="30" width="361" height="191"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_qC38MBwhEeGa5bH_RJFzBQ" type="2073" fontName="Ubuntu" fontHeight="7" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_qC4jQBwhEeGa5bH_RJFzBQ" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qC5KUBwhEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_qC5KURwhEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qC5KUhwhEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_qC5KUxwhEeGa5bH_RJFzBQ" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qC5KVBwhEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_qC5KVRwhEeGa5bH_RJFzBQ" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_qC5xYBwhEeGa5bH_RJFzBQ" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_qC5xYRwhEeGa5bH_RJFzBQ"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_qC5xYhwhEeGa5bH_RJFzBQ"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_zM37sBwjEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_zM4iwBwjEeGa5bH_RJFzBQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_zM4iwRwjEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_zM4iwhwjEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_zM5J0BwjEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_zM5J0RwjEeGa5bH_RJFzBQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_zM5J0hwjEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_zM5J0xwjEeGa5bH_RJFzBQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_zM5J1BwjEeGa5bH_RJFzBQ" x="-87"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_zM5J1RwjEeGa5bH_RJFzBQ" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_zM5J1hwjEeGa5bH_RJFzBQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_cPiaEKlgEeCYfbnxVSyZ9g"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_zM37sRwjEeGa5bH_RJFzBQ" x="111" y="36"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_aG5SkKlgEeCYfbnxVSyZ9g"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_qC38MRwhEeGa5bH_RJFzBQ" x="1800" y="30" width="121" height="85"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_MalMMBwiEeGa5bH_RJFzBQ" type="2073" fontName="Ubuntu" fontHeight="7" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MalMMhwiEeGa5bH_RJFzBQ" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MalMMxwiEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MalMNBwiEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MalMNRwiEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MalMNhwiEeGa5bH_RJFzBQ" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MalMNxwiEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_MalMOBwiEeGa5bH_RJFzBQ" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_MalMORwiEeGa5bH_RJFzBQ" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_MalMOhwiEeGa5bH_RJFzBQ"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MalMOxwiEeGa5bH_RJFzBQ"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_RsopwBwkEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_RsopwhwkEeGa5bH_RJFzBQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_RsopwxwkEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_RsopxBwkEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_RsopxRwkEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_RsopxhwkEeGa5bH_RJFzBQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_RspQ0BwkEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_RsrGABwkEeGa5bH_RJFzBQ" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_RtvdABwkEeGa5bH_RJFzBQ" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_RtvdARwkEeGa5bH_RJFzBQ" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_RtvdAhwkEeGa5bH_RJFzBQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_RtvdAxwkEeGa5bH_RJFzBQ" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_RtvdBBwkEeGa5bH_RJFzBQ" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_RspQ0RwkEeGa5bH_RJFzBQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_RspQ0hwkEeGa5bH_RJFzBQ" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_RspQ0xwkEeGa5bH_RJFzBQ" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_RspQ1BwkEeGa5bH_RJFzBQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_Rsb1cBwkEeGa5bH_RJFzBQ"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_RsopwRwkEeGa5bH_RJFzBQ" x="-10" y="56" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_W2mNMBwkEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_W2mNMhwkEeGa5bH_RJFzBQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W2mNMxwkEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_W2mNNBwkEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W2mNNRwkEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_W2mNNhwkEeGa5bH_RJFzBQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W2mNNxwkEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_W2opcBwkEeGa5bH_RJFzBQ" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W3xR4BwkEeGa5bH_RJFzBQ" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W3xR4RwkEeGa5bH_RJFzBQ" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W3xR4hwkEeGa5bH_RJFzBQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W3xR4xwkEeGa5bH_RJFzBQ" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W3xR5BwkEeGa5bH_RJFzBQ" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_W2mNOBwkEeGa5bH_RJFzBQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_W2mNORwkEeGa5bH_RJFzBQ" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_W2mNOhwkEeGa5bH_RJFzBQ" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_W2mNOxwkEeGa5bH_RJFzBQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_W2W8oBwkEeGa5bH_RJFzBQ"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_W2mNMRwkEeGa5bH_RJFzBQ" x="-10" y="104" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_f6rc0BwkEeGa5bH_RJFzBQ" type="3069" fontName="Ubuntu" fontHeight="7" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_f6sD4BwkEeGa5bH_RJFzBQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_f6sD4RwkEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_f6sD4hwkEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_f6sD4xwkEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_f6sD5BwkEeGa5bH_RJFzBQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_f6sD5RwkEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_f6ugIBwkEeGa5bH_RJFzBQ" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_f71TYBwkEeGa5bH_RJFzBQ" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_f71TYRwkEeGa5bH_RJFzBQ" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_f71TYhwkEeGa5bH_RJFzBQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_f71TYxwkEeGa5bH_RJFzBQ" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_f71TZBwkEeGa5bH_RJFzBQ" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_f6sD5hwkEeGa5bH_RJFzBQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_f6sD5xwkEeGa5bH_RJFzBQ" x="-159" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_f6sD6BwkEeGa5bH_RJFzBQ" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_f6sD6RwkEeGa5bH_RJFzBQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_f6a-IBwkEeGa5bH_RJFzBQ"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_f6rc0RwkEeGa5bH_RJFzBQ" x="363" y="81" width="20" height="20"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_MaVUkBwiEeGa5bH_RJFzBQ"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MalMMRwiEeGa5bH_RJFzBQ" x="1980" y="30" width="373" height="151"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_2p9RIBwkEeGa5bH_RJFzBQ" type="2073" fontName="Ubuntu" fontHeight="7" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_2p94MBwkEeGa5bH_RJFzBQ" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2p94MRwkEeGa5bH_RJFzBQ" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_2p-fQBwkEeGa5bH_RJFzBQ" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2p-fQRwkEeGa5bH_RJFzBQ" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_2p-fQhwkEeGa5bH_RJFzBQ" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2p-fQxwkEeGa5bH_RJFzBQ" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Fp4LsJX4EeGQNuf8-SlVhg" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Fp4LsZX4EeGQNuf8-SlVhg" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FqBVoJX4EeGQNuf8-SlVhg" key="StereotypeList" value="RobotML::Software"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FqBVoZX4EeGQNuf8-SlVhg" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FqBVopX4EeGQNuf8-SlVhg" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FqBVo5X4EeGQNuf8-SlVhg" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_2p-fRBwkEeGa5bH_RJFzBQ" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_2p-fRRwkEeGa5bH_RJFzBQ" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_2p-fRhwkEeGa5bH_RJFzBQ"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_2p-fRxwkEeGa5bH_RJFzBQ"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_07AcABwkEeGa5bH_RJFzBQ"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_2p9RIRwkEeGa5bH_RJFzBQ" x="2410" y="30" width="403" height="229"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_lNOqYB8rEeG4gPCEznVNOA" type="2073" fontName="Ubuntu" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lNPRcB8rEeG4gPCEznVNOA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lNPRcR8rEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lNPRch8rEeG4gPCEznVNOA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lNPRcx8rEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lNPRdB8rEeG4gPCEznVNOA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lNPRdR8rEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_lNPRdh8rEeG4gPCEznVNOA" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_lNPRdx8rEeG4gPCEznVNOA" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_lNPReB8rEeG4gPCEznVNOA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_lNPReR8rEeG4gPCEznVNOA"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_vQgtMB8rEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_vQgtMh8rEeG4gPCEznVNOA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vQgtMx8rEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_vQgtNB8rEeG4gPCEznVNOA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vQgtNR8rEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_vQgtNh8rEeG4gPCEznVNOA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vQgtNx8rEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_vQkXkB8rEeG4gPCEznVNOA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vTFgEB8rEeG4gPCEznVNOA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vTFgER8rEeG4gPCEznVNOA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vTFgEh8rEeG4gPCEznVNOA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vTFgEx8rEeG4gPCEznVNOA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vTFgFB8rEeG4gPCEznVNOA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_vQgtOB8rEeG4gPCEznVNOA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_vQgtOR8rEeG4gPCEznVNOA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_vQhUQB8rEeG4gPCEznVNOA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_vQhUQR8rEeG4gPCEznVNOA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_vQPAYB8rEeG4gPCEznVNOA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_vQgtMR8rEeG4gPCEznVNOA" x="-10" y="52" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_xHT2wB8rEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_xHT2wh8rEeG4gPCEznVNOA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_xHT2wx8rEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_xHT2xB8rEeG4gPCEznVNOA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_xHT2xR8rEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_xHT2xh8rEeG4gPCEznVNOA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_xHUd0B8rEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_xHXhIB8rEeG4gPCEznVNOA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_xKBMgB8rEeG4gPCEznVNOA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_xKBMgR8rEeG4gPCEznVNOA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_xKBzkB8rEeG4gPCEznVNOA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_xKBzkR8rEeG4gPCEznVNOA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_xKBzkh8rEeG4gPCEznVNOA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_xHUd0R8rEeG4gPCEznVNOA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_xHUd0h8rEeG4gPCEznVNOA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_xHUd0x8rEeG4gPCEznVNOA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_xHUd1B8rEeG4gPCEznVNOA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_xHBi4B8rEeG4gPCEznVNOA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_xHT2wR8rEeG4gPCEznVNOA" x="-10" y="80" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_01v3YB8rEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_01wecB8rEeG4gPCEznVNOA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_01wecR8rEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_01wech8rEeG4gPCEznVNOA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_01wecx8rEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_01wedB8rEeG4gPCEznVNOA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_01wedR8rEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_010I0B8rEeG4gPCEznVNOA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_06zWgB8rEeG4gPCEznVNOA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_06zWgR8rEeG4gPCEznVNOA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_06zWgh8rEeG4gPCEznVNOA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_06zWgx8rEeG4gPCEznVNOA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_06zWhB8rEeG4gPCEznVNOA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_01wedh8rEeG4gPCEznVNOA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_01wedx8rEeG4gPCEznVNOA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_01weeB8rEeG4gPCEznVNOA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_01weeR8rEeG4gPCEznVNOA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_01c8cB8rEeG4gPCEznVNOA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_01v3YR8rEeG4gPCEznVNOA" x="-10" y="105" width="20" height="20"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_kdlWIB8rEeG4gPCEznVNOA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_lNOqYR8rEeG4gPCEznVNOA" x="2875" y="30" width="373" height="191"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_dHtt0EHzEeGwG_JKFhyhxw" type="2073" fontName="Ubuntu" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_dHu78EHzEeGwG_JKFhyhxw" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_dHu78UHzEeGwG_JKFhyhxw" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_dHu78kHzEeGwG_JKFhyhxw" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_dHu780HzEeGwG_JKFhyhxw" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_dHu79EHzEeGwG_JKFhyhxw" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_dHu79UHzEeGwG_JKFhyhxw" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_N51HAEH2EeGwG_JKFhyhxw" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OzqSAEH2EeGwG_JKFhyhxw" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Ozq5EEH2EeGwG_JKFhyhxw" key="StereotypeList" value="RobotML::Software"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Ozq5EUH2EeGwG_JKFhyhxw" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Ozq5EkH2EeGwG_JKFhyhxw" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Ozq5E0H2EeGwG_JKFhyhxw" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_dHvjAEHzEeGwG_JKFhyhxw" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_dHvjAUHzEeGwG_JKFhyhxw" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_dHvjAkHzEeGwG_JKFhyhxw"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_dHvjA0HzEeGwG_JKFhyhxw"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_4R8VYEHxEeGGXpGscpkjdg"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_dHtt0UHzEeGwG_JKFhyhxw" x="3310" y="30" width="445" height="345"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_jPmcoEH0EeGwG_JKFhyhxw" type="2073" fontName="Ubuntu" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_jPnDsEH0EeGwG_JKFhyhxw" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jPnDsUH0EeGwG_JKFhyhxw" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_jPnDskH0EeGwG_JKFhyhxw" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jPnDs0H0EeGwG_JKFhyhxw" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_jPnDtEH0EeGwG_JKFhyhxw" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jPnqwEH0EeGwG_JKFhyhxw" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_yjk9AEH0EeGwG_JKFhyhxw" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFD-8CG4EeKBc8qhxlvO_Q" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFD-8SG4EeKBc8qhxlvO_Q" key="StereotypeList" value=",RobotML::Software"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFD-8iG4EeKBc8qhxlvO_Q" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFD-8yG4EeKBc8qhxlvO_Q" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DFD-9CG4EeKBc8qhxlvO_Q" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_jPnqwUH0EeGwG_JKFhyhxw" type="5156">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ugLZAEH0EeGwG_JKFhyhxw" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ugLZAUH0EeGwG_JKFhyhxw" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ugLZAkH0EeGwG_JKFhyhxw" key="StereotypeList" value="RobotML::Software"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ugLZA0H0EeGwG_JKFhyhxw" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ugLZBEH0EeGwG_JKFhyhxw" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ugLZBUH0EeGwG_JKFhyhxw" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+      </children>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_jPnqwkH0EeGwG_JKFhyhxw" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_jPnqw0H0EeGwG_JKFhyhxw"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_jPnqxEH0EeGwG_JKFhyhxw"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_mKAYQEH0EeGwG_JKFhyhxw" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_mKAYQkH0EeGwG_JKFhyhxw" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mKAYQ0H0EeGwG_JKFhyhxw" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_mKA_UEH0EeGwG_JKFhyhxw" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mKA_UUH0EeGwG_JKFhyhxw" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_mKA_UkH0EeGwG_JKFhyhxw" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mKA_U0H0EeGwG_JKFhyhxw" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_mKNMkEH0EeGwG_JKFhyhxw" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mLbUkEH0EeGwG_JKFhyhxw" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mLbUkUH0EeGwG_JKFhyhxw" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mLbUkkH0EeGwG_JKFhyhxw" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mLbUk0H0EeGwG_JKFhyhxw" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mLbUlEH0EeGwG_JKFhyhxw" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_mKA_VEH0EeGwG_JKFhyhxw" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_mKA_VUH0EeGwG_JKFhyhxw" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_mKA_VkH0EeGwG_JKFhyhxw" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_mKA_V0H0EeGwG_JKFhyhxw" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_mJzj8EH0EeGwG_JKFhyhxw"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_mKAYQUH0EeGwG_JKFhyhxw" x="-10" y="94" width="20" height="20"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_irmXsEH0EeGwG_JKFhyhxw"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_jPmcoUH0EeGwG_JKFhyhxw" x="3815" y="30" width="425" height="180"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_glL5wRwhEeGa5bH_RJFzBQ"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_ks9WhX7LEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Model" href="RoboCab.uml#_fdzJx6k_EeCXqcRV-18f6Q"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <element xmi:type="uml:Model" href="RoboCab.uml#_fdzJx6k_EeCXqcRV-18f6Q"/>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_A0k2UB8rEeG4gPCEznVNOA" type="CompositeStructure" name="OrganizerSystemDiagram" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_Cp71cB8rEeG4gPCEznVNOA" type="2073" fontHeight="8" transparency="0" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Cp71cR8rEeG4gPCEznVNOA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Cp71ch8rEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Cp71cx8rEeG4gPCEznVNOA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Cp71dB8rEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Cp71dR8rEeG4gPCEznVNOA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Cp71dh8rEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Cp71dx8rEeG4gPCEznVNOA" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Cp71eB8rEeG4gPCEznVNOA" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Cp71eR8rEeG4gPCEznVNOA" key="StereotypeList" value="RobotML::System"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Cp71eh8rEeG4gPCEznVNOA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Cp71ex8rEeG4gPCEznVNOA" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Cp71fB8rEeG4gPCEznVNOA" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_tC61cKEDEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_OCVFkBwAEeGa5bH_RJFzBQ">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tC61caEDEeKNa6EfGASSWw" key="tooltip_text" value="RobocabDefaultArchitecture"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tC61cqEDEeKNa6EfGASSWw" key="diagram_name" value="RobocabDefaultArchitecture"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tC61c6EDEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_Cp71gR8rEeG4gPCEznVNOA" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_Cp71gh8rEeG4gPCEznVNOA" type="7073">
+        <children xmi:type="notation:Shape" xmi:id="_Gd2L8B8rEeG4gPCEznVNOA" type="3070" fontName="Ubuntu" fillColor="8047085" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Gd2zAB8rEeG4gPCEznVNOA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Gd2zAR8rEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Gd2zAh8rEeG4gPCEznVNOA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Gd2zAx8rEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Gd2zBB8rEeG4gPCEznVNOA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Gd2zBR8rEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_QLfV8B8rEeG4gPCEznVNOA" source="Stereotype_Annotation">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QLfV8R8rEeG4gPCEznVNOA" key="StereotypeWithQualifiedNameList" value=""/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QLfV8h8rEeG4gPCEznVNOA" key="StereotypeList" value=""/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QLfV8x8rEeG4gPCEznVNOA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QLf9AB8rEeG4gPCEznVNOA" key="PropStereoDisplay" value=""/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QLf9AR8rEeG4gPCEznVNOA" key="StereotypePropertyLocation" value="Compartment"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_Gd2zBh8rEeG4gPCEznVNOA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_Gd2zBx8rEeG4gPCEznVNOA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_Gd2zCB8rEeG4gPCEznVNOA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Gd2zCR8rEeG4gPCEznVNOA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_K0xI4B8rEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_K02ocB8rEeG4gPCEznVNOA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_K02ocR8rEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_K02och8rEeG4gPCEznVNOA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_K02ocx8rEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_K03PgB8rEeG4gPCEznVNOA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_K03PgR8rEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_K03Pgh8rEeG4gPCEznVNOA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_K03Pgx8rEeG4gPCEznVNOA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_K03PhB8rEeG4gPCEznVNOA" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_K03PhR8rEeG4gPCEznVNOA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_PhiE4B8pEeG4gPCEznVNOA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_K0xI4R8rEeG4gPCEznVNOA" x="-10" y="42"/>
+          </children>
+          <element xmi:type="uml:Property" href="RoboCab.uml#_Gde_kB8rEeG4gPCEznVNOA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Gd2L8R8rEeG4gPCEznVNOA" x="823" y="175" width="190" height="98"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_qK96QB8sEeG4gPCEznVNOA" type="3070" fontName="Ubuntu" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_qK-hUB8sEeG4gPCEznVNOA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qK-hUR8sEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_qK-hUh8sEeG4gPCEznVNOA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qK-hUx8sEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_qK-hVB8sEeG4gPCEznVNOA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qK-hVR8sEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_qK-hVh8sEeG4gPCEznVNOA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_qK-hVx8sEeG4gPCEznVNOA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_qK-hWB8sEeG4gPCEznVNOA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_qK-hWR8sEeG4gPCEznVNOA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_W-6foB8tEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_W-6foh8tEeG4gPCEznVNOA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W-6fox8tEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_W-6fpB8tEeG4gPCEznVNOA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W-6fpR8tEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_W-6fph8tEeG4gPCEznVNOA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W-7GsB8tEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_W-7GsR8tEeG4gPCEznVNOA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_W-7Gsh8tEeG4gPCEznVNOA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_W-7Gsx8tEeG4gPCEznVNOA" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_W-7GtB8tEeG4gPCEznVNOA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_vQPAYB8rEeG4gPCEznVNOA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_W-6foR8tEeG4gPCEznVNOA" x="-10" y="15"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_W-7GtR8tEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_W-7twB8tEeG4gPCEznVNOA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W-7twR8tEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_W-7twh8tEeG4gPCEznVNOA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W-7twx8tEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_W-7txB8tEeG4gPCEznVNOA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W-7txR8tEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_W-7txh8tEeG4gPCEznVNOA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_W-7txx8tEeG4gPCEznVNOA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_W-7tyB8tEeG4gPCEznVNOA" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_W-7tyR8tEeG4gPCEznVNOA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_xHBi4B8rEeG4gPCEznVNOA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_W-7Gth8tEeG4gPCEznVNOA" x="-10" y="50"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_W-8U0B8tEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_W-8U0h8tEeG4gPCEznVNOA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W-8U0x8tEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_W-874B8tEeG4gPCEznVNOA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W-874R8tEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_W-874h8tEeG4gPCEznVNOA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_W-874x8tEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_W-875B8tEeG4gPCEznVNOA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_W-875R8tEeG4gPCEznVNOA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_W-875h8tEeG4gPCEznVNOA" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_W-875x8tEeG4gPCEznVNOA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_01c8cB8rEeG4gPCEznVNOA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_W-8U0R8tEeG4gPCEznVNOA" x="-10" y="85"/>
+          </children>
+          <element xmi:type="uml:Property" href="RoboCab.uml#_qKrmYB8sEeG4gPCEznVNOA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_qK96QR8sEeG4gPCEznVNOA" x="425" y="367" width="286" height="121"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_F-QwJh8vEeG4gPCEznVNOA" type="3070" fontName="Ubuntu" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_F-QwKB8vEeG4gPCEznVNOA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_F-RXMB8vEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_F-RXMR8vEeG4gPCEznVNOA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_F-RXMh8vEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_F-RXMx8vEeG4gPCEznVNOA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_F-RXNB8vEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_F-RXNR8vEeG4gPCEznVNOA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_F-RXNh8vEeG4gPCEznVNOA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_F-RXNx8vEeG4gPCEznVNOA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_F-RXOB8vEeG4gPCEznVNOA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_MrmK0B8vEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrmK0h8vEeG4gPCEznVNOA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MrmK0x8vEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrmK1B8vEeG4gPCEznVNOA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Mrmx4B8vEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Mrmx4R8vEeG4gPCEznVNOA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Mrmx4h8vEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_Mrmx4x8vEeG4gPCEznVNOA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_Mrmx5B8vEeG4gPCEznVNOA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_Mrmx5R8vEeG4gPCEznVNOA" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_Mrmx5h8vEeG4gPCEznVNOA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzK06k_EeCXqcRV-18f6Q"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MrmK0R8vEeG4gPCEznVNOA" x="-10" y="47"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_Mrmx5x8vEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Mrmx6R8vEeG4gPCEznVNOA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MrnY8B8vEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrnY8R8vEeG4gPCEznVNOA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MrnY8h8vEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrnY8x8vEeG4gPCEznVNOA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MrnY9B8vEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_MrnY9R8vEeG4gPCEznVNOA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_MrnY9h8vEeG4gPCEznVNOA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_MrnY9x8vEeG4gPCEznVNOA" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_MrnY-B8vEeG4gPCEznVNOA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzK36k_EeCXqcRV-18f6Q"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Mrmx6B8vEeG4gPCEznVNOA" x="-11" y="238" width="20" height="20"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_MrnY-R8vEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MroAAB8vEeG4gPCEznVNOA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MroAAR8vEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MroAAh8vEeG4gPCEznVNOA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MroAAx8vEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MroABB8vEeG4gPCEznVNOA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MroABR8vEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_MroABh8vEeG4gPCEznVNOA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_MroABx8vEeG4gPCEznVNOA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_MroACB8vEeG4gPCEznVNOA" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_MroACR8vEeG4gPCEznVNOA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_GJzrUKlbEeCYfbnxVSyZ9g"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MrnY-h8vEeG4gPCEznVNOA" x="-10" y="75"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_MroACh8vEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MronEB8vEeG4gPCEznVNOA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MronER8vEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MronEh8vEeG4gPCEznVNOA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MronEx8vEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MronFB8vEeG4gPCEznVNOA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MronFR8vEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_MronFh8vEeG4gPCEznVNOA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_MronFx8vEeG4gPCEznVNOA" x="-146" y="-22"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_MronGB8vEeG4gPCEznVNOA" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_MronGR8vEeG4gPCEznVNOA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_6VYv4B8rEeG4gPCEznVNOA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MroACx8vEeG4gPCEznVNOA" x="278" y="132"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_MrpOIB8vEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrpOIh8vEeG4gPCEznVNOA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MrpOIx8vEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MrpOJB8vEeG4gPCEznVNOA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Mrp1MB8vEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Mrp1MR8vEeG4gPCEznVNOA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Mrp1Mh8vEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_Mrp1Mx8vEeG4gPCEznVNOA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_Mrp1NB8vEeG4gPCEznVNOA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_Mrp1NR8vEeG4gPCEznVNOA" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_Mrp1Nh8vEeG4gPCEznVNOA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_6oOzYB8rEeG4gPCEznVNOA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MrpOIR8vEeG4gPCEznVNOA" x="-10" y="177"/>
+          </children>
+          <element xmi:type="uml:Property" href="RoboCab.uml#_fdzJzak_EeCXqcRV-18f6Q"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_F-QwJx8vEeG4gPCEznVNOA" x="423" y="90" width="288" height="255"/>
+        </children>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Cp71vx8rEeG4gPCEznVNOA"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_tRe_QB8sEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_tRfmUB8sEeG4gPCEznVNOA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tRfmUR8sEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_tRfmUh8sEeG4gPCEznVNOA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tRfmUx8sEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_tRfmVB8sEeG4gPCEznVNOA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tRfmVR8sEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_tRipoB8sEeG4gPCEznVNOA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tT-5oB8sEeG4gPCEznVNOA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tT-5oR8sEeG4gPCEznVNOA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tT-5oh8sEeG4gPCEznVNOA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tT-5ox8sEeG4gPCEznVNOA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tT_gsB8sEeG4gPCEznVNOA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_tRfmVh8sEeG4gPCEznVNOA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_tRfmVx8sEeG4gPCEznVNOA" x="26" y="-8"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_tRfmWB8sEeG4gPCEznVNOA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_tRfmWR8sEeG4gPCEznVNOA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_tRMrYB8sEeG4gPCEznVNOA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_tRe_QR8sEeG4gPCEznVNOA" x="-10" y="309" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_00tgIB8sEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_00tgIh8sEeG4gPCEznVNOA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_00tgIx8sEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_00uHMB8sEeG4gPCEznVNOA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_00uHMR8sEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_00uHMh8sEeG4gPCEznVNOA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_00uHMx8sEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_00xKgB8sEeG4gPCEznVNOA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_03HT4B8sEeG4gPCEznVNOA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_03HT4R8sEeG4gPCEznVNOA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_03HT4h8sEeG4gPCEznVNOA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_03HT4x8sEeG4gPCEznVNOA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_03HT5B8sEeG4gPCEznVNOA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_00uHNB8sEeG4gPCEznVNOA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_00uHNR8sEeG4gPCEznVNOA" x="25" y="-8"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_00uHNh8sEeG4gPCEznVNOA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_00uHNx8sEeG4gPCEznVNOA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_00caYB8sEeG4gPCEznVNOA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_00tgIR8sEeG4gPCEznVNOA" x="-10" y="366" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_vQRYcDUrEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_vQR_gDUrEeG5pL_fpN2DgQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vQR_gTUrEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_vQR_gjUrEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vQR_gzUrEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_vQR_hDUrEeG5pL_fpN2DgQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vQR_hTUrEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_vQVC0DUrEeG5pL_fpN2DgQ" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vSg0IDUrEeG5pL_fpN2DgQ" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vSg0ITUrEeG5pL_fpN2DgQ" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vSg0IjUrEeG5pL_fpN2DgQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vSg0IzUrEeG5pL_fpN2DgQ" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vSg0JDUrEeG5pL_fpN2DgQ" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_vQR_hjUrEeG5pL_fpN2DgQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_vQR_hzUrEeG5pL_fpN2DgQ" x="25" y="-5"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_vQR_iDUrEeG5pL_fpN2DgQ" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_vQR_iTUrEeG5pL_fpN2DgQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_vP_roDUrEeG5pL_fpN2DgQ"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_vQRYcTUrEeG5pL_fpN2DgQ" x="-10" y="181" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="__VBOcDUrEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__VBOcjUrEeG5pL_fpN2DgQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__VBOczUrEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__VBOdDUrEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__VBOdTUrEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__VBOdjUrEeG5pL_fpN2DgQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__VBOdzUrEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__VE40DUrEeG5pL_fpN2DgQ" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__XPcADUrEeG5pL_fpN2DgQ" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__XPcATUrEeG5pL_fpN2DgQ" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__XPcAjUrEeG5pL_fpN2DgQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__XPcAzUrEeG5pL_fpN2DgQ" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__XPcBDUrEeG5pL_fpN2DgQ" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="__VBOeDUrEeG5pL_fpN2DgQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="__VB1gDUrEeG5pL_fpN2DgQ" x="25" y="-4"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="__VB1gTUrEeG5pL_fpN2DgQ" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="__VB1gjUrEeG5pL_fpN2DgQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#__UwIsDUrEeG5pL_fpN2DgQ"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="__VBOcTUrEeG5pL_fpN2DgQ" x="-10" y="270" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="__vx30DUrEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__vye4DUrEeG5pL_fpN2DgQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__vye4TUrEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__vye4jUrEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__vye4zUrEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__vye5DUrEeG5pL_fpN2DgQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__vye5TUrEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__v2JQDUrEeG5pL_fpN2DgQ" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__x4woDUrEeG5pL_fpN2DgQ" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__x4woTUrEeG5pL_fpN2DgQ" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__x4wojUrEeG5pL_fpN2DgQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__x4wozUrEeG5pL_fpN2DgQ" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__x4wpDUrEeG5pL_fpN2DgQ" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="__vye5jUrEeG5pL_fpN2DgQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="__vye5zUrEeG5pL_fpN2DgQ" x="25" y="-1"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="__vzF8DUrEeG5pL_fpN2DgQ" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="__vzF8TUrEeG5pL_fpN2DgQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#__vhZIDUrEeG5pL_fpN2DgQ"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="__vx30TUrEeG5pL_fpN2DgQ" x="-10" y="212" width="20" height="20"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_fdzJyKk_EeCXqcRV-18f6Q"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Cp71wB8rEeG4gPCEznVNOA" x="-70" y="34" width="1039" height="602"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_A0k2UR8rEeG4gPCEznVNOA"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_ks9Whn7LEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Model" href="RoboCab.uml#_fdzJx6k_EeCXqcRV-18f6Q"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <element xmi:type="uml:Model" href="RoboCab.uml#_fdzJx6k_EeCXqcRV-18f6Q"/>
+    <edges xmi:type="notation:Connector" xmi:id="_cbZWcB8tEeG4gPCEznVNOA" type="4013" source="_00tgIB8sEeG4gPCEznVNOA" target="_W-8U0B8tEeG4gPCEznVNOA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_cbZWcx8tEeG4gPCEznVNOA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_cbZWdB8tEeG4gPCEznVNOA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_cbZ9gB8tEeG4gPCEznVNOA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_cbZ9gR8tEeG4gPCEznVNOA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_cbZ9gh8tEeG4gPCEznVNOA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_cbZ9gx8tEeG4gPCEznVNOA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_cbZ9hB8tEeG4gPCEznVNOA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_cbZ9hR8tEeG4gPCEznVNOA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_cbZWcR8tEeG4gPCEznVNOA" fontName="Ubuntu"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_cbA78B8tEeG4gPCEznVNOA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_cbZWch8tEeG4gPCEznVNOA" points="[10, 0, -420, -140]$[80, 0, -350, -140]$[225, 0, -205, -140]$[225, 140, -205, 0]$[420, 140, -10, 0]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_UOetcB8vEeG4gPCEznVNOA" type="4013" source="_00tgIB8sEeG4gPCEznVNOA" target="_Mrmx5x8vEeG4gPCEznVNOA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_UOfUgB8vEeG4gPCEznVNOA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_UOfUgR8vEeG4gPCEznVNOA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_UOfUgh8vEeG4gPCEznVNOA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_UOfUgx8vEeG4gPCEznVNOA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_UOfUhB8vEeG4gPCEznVNOA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_UOfUhR8vEeG4gPCEznVNOA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_UOfUhh8vEeG4gPCEznVNOA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_UOfUhx8vEeG4gPCEznVNOA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_UOetcR8vEeG4gPCEznVNOA" fontName="Ubuntu"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_UOGS8B8vEeG4gPCEznVNOA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_UOetch8vEeG4gPCEznVNOA" points="[10, -2, -490, 86]$[497, -78, -3, 10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_VclfUB8vEeG4gPCEznVNOA" type="4013" source="_tRe_QB8sEeG4gPCEznVNOA" target="_MrpOIB8vEeG4gPCEznVNOA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_VclfUx8vEeG4gPCEznVNOA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_VclfVB8vEeG4gPCEznVNOA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_VclfVR8vEeG4gPCEznVNOA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_VclfVh8vEeG4gPCEznVNOA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_VclfVx8vEeG4gPCEznVNOA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_VcmGYB8vEeG4gPCEznVNOA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_VcmGYR8vEeG4gPCEznVNOA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_VcmGYh8vEeG4gPCEznVNOA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_VclfUR8vEeG4gPCEznVNOA" fontName="Ubuntu"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_VcOS8B8vEeG4gPCEznVNOA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_VclfUh8vEeG4gPCEznVNOA" points="[10, -3, -418, 0]$[95, -3, -333, 0]$[418, -3, -10, 0]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_XotYoB8vEeG4gPCEznVNOA" type="4013" source="_MroACh8vEeG4gPCEznVNOA" target="_K0xI4B8rEeG4gPCEznVNOA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_Xot_sB8vEeG4gPCEznVNOA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_Xot_sR8vEeG4gPCEznVNOA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_Xot_sh8vEeG4gPCEznVNOA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_Xot_sx8vEeG4gPCEznVNOA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_Xot_tB8vEeG4gPCEznVNOA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_Xot_tR8vEeG4gPCEznVNOA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_Xot_th8vEeG4gPCEznVNOA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_Xot_tx8vEeG4gPCEznVNOA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_XotYoR8vEeG4gPCEznVNOA" fontName="Ubuntu"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_XoXaYB8vEeG4gPCEznVNOA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_XotYoh8vEeG4gPCEznVNOA" points="[10, -2, -101, -2]$[111, -10, 0, -10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_LteY4DUsEeG5pL_fpN2DgQ" type="4013" source="__VBOcDUrEeG5pL_fpN2DgQ" target="_W-7GtR8tEeG4gPCEznVNOA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_Lte_8DUsEeG5pL_fpN2DgQ" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_Lte_8TUsEeG5pL_fpN2DgQ" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_Lte_8jUsEeG5pL_fpN2DgQ" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_Lte_8zUsEeG5pL_fpN2DgQ" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_Lte_9DUsEeG5pL_fpN2DgQ" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_Lte_9TUsEeG5pL_fpN2DgQ" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_LtfnADUsEeG5pL_fpN2DgQ" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_LtfnATUsEeG5pL_fpN2DgQ" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_LteY4TUsEeG5pL_fpN2DgQ" fontName="Ubuntu"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_LtN6MDUsEeG5pL_fpN2DgQ"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_LteY4jUsEeG5pL_fpN2DgQ" points="[10, 0, -420, -186]$[245, 0, -185, -186]$[245, 186, -185, 0]$[420, 186, -10, 0]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_RC7aoDUsEeG5pL_fpN2DgQ" type="4013" source="_W-6foB8tEeG4gPCEznVNOA" target="_vQRYcDUrEeG5pL_fpN2DgQ" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_RC8BsDUsEeG5pL_fpN2DgQ" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_RC8BsTUsEeG5pL_fpN2DgQ" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_RC8BsjUsEeG5pL_fpN2DgQ" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_RC8BszUsEeG5pL_fpN2DgQ" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_RC8BtDUsEeG5pL_fpN2DgQ" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_RC8BtTUsEeG5pL_fpN2DgQ" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_RC8BtjUsEeG5pL_fpN2DgQ" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_RC8BtzUsEeG5pL_fpN2DgQ" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_RC7aoTUsEeG5pL_fpN2DgQ" fontName="Ubuntu"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_RCtYMDUsEeG5pL_fpN2DgQ"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_RC7aojUsEeG5pL_fpN2DgQ" points="[-10, 0, 420, 240]$[-155, 0, 275, 240]$[-155, -240, 275, 0]$[-420, -240, 10, 0]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_RyAHIDUsEeG5pL_fpN2DgQ" type="4013" source="__vx30DUrEeG5pL_fpN2DgQ" target="_MrnY-R8vEeG4gPCEznVNOA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_RyAHIzUsEeG5pL_fpN2DgQ" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_RyAHJDUsEeG5pL_fpN2DgQ" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_RyAHJTUsEeG5pL_fpN2DgQ" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_RyAHJjUsEeG5pL_fpN2DgQ" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_RyAuMDUsEeG5pL_fpN2DgQ" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_RyAuMTUsEeG5pL_fpN2DgQ" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_RyAuMjUsEeG5pL_fpN2DgQ" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_RyAuMzUsEeG5pL_fpN2DgQ" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_RyAHITUsEeG5pL_fpN2DgQ" fontName="Ubuntu"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_RxvBYDUsEeG5pL_fpN2DgQ"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_RyAHIjUsEeG5pL_fpN2DgQ" points="[10, -1, -418, 12]$[426, -23, -2, -10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_SZxRwDUsEeG5pL_fpN2DgQ" type="4013" source="_vQRYcDUrEeG5pL_fpN2DgQ" target="_MrmK0B8vEeG4gPCEznVNOA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_SZx40jUsEeG5pL_fpN2DgQ" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_SZx40zUsEeG5pL_fpN2DgQ" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_SZx41DUsEeG5pL_fpN2DgQ" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_SZx41TUsEeG5pL_fpN2DgQ" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_SZx41jUsEeG5pL_fpN2DgQ" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_SZx41zUsEeG5pL_fpN2DgQ" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_SZyf4DUsEeG5pL_fpN2DgQ" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_SZyf4TUsEeG5pL_fpN2DgQ" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_SZx40DUsEeG5pL_fpN2DgQ" fontName="Ubuntu"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_SZiBMDUsEeG5pL_fpN2DgQ"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_SZx40TUsEeG5pL_fpN2DgQ" points="[10, -8, -418, 1]$[433, 1, 5, 10]"/>
+    </edges>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_O43JEB8uEeG4gPCEznVNOA" type="CompositeStructure" name="ChallengerSpaceDiagram" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_REnO8B8uEeG4gPCEznVNOA" type="2073" fontHeight="8" transparency="0" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnO8R8uEeG4gPCEznVNOA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnO8h8uEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnO8x8uEeG4gPCEznVNOA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnO9B8uEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnO9R8uEeG4gPCEznVNOA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnO9h8uEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MaxIcKEMEeKLUqX9IJq2Gg" source="PapyrusHyperLink_Diagram" references="_OCVFkBwAEeGa5bH_RJFzBQ">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MaxIcaEMEeKLUqX9IJq2Gg" key="tooltip_text" value="RobocabDefaultArchitecture"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MaxIcqEMEeKLUqX9IJq2Gg" key="diagram_name" value="RobocabDefaultArchitecture"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MaxIc6EMEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_REnO_R8uEeG4gPCEznVNOA" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_REnO_h8uEeG4gPCEznVNOA" type="7073">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_COLYoKEMEeKLUqX9IJq2Gg" source="PapyrusHyperLink_Diagram" references="_O43JEB8uEeG4gPCEznVNOA">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_COLYoaEMEeKLUqX9IJq2Gg" key="tooltip_text" value="ChallengerSpaceDiagram"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_COLYoqEMEeKLUqX9IJq2Gg" key="diagram_name" value="ChallengerSpaceDiagram"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_COLYo6EMEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
+        </eAnnotations>
+        <children xmi:type="notation:Shape" xmi:id="_REnPCx8uEeG4gPCEznVNOA" type="3070" fontName="Ubuntu" fontHeight="7" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnPDB8uEeG4gPCEznVNOA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnPDR8uEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnPDh8uEeG4gPCEznVNOA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnPDx8uEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnPEB8uEeG4gPCEznVNOA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnPER8uEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_REnPEh8uEeG4gPCEznVNOA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_REnPEx8uEeG4gPCEznVNOA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_REnPFB8uEeG4gPCEznVNOA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_REnPFR8uEeG4gPCEznVNOA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_ChLOEGbUEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ChLOEmbUEeGGNuX1IHg1zg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ChLOE2bUEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ChLOFGbUEeGGNuX1IHg1zg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ChLOFWbUEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ChLOFmbUEeGGNuX1IHg1zg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ChLOF2bUEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_ChLOGGbUEeGGNuX1IHg1zg" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_ChLOGWbUEeGGNuX1IHg1zg" x="20" y="15"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_ChLOGmbUEeGGNuX1IHg1zg" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_ChLOG2bUEeGGNuX1IHg1zg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_Rsb1cBwkEeGa5bH_RJFzBQ"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ChLOEWbUEeGGNuX1IHg1zg" x="-11" y="68" width="20" height="20"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_ChLOHGbUEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ChLOHmbUEeGGNuX1IHg1zg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ChLOH2bUEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ChLOIGbUEeGGNuX1IHg1zg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ChLOIWbUEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ChLOImbUEeGGNuX1IHg1zg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ChLOI2bUEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_ChLOJGbUEeGGNuX1IHg1zg" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_ChLOJWbUEeGGNuX1IHg1zg" x="25" y="5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_ChLOJmbUEeGGNuX1IHg1zg" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_ChLOJ2bUEeGGNuX1IHg1zg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_W2W8oBwkEeGa5bH_RJFzBQ"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ChLOHWbUEeGGNuX1IHg1zg" x="-10" y="25"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_ChLOKGbUEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ChLOKmbUEeGGNuX1IHg1zg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ChLOK2bUEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ChLOLGbUEeGGNuX1IHg1zg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ChLOLWbUEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ChLOLmbUEeGGNuX1IHg1zg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ChLOL2bUEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_ChLOMGbUEeGGNuX1IHg1zg" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_ChLOMWbUEeGGNuX1IHg1zg" x="-131" y="5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_ChLOMmbUEeGGNuX1IHg1zg" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_ChLOM2bUEeGGNuX1IHg1zg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_f6a-IBwkEeGa5bH_RJFzBQ"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ChLOKWbUEeGGNuX1IHg1zg" x="206" y="47"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_oNfHQrU4EeWmy72C-w00OQ" type="6054">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_oNfHQ7U4EeWmy72C-w00OQ" y="5"/>
+          </children>
+          <element xmi:type="uml:Property" href="RoboCab.uml#_fdzLJ6k_EeCXqcRV-18f6Q"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_REnPFh8uEeG4gPCEznVNOA" x="435" y="388" width="216" height="96"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_REnPFx8uEeG4gPCEznVNOA" type="3070" fontName="Ubuntu" fontHeight="7" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnPGB8uEeG4gPCEznVNOA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnPGR8uEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnPGh8uEeG4gPCEznVNOA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnPGx8uEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnPHB8uEeG4gPCEznVNOA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnPHR8uEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_REnPHh8uEeG4gPCEznVNOA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_REnPHx8uEeG4gPCEznVNOA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_REnPIB8uEeG4gPCEznVNOA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_REnPIR8uEeG4gPCEznVNOA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_HSgPEGbUEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSgPEmbUEeGGNuX1IHg1zg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSgPE2bUEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSgPFGbUEeGGNuX1IHg1zg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSgPFWbUEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSgPFmbUEeGGNuX1IHg1zg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSgPF2bUEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_HSgPGGbUEeGGNuX1IHg1zg" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_LEM_EGbUEeGGNuX1IHg1zg" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_LM_usGbUEeGGNuX1IHg1zg" key="CustomAppearance_MaskValue" value="52"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_HSgPGWbUEeGGNuX1IHg1zg" x="20"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_HSgPGmbUEeGGNuX1IHg1zg" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_HSgPG2bUEeGGNuX1IHg1zg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzKI6k_EeCXqcRV-18f6Q"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_HSgPEWbUEeGGNuX1IHg1zg" x="-11" y="84" width="20" height="20"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_HSgPHGbUEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSgPHmbUEeGGNuX1IHg1zg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSgPH2bUEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSgPIGbUEeGGNuX1IHg1zg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSgPIWbUEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSgPImbUEeGGNuX1IHg1zg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSgPI2bUEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_HSgPJGbUEeGGNuX1IHg1zg" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_JmnmwGbUEeGGNuX1IHg1zg" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OHtMUGbUEeGGNuX1IHg1zg" key="CustomAppearance_MaskValue" value="60"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_HSgPJWbUEeGGNuX1IHg1zg" x="15" y="-13"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_HSgPJmbUEeGGNuX1IHg1zg" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_HSgPJ2bUEeGGNuX1IHg1zg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzKJ6k_EeCXqcRV-18f6Q"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_HSgPHWbUEeGGNuX1IHg1zg" x="-11" y="49" width="20" height="20"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_HSgPKGbUEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSgPKmbUEeGGNuX1IHg1zg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSgPK2bUEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSgPLGbUEeGGNuX1IHg1zg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSgPLWbUEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSgPLmbUEeGGNuX1IHg1zg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSgPL2bUEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_HSgPMGbUEeGGNuX1IHg1zg" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NdYc8GbUEeGGNuX1IHg1zg" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NoQ3QGbUEeGGNuX1IHg1zg" key="CustomAppearance_MaskValue" value="52"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_HSgPMWbUEeGGNuX1IHg1zg" x="-146" y="27"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_HSgPMmbUEeGGNuX1IHg1zg" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_HSgPM2bUEeGGNuX1IHg1zg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzKK6k_EeCXqcRV-18f6Q"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_HSgPKWbUEeGGNuX1IHg1zg" x="176" y="35"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_HSgPNGbUEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSgPNmbUEeGGNuX1IHg1zg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSgPN2bUEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSgPOGbUEeGGNuX1IHg1zg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSgPOWbUEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSgPOmbUEeGGNuX1IHg1zg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSgPO2bUEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_HSgPPGbUEeGGNuX1IHg1zg" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MAQXoGbUEeGGNuX1IHg1zg" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MumEUGbUEeGGNuX1IHg1zg" key="CustomAppearance_MaskValue" value="60"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_HSgPPWbUEeGGNuX1IHg1zg" x="-111" y="2"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_HSgPPmbUEeGGNuX1IHg1zg" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_HSgPP2bUEeGGNuX1IHg1zg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzKL6k_EeCXqcRV-18f6Q"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_HSgPNWbUEeGGNuX1IHg1zg" x="175" y="99" width="20" height="20"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_oNfHRLU4EeWmy72C-w00OQ" type="6054">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_oNfHRbU4EeWmy72C-w00OQ" y="5"/>
+          </children>
+          <element xmi:type="uml:Property" href="RoboCab.uml#_fdzLQqk_EeCXqcRV-18f6Q"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_REnPIh8uEeG4gPCEznVNOA" x="215" y="213" width="186" height="131"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_REnPIx8uEeG4gPCEznVNOA" type="3070" fontName="Ubuntu" fontHeight="7" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnPJB8uEeG4gPCEznVNOA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnPJR8uEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnPJh8uEeG4gPCEznVNOA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnPJx8uEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnPKB8uEeG4gPCEznVNOA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnPKR8uEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_REnPKh8uEeG4gPCEznVNOA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_REnPKx8uEeG4gPCEznVNOA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_REnPLB8uEeG4gPCEznVNOA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_REnPLR8uEeG4gPCEznVNOA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="__qpF0GbTEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__qpF0mbTEeGGNuX1IHg1zg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__qpF02bTEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__qpF1GbTEeGGNuX1IHg1zg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__qpF1WbTEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__qpF1mbTEeGGNuX1IHg1zg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__qpF12bTEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="__qpF2GbTEeGGNuX1IHg1zg" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HlAe4GbVEeGGNuX1IHg1zg" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HwVlIGbVEeGGNuX1IHg1zg" key="CustomAppearance_MaskValue" value="52"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="__qpF2WbTEeGGNuX1IHg1zg" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="__qpF2mbTEeGGNuX1IHg1zg" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="__qpF22bTEeGGNuX1IHg1zg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzKZak_EeCXqcRV-18f6Q"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="__qpF0WbTEeGGNuX1IHg1zg" x="-10" y="25"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="__qpF3GbTEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__qpF3mbTEeGGNuX1IHg1zg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__qpF32bTEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__qpF4GbTEeGGNuX1IHg1zg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__qpF4WbTEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__qpF4mbTEeGGNuX1IHg1zg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__qpF42bTEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="__qpF5GbTEeGGNuX1IHg1zg" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_IMNBwGbVEeGGNuX1IHg1zg" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_IUZUcGbVEeGGNuX1IHg1zg" key="CustomAppearance_MaskValue" value="52"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="__qpF5WbTEeGGNuX1IHg1zg" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="__qpF5mbTEeGGNuX1IHg1zg" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="__qpF52bTEeGGNuX1IHg1zg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzKaak_EeCXqcRV-18f6Q"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="__qpF3WbTEeGGNuX1IHg1zg" x="-10" y="120"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="__qpF6GbTEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__qpF6mbTEeGGNuX1IHg1zg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__qpF62bTEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__qpF7GbTEeGGNuX1IHg1zg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__qpF7WbTEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__qpF7mbTEeGGNuX1IHg1zg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__qpF72bTEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="__qpF8GbTEeGGNuX1IHg1zg" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Ks-8cGbVEeGGNuX1IHg1zg" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_K1L2MGbVEeGGNuX1IHg1zg" key="CustomAppearance_MaskValue" value="52"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="__qpF8WbTEeGGNuX1IHg1zg" x="-116" y="15"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="__qpF8mbTEeGGNuX1IHg1zg" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="__qpF82bTEeGGNuX1IHg1zg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzKcak_EeCXqcRV-18f6Q"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="__qpF6WbTEeGGNuX1IHg1zg" x="221" y="40"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="__qpF9GbTEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__qpF9mbTEeGGNuX1IHg1zg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__qpF92bTEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__qpF-GbTEeGGNuX1IHg1zg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__qpF-WbTEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__qpF-mbTEeGGNuX1IHg1zg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__qpF-2bTEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="__qpF_GbTEeGGNuX1IHg1zg" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Iw3OAGbVEeGGNuX1IHg1zg" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_I4m0wGbVEeGGNuX1IHg1zg" key="CustomAppearance_MaskValue" value="52"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="__qpF_WbTEeGGNuX1IHg1zg" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="__qpF_mbTEeGGNuX1IHg1zg" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="__qpF_2bTEeGGNuX1IHg1zg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_gFYxYB8sEeG4gPCEznVNOA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="__qpF9WbTEeGGNuX1IHg1zg" x="-10" y="85"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_oNfuULU4EeWmy72C-w00OQ" type="6054">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_oNfuUbU4EeWmy72C-w00OQ" y="5"/>
+          </children>
+          <element xmi:type="uml:Property" href="RoboCab.uml#_fdzLRqk_EeCXqcRV-18f6Q"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_REnPXh8uEeG4gPCEznVNOA" x="715" y="228" width="231" height="151"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_REnPXx8uEeG4gPCEznVNOA" type="3070" fontName="Ubuntu" fontHeight="7" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnPYB8uEeG4gPCEznVNOA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnPYR8uEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnPYh8uEeG4gPCEznVNOA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnPYx8uEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REnPZB8uEeG4gPCEznVNOA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REnPZR8uEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_REnPZh8uEeG4gPCEznVNOA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_REnPZx8uEeG4gPCEznVNOA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_REnPaB8uEeG4gPCEznVNOA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_REnPaR8uEeG4gPCEznVNOA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_gVPJMGbTEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6MGbTEeGGNuX1IHg1zg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6MWbTEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6MmbTEeGGNuX1IHg1zg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6M2bTEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6NGbTEeGGNuX1IHg1zg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6NWbTEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_gVY6NmbTEeGGNuX1IHg1zg" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_gVY6N2bTEeGGNuX1IHg1zg" x="20" y="5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_gVY6OGbTEeGGNuX1IHg1zg" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_gVY6OWbTEeGGNuX1IHg1zg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzK6ak_EeCXqcRV-18f6Q"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_gVPJMWbTEeGGNuX1IHg1zg" x="-10" y="145"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_gVY6OmbTEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6PGbTEeGGNuX1IHg1zg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6PWbTEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6PmbTEeGGNuX1IHg1zg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6P2bTEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6QGbTEeGGNuX1IHg1zg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6QWbTEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_gVY6QmbTEeGGNuX1IHg1zg" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_rPRi8GbVEeGGNuX1IHg1zg" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_rYESkGbVEeGGNuX1IHg1zg" key="CustomAppearance_MaskValue" value="52"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_gVY6Q2bTEeGGNuX1IHg1zg" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_gVY6RGbTEeGGNuX1IHg1zg" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_gVY6RWbTEeGGNuX1IHg1zg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzK9ak_EeCXqcRV-18f6Q"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_gVY6O2bTEeGGNuX1IHg1zg" x="-11" y="229" width="20" height="20"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_gVY6RmbTEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6SGbTEeGGNuX1IHg1zg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6SWbTEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6SmbTEeGGNuX1IHg1zg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6S2bTEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6TGbTEeGGNuX1IHg1zg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6TWbTEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_gVY6TmbTEeGGNuX1IHg1zg" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_vwcS8GbTEeGGNuX1IHg1zg" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_wOikMGbTEeGGNuX1IHg1zg" key="CustomAppearance_MaskValue" value="52"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_gVY6T2bTEeGGNuX1IHg1zg" x="-81" y="5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_gVY6UGbTEeGGNuX1IHg1zg" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_gVY6UWbTEeGGNuX1IHg1zg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_fdzK-ak_EeCXqcRV-18f6Q"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_gVY6R2bTEeGGNuX1IHg1zg" x="225" y="234" width="20" height="20"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_gVY6UmbTEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6VGbTEeGGNuX1IHg1zg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6VWbTEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6VmbTEeGGNuX1IHg1zg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6V2bTEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6WGbTEeGGNuX1IHg1zg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6WWbTEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_gVY6WmbTEeGGNuX1IHg1zg" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_gVY6W2bTEeGGNuX1IHg1zg" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_gVY6XGbTEeGGNuX1IHg1zg" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_gVY6XWbTEeGGNuX1IHg1zg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_UIObEKloEeCLku4RFrI7uw"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_gVY6U2bTEeGGNuX1IHg1zg" x="-11" y="113" width="20" height="20"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_gVY6XmbTEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6YGbTEeGGNuX1IHg1zg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6YWbTEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6YmbTEeGGNuX1IHg1zg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6Y2bTEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6ZGbTEeGGNuX1IHg1zg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6ZWbTEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_gVY6ZmbTEeGGNuX1IHg1zg" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_gVY6Z2bTEeGGNuX1IHg1zg" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_gVY6aGbTEeGGNuX1IHg1zg" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_gVY6aWbTEeGGNuX1IHg1zg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_UegmIDUrEeG5pL_fpN2DgQ"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_gVY6X2bTEeGGNuX1IHg1zg" x="-11" y="43" width="20" height="20"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_gVY6ambTEeGGNuX1IHg1zg" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6bGbTEeGGNuX1IHg1zg" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6bWbTEeGGNuX1IHg1zg" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6bmbTEeGGNuX1IHg1zg" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6b2bTEeGGNuX1IHg1zg" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gVY6cGbTEeGGNuX1IHg1zg" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gVY6cWbTEeGGNuX1IHg1zg" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_gVY6cmbTEeGGNuX1IHg1zg" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_gVY6c2bTEeGGNuX1IHg1zg" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_gVY6dGbTEeGGNuX1IHg1zg" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_gVY6dWbTEeGGNuX1IHg1zg" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="RoboCab.uml#_beSbsDUrEeG5pL_fpN2DgQ"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_gVY6a2bTEeGGNuX1IHg1zg" x="-10" y="75"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_oNfuUrU4EeWmy72C-w00OQ" type="6054">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_oNfuU7U4EeWmy72C-w00OQ" y="5"/>
+          </children>
+          <element xmi:type="uml:Property" href="RoboCab.uml#_fdzLSqk_EeCXqcRV-18f6Q"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_REnPah8uEeG4gPCEznVNOA" x="435" y="18" width="236" height="266"/>
+        </children>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_REnPdx8uEeG4gPCEznVNOA"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_REn2Ax8uEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REn2BB8uEeG4gPCEznVNOA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REn2BR8uEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REn2Bh8uEeG4gPCEznVNOA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REn2Bx8uEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REn2CB8uEeG4gPCEznVNOA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REn2CR8uEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_REn2Ch8uEeG4gPCEznVNOA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_REn2Cx8uEeG4gPCEznVNOA" x="25" y="-4"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_REn2DB8uEeG4gPCEznVNOA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_REn2DR8uEeG4gPCEznVNOA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_fdzLNqk_EeCXqcRV-18f6Q"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_REn2Dh8uEeG4gPCEznVNOA" x="-10" y="335" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_REn2Dx8uEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REn2EB8uEeG4gPCEznVNOA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REn2ER8uEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REn2Eh8uEeG4gPCEznVNOA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REn2Ex8uEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REn2FB8uEeG4gPCEznVNOA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REn2FR8uEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_REn2Fh8uEeG4gPCEznVNOA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_REn2Fx8uEeG4gPCEznVNOA" x="25" y="-9"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_REn2GB8uEeG4gPCEznVNOA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_REn2GR8uEeG4gPCEznVNOA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_LA8qUKlkEeCLku4RFrI7uw"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_REn2Gh8uEeG4gPCEznVNOA" x="-11" y="169" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_REn2Jx8uEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REn2KB8uEeG4gPCEznVNOA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REn2KR8uEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REn2Kh8uEeG4gPCEznVNOA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REn2Kx8uEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REn2LB8uEeG4gPCEznVNOA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_REn2LR8uEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_REn2Lh8uEeG4gPCEznVNOA" visible="false" type="5125">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_gXgkoGbUEeGGNuX1IHg1zg" source="CustomAppearance_Annotation">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_gjbgwGbUEeGGNuX1IHg1zg" key="CustomAppearance_MaskValue" value="52"/>
+          </eAnnotations>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_REn2Lx8uEeG4gPCEznVNOA" x="-136" y="10"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_REn2MB8uEeG4gPCEznVNOA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_REn2MR8uEeG4gPCEznVNOA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_ImFDAKlnEeCLku4RFrI7uw"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_REn2Mh8uEeG4gPCEznVNOA" x="1050" y="304" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_eguZUB8vEeG4gPCEznVNOA" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_egvAYB8vEeG4gPCEznVNOA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_egvAYR8vEeG4gPCEznVNOA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_egvAYh8vEeG4gPCEznVNOA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_egvAYx8vEeG4gPCEznVNOA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_egvAZB8vEeG4gPCEznVNOA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_egvAZR8vEeG4gPCEznVNOA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_egvAZh8vEeG4gPCEznVNOA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_egvAZx8vEeG4gPCEznVNOA" x="20" y="-9"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_egvAaB8vEeG4gPCEznVNOA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_egvAaR8vEeG4gPCEznVNOA" x="45" y="-14"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_egSUcB8vEeG4gPCEznVNOA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_eguZUR8vEeG4gPCEznVNOA" x="-11" y="99" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_Fg5CMB8wEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Fg5pQB8wEeGetOLfkLNwfg" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Fg5pQR8wEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Fg5pQh8wEeGetOLfkLNwfg" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Fg6QUB8wEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Fg6QUR8wEeGetOLfkLNwfg" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Fg6QUh8wEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_Fg6QUx8wEeGetOLfkLNwfg" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_Fg6QVB8wEeGetOLfkLNwfg" x="20" y="-4"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_Fg6QVR8wEeGetOLfkLNwfg" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_Fg6QVh8wEeGetOLfkLNwfg" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_FgbvMB8wEeGetOLfkLNwfg"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Fg5CMR8wEeGetOLfkLNwfg" x="-11" y="494" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_NkY-kB8wEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NkZloB8wEeGetOLfkLNwfg" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NkZloR8wEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NkZloh8wEeGetOLfkLNwfg" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NkZlox8wEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NkZlpB8wEeGetOLfkLNwfg" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NkZlpR8wEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_NkZlph8wEeGetOLfkLNwfg" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_NkZlpx8wEeGetOLfkLNwfg" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_NkZlqB8wEeGetOLfkLNwfg" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_NkZlqR8wEeGetOLfkLNwfg" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_NkEOcB8wEeGetOLfkLNwfg"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_NkY-kR8wEeGetOLfkLNwfg" x="-10" y="68" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_WZ4_oB8wEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_WZ5msB8wEeGetOLfkLNwfg" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_WZ5msR8wEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_WZ5msh8wEeGetOLfkLNwfg" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_WZ5msx8wEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_WZ5mtB8wEeGetOLfkLNwfg" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_WZ5mtR8wEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_WZ5mth8wEeGetOLfkLNwfg" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_WZ5mtx8wEeGetOLfkLNwfg" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_WZ5muB8wEeGetOLfkLNwfg" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_WZ6NwB8wEeGetOLfkLNwfg" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_WZjocB8wEeGetOLfkLNwfg"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_WZ4_oR8wEeGetOLfkLNwfg" x="-10" y="246" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_x-Ab8B8wEeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_x-Ab8h8wEeGetOLfkLNwfg" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_x-Ab8x8wEeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_x-Ab9B8wEeGetOLfkLNwfg" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_x-Ab9R8wEeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_x-BDAB8wEeGetOLfkLNwfg" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_x-BDAR8wEeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_x-BDAh8wEeGetOLfkLNwfg" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_x-BDAx8wEeGetOLfkLNwfg" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_x-BDBB8wEeGetOLfkLNwfg" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_x-BDBR8wEeGetOLfkLNwfg" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_x9oBcB8wEeGetOLfkLNwfg"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_x-Ab8R8wEeGetOLfkLNwfg" x="-10" y="135" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_WDRHAB8-EeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_WDRuEB8-EeGetOLfkLNwfg" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_WDRuER8-EeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_WDRuEh8-EeGetOLfkLNwfg" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_WDRuEx8-EeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_WDRuFB8-EeGetOLfkLNwfg" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_WDRuFR8-EeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_WDRuFh8-EeGetOLfkLNwfg" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_WDRuFx8-EeGetOLfkLNwfg" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_WDRuGB8-EeGetOLfkLNwfg" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_WDRuGR8-EeGetOLfkLNwfg" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_WC5TkB8-EeGetOLfkLNwfg"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_WDRHAR8-EeGetOLfkLNwfg" x="-10" y="410" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_a8YLAB8-EeGetOLfkLNwfg" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_a8YyEB8-EeGetOLfkLNwfg" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_a8YyER8-EeGetOLfkLNwfg" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_a8YyEh8-EeGetOLfkLNwfg" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_a8YyEx8-EeGetOLfkLNwfg" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_a8YyFB8-EeGetOLfkLNwfg" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_a8YyFR8-EeGetOLfkLNwfg" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_a8YyFh8-EeGetOLfkLNwfg" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_a8YyFx8-EeGetOLfkLNwfg" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_a8YyGB8-EeGetOLfkLNwfg" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_a8YyGR8-EeGetOLfkLNwfg" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_a8AXkB8-EeGetOLfkLNwfg"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_a8YLAR8-EeGetOLfkLNwfg" x="-10" y="556" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_qP9moDUzEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_qP9mojUzEeG5pL_fpN2DgQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qP9mozUzEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_qP9mpDUzEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qP-NsDUzEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_qP-NsTUzEeG5pL_fpN2DgQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_qP-NsjUzEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_qP-NszUzEeG5pL_fpN2DgQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_qP-NtDUzEeG5pL_fpN2DgQ" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_qP-NtTUzEeG5pL_fpN2DgQ" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_qP-NtjUzEeG5pL_fpN2DgQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_qPrSwDUzEeG5pL_fpN2DgQ"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_qP9moTUzEeG5pL_fpN2DgQ" x="-10" y="370" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_0-wEkDUzEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_0-wroDUzEeG5pL_fpN2DgQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_0-wroTUzEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_0-wrojUzEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_0-wrozUzEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_0-wrpDUzEeG5pL_fpN2DgQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_0-wrpTUzEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_0-wrpjUzEeG5pL_fpN2DgQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_0-wrpzUzEeG5pL_fpN2DgQ" x="25" y="-9"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_0-wrqDUzEeG5pL_fpN2DgQ" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_0-wrqTUzEeG5pL_fpN2DgQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_0-eXwDUzEeG5pL_fpN2DgQ"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_0-wEkTUzEeG5pL_fpN2DgQ" x="-10" y="300" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_2jFlIDUzEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_2jGMMDUzEeG5pL_fpN2DgQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2jGMMTUzEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_2jGMMjUzEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2jGMMzUzEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_2jGMNDUzEeG5pL_fpN2DgQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2jGMNTUzEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_2jGMNjUzEeG5pL_fpN2DgQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_2jGMNzUzEeG5pL_fpN2DgQ" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_2jGMODUzEeG5pL_fpN2DgQ" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_2jGMOTUzEeG5pL_fpN2DgQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_2izRQDUzEeG5pL_fpN2DgQ"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_2jFlITUzEeG5pL_fpN2DgQ" x="-10" y="205" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_3wcwIDUzEeG5pL_fpN2DgQ" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_3wcwIjUzEeG5pL_fpN2DgQ" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_3wcwIzUzEeG5pL_fpN2DgQ" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_3wcwJDUzEeG5pL_fpN2DgQ" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_3wcwJTUzEeG5pL_fpN2DgQ" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_3wcwJjUzEeG5pL_fpN2DgQ" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_3wdXMDUzEeG5pL_fpN2DgQ" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_3wdXMTUzEeG5pL_fpN2DgQ" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_3wdXMjUzEeG5pL_fpN2DgQ" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_3wdXMzUzEeG5pL_fpN2DgQ" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_3wdXNDUzEeG5pL_fpN2DgQ" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_3wKcQDUzEeG5pL_fpN2DgQ"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_3wcwITUzEeG5pL_fpN2DgQ" x="-10" y="445" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_oNfHQLU4EeWmy72C-w00OQ" type="6089">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_oNfHQbU4EeWmy72C-w00OQ" y="5"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_fdzLHak_EeCXqcRV-18f6Q"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_REn2Mx8uEeG4gPCEznVNOA" x="85" y="30" width="1061" height="601"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_oQZ4YLU4EeWmy72C-w00OQ" type="StereotypeComment">
+      <styles xmi:type="notation:TitleStyle" xmi:id="_oQZ4YbU4EeWmy72C-w00OQ" showTitle="true"/>
+      <styles xmi:type="notation:EObjectValueStyle" xmi:id="_oQZ4Y7U4EeWmy72C-w00OQ" name="BASE_ELEMENT">
+        <eObjectValue xmi:type="uml:Class" href="RoboCab.uml#_fdzLHak_EeCXqcRV-18f6Q"/>
+      </styles>
+      <element xsi:nil="true"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_oQZ4YrU4EeWmy72C-w00OQ" x="285" y="30"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_O43JER8uEeG4gPCEznVNOA"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_Y2cbgH7LEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Model" href="RoboCab.uml#_fdzJx6k_EeCXqcRV-18f6Q"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <styles xmi:type="notation:StringValueStyle" xmi:id="_Y2cbgX7LEeSFyNbnLYDCkw" name="diagram_compatibility_version" stringValue="1.1.0"/>
+    <element xmi:type="uml:Model" href="RoboCab.uml#_fdzJx6k_EeCXqcRV-18f6Q"/>
+    <edges xmi:type="notation:Connector" xmi:id="_1ADV8GbUEeGGNuX1IHg1zg" type="4013" source="_HSgPKGbUEeGGNuX1IHg1zg" target="_gVY6OmbTEeGGNuX1IHg1zg" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_1AMf4GbUEeGGNuX1IHg1zg" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_1AMf4WbUEeGGNuX1IHg1zg" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_1AMf4mbUEeGGNuX1IHg1zg" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_1AMf42bUEeGGNuX1IHg1zg" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_1AMf5GbUEeGGNuX1IHg1zg" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_1AMf5WbUEeGGNuX1IHg1zg" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_1AMf5mbUEeGGNuX1IHg1zg" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_1AMf52bUEeGGNuX1IHg1zg" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_1ADV8WbUEeGGNuX1IHg1zg" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_fdzLVqk_EeCXqcRV-18f6Q"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_1ADV8mbUEeGGNuX1IHg1zg" points="[-7, -10, 224, 320]$[-224, -320, 7, 10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_1WGecGbUEeGGNuX1IHg1zg" type="4013" source="__qpF0GbTEeGGNuX1IHg1zg" target="_gVY6RmbTEeGGNuX1IHg1zg" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_1WGec2bUEeGGNuX1IHg1zg" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_1WGedGbUEeGGNuX1IHg1zg" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_1WGedWbUEeGGNuX1IHg1zg" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_1WGedmbUEeGGNuX1IHg1zg" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_1WGed2bUEeGGNuX1IHg1zg" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_1WGeeGbUEeGGNuX1IHg1zg" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_1WGeeWbUEeGGNuX1IHg1zg" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_1WGeembUEeGGNuX1IHg1zg" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_1WGecWbUEeGGNuX1IHg1zg" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_fdzLWak_EeCXqcRV-18f6Q"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_1WGecmbUEeGGNuX1IHg1zg" points="[-3, -10, 41, 145]$[-42, -145, 2, 10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_2BngoGbUEeGGNuX1IHg1zg" type="4013" source="_REn2Ax8uEeG4gPCEznVNOA" target="_HSgPEGbUEeGGNuX1IHg1zg" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_2Bngo2bUEeGGNuX1IHg1zg" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_2BngpGbUEeGGNuX1IHg1zg" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_2BngpWbUEeGGNuX1IHg1zg" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_2BngpmbUEeGGNuX1IHg1zg" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_2Bngp2bUEeGGNuX1IHg1zg" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_2BngqGbUEeGGNuX1IHg1zg" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_2BngqWbUEeGGNuX1IHg1zg" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_2BngqmbUEeGGNuX1IHg1zg" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_2BngoWbUEeGGNuX1IHg1zg" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_fdzLfak_EeCXqcRV-18f6Q"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_2BngombUEeGGNuX1IHg1zg" points="[8, 10, -322, -366]$[321, 366, -9, -10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_2b_IcGbUEeGGNuX1IHg1zg" type="4013" source="__qpF6GbTEeGGNuX1IHg1zg" target="_REn2Jx8uEeG4gPCEznVNOA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_2cI5cGbUEeGGNuX1IHg1zg" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_2cI5cWbUEeGGNuX1IHg1zg" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_2cI5cmbUEeGGNuX1IHg1zg" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_2cI5c2bUEeGGNuX1IHg1zg" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_2cI5dGbUEeGGNuX1IHg1zg" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_2cI5dWbUEeGGNuX1IHg1zg" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_2cI5dmbUEeGGNuX1IHg1zg" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_2cI5d2bUEeGGNuX1IHg1zg" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_2b_IcWbUEeGGNuX1IHg1zg" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_R3I6gKluEeCLku4RFrI7uw"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_2b_IcmbUEeGGNuX1IHg1zg" points="[10, 0, -175, -15]$[175, 14, -10, -1]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_6WxjAGbUEeGGNuX1IHg1zg" type="4013" source="_HSgPNGbUEeGGNuX1IHg1zg" target="__qpF9GbTEeGGNuX1IHg1zg" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_6WxjA2bUEeGGNuX1IHg1zg" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_6WxjBGbUEeGGNuX1IHg1zg" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_6WxjBWbUEeGGNuX1IHg1zg" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_6WxjBmbUEeGGNuX1IHg1zg" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_6W7UAGbUEeGGNuX1IHg1zg" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_6W7UAWbUEeGGNuX1IHg1zg" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_6W7UAmbUEeGGNuX1IHg1zg" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_6W7UA2bUEeGGNuX1IHg1zg" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_6WxjAWbUEeGGNuX1IHg1zg" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_6VbfMGbUEeGGNuX1IHg1zg"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_6WxjAmbUEeGGNuX1IHg1zg" points="[6, -16, -42, 95]$[43, -121, -5, -10]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_6XhJ4GbUEeGGNuX1IHg1zg" id="(0.55,0.8)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_YKuT8GbVEeGGNuX1IHg1zg" type="4013" source="_0-wEkDUzEeG5pL_fpN2DgQ" target="_HSgPHGbUEeGGNuX1IHg1zg" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_YKuT82bVEeGGNuX1IHg1zg" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_YKuT9GbVEeGGNuX1IHg1zg" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_YKuT9WbVEeGGNuX1IHg1zg" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_YKuT9mbVEeGGNuX1IHg1zg" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_YKuT92bVEeGGNuX1IHg1zg" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_YKuT-GbVEeGGNuX1IHg1zg" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_YKuT-WbVEeGGNuX1IHg1zg" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_YKuT-mbVEeGGNuX1IHg1zg" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_YKuT8WbVEeGGNuX1IHg1zg" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_YKRoAGbVEeGGNuX1IHg1zg"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_YKuT8mbVEeGGNuX1IHg1zg" points="[8, -4, -223, 105]$[235, -111, 4, -2]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_YLd60GbVEeGGNuX1IHg1zg" id="(0.25,0.2)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_YLd60WbVEeGGNuX1IHg1zg" id="(0.8,0.4)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_39oE4GbVEeGGNuX1IHg1zg" type="4013" source="_REn2Dx8uEeG4gPCEznVNOA" target="_gVY6UmbTEeGGNuX1IHg1zg" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_39oE42bVEeGGNuX1IHg1zg" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_39oE5GbVEeGGNuX1IHg1zg" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_39oE5WbVEeGGNuX1IHg1zg" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_39oE5mbVEeGGNuX1IHg1zg" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_39oE52bVEeGGNuX1IHg1zg" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_39oE6GbVEeGGNuX1IHg1zg" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_39oE6WbVEeGGNuX1IHg1zg" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_39oE6mbVEeGGNuX1IHg1zg" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_39oE4WbVEeGGNuX1IHg1zg" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_39LY8GbVEeGGNuX1IHg1zg"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_39oE4mbVEeGGNuX1IHg1zg" points="[10, -1, -430, 39]$[450, -40, 10, 0]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_57F3IGbVEeGGNuX1IHg1zg" type="4013" source="_0-wEkDUzEeG5pL_fpN2DgQ" target="_gVPJMGbTEeGGNuX1IHg1zg" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_57F3I2bVEeGGNuX1IHg1zg" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_57F3JGbVEeGGNuX1IHg1zg" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_57F3JWbVEeGGNuX1IHg1zg" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_57F3JmbVEeGGNuX1IHg1zg" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_57F3J2bVEeGGNuX1IHg1zg" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_57F3KGbVEeGGNuX1IHg1zg" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_57F3KWbVEeGGNuX1IHg1zg" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_57F3KmbVEeGGNuX1IHg1zg" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_57F3IWbVEeGGNuX1IHg1zg" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_56pLMGbVEeGGNuX1IHg1zg"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_57F3ImbVEeGGNuX1IHg1zg" points="[10, 0, -430, 85]$[165, 0, -275, 85]$[165, -85, -275, 0]$[430, -85, -10, 0]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_71bc4GbVEeGGNuX1IHg1zg" type="4013" source="_eguZUB8vEeG4gPCEznVNOA" target="_gVY6XmbTEeGGNuX1IHg1zg" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_71bc42bVEeGGNuX1IHg1zg" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_71bc5GbVEeGGNuX1IHg1zg" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_71bc5WbVEeGGNuX1IHg1zg" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_71bc5mbVEeGGNuX1IHg1zg" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_71bc52bVEeGGNuX1IHg1zg" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_71bc6GbVEeGGNuX1IHg1zg" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_71bc6WbVEeGGNuX1IHg1zg" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_71bc6mbVEeGGNuX1IHg1zg" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_71bc4WbVEeGGNuX1IHg1zg" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_70r2AGbVEeGGNuX1IHg1zg"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_71bc4mbVEeGGNuX1IHg1zg" points="[10, -1, -430, 12]$[441, -3, 1, 10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_9Bkf4GbVEeGGNuX1IHg1zg" type="4013" source="_x-Ab8B8wEeGetOLfkLNwfg" target="_gVY6ambTEeGGNuX1IHg1zg" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_9Bkf42bVEeGGNuX1IHg1zg" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_9Bkf5GbVEeGGNuX1IHg1zg" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_9Bkf5WbVEeGGNuX1IHg1zg" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_9Bkf5mbVEeGGNuX1IHg1zg" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_9Bkf52bVEeGGNuX1IHg1zg" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_9Bkf6GbVEeGGNuX1IHg1zg" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_9Bkf6WbVEeGGNuX1IHg1zg" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_9Bkf6mbVEeGGNuX1IHg1zg" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_9Bkf4WbVEeGGNuX1IHg1zg" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_9A-qAGbVEeGGNuX1IHg1zg"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_9Bkf4mbVEeGGNuX1IHg1zg" points="[10, -6, -430, -1]$[445, -15, 5, -10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_OC2PkGbWEeGGNuX1IHg1zg" type="4013" source="_ChLOKGbUEeGGNuX1IHg1zg" target="__qpF3GbTEeGGNuX1IHg1zg" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_OC2Pk2bWEeGGNuX1IHg1zg" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_OC2PlGbWEeGGNuX1IHg1zg" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_OC2PlWbWEeGGNuX1IHg1zg" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_OC2PlmbWEeGGNuX1IHg1zg" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_OC2Pl2bWEeGGNuX1IHg1zg" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_OC2PmGbWEeGGNuX1IHg1zg" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_OC2PmWbWEeGGNuX1IHg1zg" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_OC2PmmbWEeGGNuX1IHg1zg" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_OC2PkWbWEeGGNuX1IHg1zg" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_OCQZsGbWEeGGNuX1IHg1zg"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_OC2PkmbWEeGGNuX1IHg1zg" points="[10, -7, -54, 80]$[29, -7, -35, 80]$[29, -87, -35, 0]$[54, -87, -10, 0]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_VhxfQGbWEeGGNuX1IHg1zg" type="4013" source="_Fg5CMB8wEeGetOLfkLNwfg" target="_ChLOEGbUEeGGNuX1IHg1zg" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_VhxfQ2bWEeGGNuX1IHg1zg" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_VhxfRGbWEeGGNuX1IHg1zg" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_VhxfRWbWEeGGNuX1IHg1zg" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_VhxfRmbWEeGGNuX1IHg1zg" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_VhxfR2bWEeGGNuX1IHg1zg" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_VhxfSGbWEeGGNuX1IHg1zg" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_VhxfSWbWEeGGNuX1IHg1zg" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_VhxfSmbWEeGGNuX1IHg1zg" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_VhxfQWbWEeGGNuX1IHg1zg" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_VhLCUGbWEeGGNuX1IHg1zg"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_VhxfQmbWEeGGNuX1IHg1zg" points="[10, 1, -430, -44]$[439, 35, -1, -10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_aJtTsGbWEeGGNuX1IHg1zg" type="4013" source="_HSgPKGbUEeGGNuX1IHg1zg" target="_ChLOHGbUEeGGNuX1IHg1zg" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_aJtTs2bWEeGGNuX1IHg1zg" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_aJtTtGbWEeGGNuX1IHg1zg" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_aJtTtWbWEeGGNuX1IHg1zg" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_aJtTtmbWEeGGNuX1IHg1zg" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_aJtTt2bWEeGGNuX1IHg1zg" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_aJtTuGbWEeGGNuX1IHg1zg" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_aJtTuWbWEeGGNuX1IHg1zg" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_aJtTumbWEeGGNuX1IHg1zg" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_aJtTsWbWEeGGNuX1IHg1zg" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="RoboCab.uml#_aJQnwGbWEeGGNuX1IHg1zg"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_aJtTsmbWEeGGNuX1IHg1zg" points="[10, 0, -24, -165]$[14, 0, -20, -165]$[14, 165, -20, 0]$[24, 165, -10, 0]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_oQZ4ZLU4EeWmy72C-w00OQ" type="StereotypeCommentLink" source="_REnO8B8uEeG4gPCEznVNOA" target="_oQZ4YLU4EeWmy72C-w00OQ">
+      <styles xmi:type="notation:FontStyle" xmi:id="_oQZ4ZbU4EeWmy72C-w00OQ"/>
+      <styles xmi:type="notation:EObjectValueStyle" xmi:id="_oQZ4abU4EeWmy72C-w00OQ" name="BASE_ELEMENT">
+        <eObjectValue xmi:type="uml:Class" href="RoboCab.uml#_fdzLHak_EeCXqcRV-18f6Q"/>
+      </styles>
+      <element xsi:nil="true"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_oQZ4ZrU4EeWmy72C-w00OQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_oQZ4Z7U4EeWmy72C-w00OQ"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_oQZ4aLU4EeWmy72C-w00OQ"/>
+    </edges>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_QwFooEHZEeG8nvjGjD0Mrg" type="PapyrusUMLStateMachineDiagram" name="SmDiagram" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_QwFooUHZEeG8nvjGjD0Mrg" type="2000" fontName="Ubuntu" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_QwFookHZEeG8nvjGjD0Mrg" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QwFoo0HZEeG8nvjGjD0Mrg" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_QwFopEHZEeG8nvjGjD0Mrg" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QwFopUHZEeG8nvjGjD0Mrg" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_QwFopkHZEeG8nvjGjD0Mrg" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QwFop0HZEeG8nvjGjD0Mrg" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_QwFoqEHZEeG8nvjGjD0Mrg" type="2001">
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_QwFoqUHZEeG8nvjGjD0Mrg" width="691" height="15"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_QwFoqkHZEeG8nvjGjD0Mrg" type="2002">
+        <children xmi:type="notation:Shape" xmi:id="_QwFoq0HZEeG8nvjGjD0Mrg" type="3000" fontName="Ubuntu" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_QwForEHZEeG8nvjGjD0Mrg" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QwForUHZEeG8nvjGjD0Mrg" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_QwForkHZEeG8nvjGjD0Mrg" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QwFor0HZEeG8nvjGjD0Mrg" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_QwFosEHZEeG8nvjGjD0Mrg" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QwFosUHZEeG8nvjGjD0Mrg" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_QwFoskHZEeG8nvjGjD0Mrg" source="RegionAnnotationKey">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QwFos0HZEeG8nvjGjD0Mrg" key="RegionZoneKey" value=""/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_QwFotEHZEeG8nvjGjD0Mrg" type="3002">
+            <children xmi:type="notation:Shape" xmi:id="_lDOxsEHZEeG8nvjGjD0Mrg" type="6000" fontName="Ubuntu" lineColor="0">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lDOxskHZEeG8nvjGjD0Mrg" source="ShadowFigure">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lDOxs0HZEeG8nvjGjD0Mrg" key="ShadowFigure_Value" value="false"/>
+              </eAnnotations>
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lDPYwEHZEeG8nvjGjD0Mrg" source="displayNameLabelIcon">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lDPYwUHZEeG8nvjGjD0Mrg" key="displayNameLabelIcon_value" value="false"/>
+              </eAnnotations>
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lDPYwkHZEeG8nvjGjD0Mrg" source="QualifiedName">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lDPYw0HZEeG8nvjGjD0Mrg" key="QualifiedNameDepth" value="1000"/>
+              </eAnnotations>
+              <children xmi:type="notation:DecorationNode" xmi:id="_lDPYxEHZEeG8nvjGjD0Mrg" type="6001">
+                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_rM9wEEHZEeG8nvjGjD0Mrg" width="125" height="15"/>
+              </children>
+              <children xmi:type="notation:DecorationNode" xmi:id="_lDPYxUHZEeG8nvjGjD0Mrg" type="6002">
+                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_lDPYxkHZEeG8nvjGjD0Mrg" y="15" width="125" height="80"/>
+              </children>
+              <element xmi:type="uml:State" href="RoboCab.uml#_lC9E4EHZEeG8nvjGjD0Mrg"/>
+              <layoutConstraint xmi:type="notation:Bounds" xmi:id="_lDOxsUHZEeG8nvjGjD0Mrg" x="125" y="186" width="125" height="95"/>
+            </children>
+            <children xmi:type="notation:Shape" xmi:id="_thleEEHZEeG8nvjGjD0Mrg" type="6000" fontName="Ubuntu" lineColor="0">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_thleEkHZEeG8nvjGjD0Mrg" source="ShadowFigure">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_thmFIEHZEeG8nvjGjD0Mrg" key="ShadowFigure_Value" value="false"/>
+              </eAnnotations>
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_thmFIUHZEeG8nvjGjD0Mrg" source="displayNameLabelIcon">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_thmFIkHZEeG8nvjGjD0Mrg" key="displayNameLabelIcon_value" value="false"/>
+              </eAnnotations>
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_thmFI0HZEeG8nvjGjD0Mrg" source="QualifiedName">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_thmFJEHZEeG8nvjGjD0Mrg" key="QualifiedNameDepth" value="1000"/>
+              </eAnnotations>
+              <children xmi:type="notation:DecorationNode" xmi:id="_thmFJUHZEeG8nvjGjD0Mrg" type="6001">
+                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_vfZ1oEHZEeG8nvjGjD0Mrg" width="151" height="15"/>
+              </children>
+              <children xmi:type="notation:DecorationNode" xmi:id="_thmFJkHZEeG8nvjGjD0Mrg" type="6002">
+                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_thmFJ0HZEeG8nvjGjD0Mrg" y="15" width="151" height="81"/>
+              </children>
+              <element xmi:type="uml:State" href="RoboCab.uml#_thXboEHZEeG8nvjGjD0Mrg"/>
+              <layoutConstraint xmi:type="notation:Bounds" xmi:id="_thleEUHZEeG8nvjGjD0Mrg" x="470" y="196" width="151" height="96"/>
+            </children>
+            <children xmi:type="notation:Shape" xmi:id="_tpNmoG6oEeGqrd__B0yUNA" type="8000" fontHeight="8" lineColor="0">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_tpNmom6oEeGqrd__B0yUNA" source="ShadowFigure">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tpNmo26oEeGqrd__B0yUNA" key="ShadowFigure_Value" value="false"/>
+              </eAnnotations>
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_tpNmpG6oEeGqrd__B0yUNA" source="displayNameLabelIcon">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tpNmpW6oEeGqrd__B0yUNA" key="displayNameLabelIcon_value" value="false"/>
+              </eAnnotations>
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_tpNmpm6oEeGqrd__B0yUNA" source="QualifiedName">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tpNmp26oEeGqrd__B0yUNA" key="QualifiedNameDepth" value="1000"/>
+              </eAnnotations>
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_tpghkG6oEeGqrd__B0yUNA" source="Stereotype_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tpghkW6oEeGqrd__B0yUNA" key="StereotypeWithQualifiedNameList" value=""/>
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tpghkm6oEeGqrd__B0yUNA" key="StereotypeList" value=""/>
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tpghk26oEeGqrd__B0yUNA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tpghlG6oEeGqrd__B0yUNA" key="PropStereoDisplay" value=""/>
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tpghlW6oEeGqrd__B0yUNA" key="StereotypePropertyLocation" value="Compartment"/>
+              </eAnnotations>
+              <children xmi:type="notation:DecorationNode" xmi:id="_tpNmqG6oEeGqrd__B0yUNA" type="8001">
+                <layoutConstraint xmi:type="notation:Location" xmi:id="_tpNmqW6oEeGqrd__B0yUNA" x="25" y="3"/>
+              </children>
+              <children xmi:type="notation:DecorationNode" xmi:id="_tpNmqm6oEeGqrd__B0yUNA" type="8002">
+                <layoutConstraint xmi:type="notation:Location" xmi:id="_tpNmq26oEeGqrd__B0yUNA" x="25" y="-10"/>
+              </children>
+              <element xmi:type="uml:Pseudostate" href="RoboCab.uml#_todYsG6oEeGqrd__B0yUNA"/>
+              <layoutConstraint xmi:type="notation:Bounds" xmi:id="_tpNmoW6oEeGqrd__B0yUNA" x="170" y="376"/>
+            </children>
+            <children xmi:type="notation:Shape" xmi:id="_ub3yoG6oEeGqrd__B0yUNA" type="5000" fontHeight="8" lineColor="0">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ub3yom6oEeGqrd__B0yUNA" source="ShadowFigure">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ub3yo26oEeGqrd__B0yUNA" key="ShadowFigure_Value" value="false"/>
+              </eAnnotations>
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ub3ypG6oEeGqrd__B0yUNA" source="displayNameLabelIcon">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ub3ypW6oEeGqrd__B0yUNA" key="displayNameLabelIcon_value" value="false"/>
+              </eAnnotations>
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ub3ypm6oEeGqrd__B0yUNA" source="QualifiedName">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ub3yp26oEeGqrd__B0yUNA" key="QualifiedNameDepth" value="1000"/>
+              </eAnnotations>
+              <children xmi:type="notation:DecorationNode" xmi:id="_ub3yqG6oEeGqrd__B0yUNA" type="5001">
+                <layoutConstraint xmi:type="notation:Location" xmi:id="_ub3yqW6oEeGqrd__B0yUNA" x="-15" y="25"/>
+              </children>
+              <children xmi:type="notation:DecorationNode" xmi:id="_ub3yqm6oEeGqrd__B0yUNA" type="5002">
+                <layoutConstraint xmi:type="notation:Location" xmi:id="_ub3yq26oEeGqrd__B0yUNA" x="25" y="-10"/>
+              </children>
+              <element xmi:type="uml:FinalState" href="RoboCab.uml#_ubR8wG6oEeGqrd__B0yUNA"/>
+              <layoutConstraint xmi:type="notation:Bounds" xmi:id="_ub3yoW6oEeGqrd__B0yUNA" x="355" y="371"/>
+            </children>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_QwFotUHZEeG8nvjGjD0Mrg"/>
+          </children>
+          <element xmi:type="uml:Region" href="RoboCab.uml#_Qv-68EHZEeG8nvjGjD0Mrg"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_QwFotkHZEeG8nvjGjD0Mrg" width="691" height="456"/>
+        </children>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_QwFot0HZEeG8nvjGjD0Mrg" y="15" width="691" height="456"/>
+      </children>
+      <element xmi:type="uml:StateMachine" href="RoboCab.uml#_P2-PUEHZEeG8nvjGjD0Mrg"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_QwFouEHZEeG8nvjGjD0Mrg" x="30" y="55" width="691" height="471"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_QwFouUHZEeG8nvjGjD0Mrg"/>
+    <element xmi:type="uml:StateMachine" href="RoboCab.uml#_P2-PUEHZEeG8nvjGjD0Mrg"/>
+    <edges xmi:type="notation:Connector" xmi:id="_3JdXQEHZEeG8nvjGjD0Mrg" type="7000" source="_lDOxsEHZEeG8nvjGjD0Mrg" target="_thleEEHZEeG8nvjGjD0Mrg" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_3J9tkEHZEeG8nvjGjD0Mrg" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_K5wTEG6qEeGqrd__B0yUNA" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_K5wTEW6qEeGqrd__B0yUNA" key="StereotypeList" value="RobotML::Transition"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_K5wTEm6qEeGqrd__B0yUNA" key="PropStereoDisplay" value="RobotML::Transition.guard"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_K5wTE26qEeGqrd__B0yUNA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_K5wTFG6qEeGqrd__B0yUNA" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_3Jd-UEHZEeG8nvjGjD0Mrg" visible="false" type="7001">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_3Jd-UUHZEeG8nvjGjD0Mrg" x="23" y="12"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_3Jd-UkHZEeG8nvjGjD0Mrg" type="7002">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_3Jd-U0HZEeG8nvjGjD0Mrg"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_3Jd-VEHZEeG8nvjGjD0Mrg" type="7003">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Hc6_0G6qEeGqrd__B0yUNA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_H_ycUG6qEeGqrd__B0yUNA" key="StereotypeWithQualifiedNameList" value="RobotML::Transition"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_H_ycUW6qEeGqrd__B0yUNA" key="StereotypeList" value="RobotML::Transition"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_H_ycUm6qEeGqrd__B0yUNA" key="PropStereoDisplay" value="RobotML::Transition.guard"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_H_ycU26qEeGqrd__B0yUNA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_H_ycVG6qEeGqrd__B0yUNA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_3Jd-VUHZEeG8nvjGjD0Mrg" x="18" y="-28"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_3JdXQUHZEeG8nvjGjD0Mrg" fontName="Ubuntu"/>
+      <element xmi:type="uml:Transition" href="RoboCab.uml#_3JM4kEHZEeG8nvjGjD0Mrg"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_3JdXQkHZEeG8nvjGjD0Mrg" points="[0, -47, -341, -58]$[0, -97, -341, -108]$[341, -97, 0, -108]$[341, -37, 0, -48]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_0Rce4G6oEeGqrd__B0yUNA" type="7000" source="_tpNmoG6oEeGqrd__B0yUNA" target="_lDOxsEHZEeG8nvjGjD0Mrg" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_0SV2wG6oEeGqrd__B0yUNA" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tS9-8G6qEeGqrd__B0yUNA" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tS9-8W6qEeGqrd__B0yUNA" key="StereotypeList" value="RobotML::Transition"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tS9-8m6qEeGqrd__B0yUNA" key="PropStereoDisplay" value="RobotML::Transition.guard"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tS9-826qEeGqrd__B0yUNA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tS9-9G6qEeGqrd__B0yUNA" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_0Rce426oEeGqrd__B0yUNA" visible="false" type="7001">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_0Rce5G6oEeGqrd__B0yUNA"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_0Rce5W6oEeGqrd__B0yUNA" type="7002">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_0Rce5m6oEeGqrd__B0yUNA"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_0Rce526oEeGqrd__B0yUNA" type="7003">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_hqv0EG6pEeGqrd__B0yUNA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pwHYsG6pEeGqrd__B0yUNA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pwHYsW6pEeGqrd__B0yUNA" key="StereotypeList" value="RobotML::Transition,RobotML::Transition"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pwHYsm6pEeGqrd__B0yUNA" key="PropStereoDisplay" value="RobotML::Transition.effect,RobotML::Transition.guard"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pwHYs26pEeGqrd__B0yUNA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pwHYtG6pEeGqrd__B0yUNA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_0Rce6G6oEeGqrd__B0yUNA" x="6" y="-9"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_0Rce4W6oEeGqrd__B0yUNA" fontHeight="8"/>
+      <element xmi:type="uml:Transition" href="RoboCab.uml#_0QZ9EG6oEeGqrd__B0yUNA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_0Rce4m6oEeGqrd__B0yUNA" points="[-3, -10, 46, 172]$[-34, -125, 15, 57]"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_0S7soG6oEeGqrd__B0yUNA" id="(0.36,0.9789473684210527)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_b0bg8G6pEeGqrd__B0yUNA" type="7000" source="_lDOxsEHZEeG8nvjGjD0Mrg" target="_lDOxsEHZEeG8nvjGjD0Mrg" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_b1eCwG6pEeGqrd__B0yUNA" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ukB-MG6qEeGqrd__B0yUNA" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ukB-MW6qEeGqrd__B0yUNA" key="StereotypeList" value="RobotML::Transition"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ukB-Mm6qEeGqrd__B0yUNA" key="PropStereoDisplay" value="RobotML::Transition.guard"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ukB-M26qEeGqrd__B0yUNA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ukB-NG6qEeGqrd__B0yUNA" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_b0bg826pEeGqrd__B0yUNA" visible="false" type="7001">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_b0bg9G6pEeGqrd__B0yUNA" x="-58" y="-35"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_b0bg9W6pEeGqrd__B0yUNA" type="7002">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_b0bg9m6pEeGqrd__B0yUNA"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_b0bg926pEeGqrd__B0yUNA" type="7003">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_b0kq4G6pEeGqrd__B0yUNA" x="-40" y="-63"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_b0bg8W6pEeGqrd__B0yUNA" fontHeight="8"/>
+      <element xmi:type="uml:Transition" href="RoboCab.uml#_bziJEG6pEeGqrd__B0yUNA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_b0bg8m6pEeGqrd__B0yUNA" points="[0, -17, -6, -39]$[0, -27, -6, -49]$[-96, -27, -102, -49]$[-96, 22, -102, 0]$[-1, 22, -7, 0]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_ej9pUG6pEeGqrd__B0yUNA" id="(0.0080,0.17894736842105263)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_b2D4oG6pEeGqrd__B0yUNA" id="(0.056,0.4105263157894737)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_RDl_IG6qEeGqrd__B0yUNA" type="7000" source="_thleEEHZEeG8nvjGjD0Mrg" target="_ub3yoG6oEeGqrd__B0yUNA" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_REfXAG6qEeGqrd__B0yUNA" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_fTrusG6sEeGqrd__B0yUNA" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_fTrusW6sEeGqrd__B0yUNA" key="StereotypeList" value="RobotML::Transition"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_fTrusm6sEeGqrd__B0yUNA" key="PropStereoDisplay" value="RobotML::Transition.guard"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_fTrus26sEeGqrd__B0yUNA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_fTrutG6sEeGqrd__B0yUNA" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_RDl_I26qEeGqrd__B0yUNA" visible="false" type="7001">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_RDl_JG6qEeGqrd__B0yUNA"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_RDl_JW6qEeGqrd__B0yUNA" type="7002">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_RDl_Jm6qEeGqrd__B0yUNA"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_RDl_J26qEeGqrd__B0yUNA" type="7003">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_RDl_KG6qEeGqrd__B0yUNA" x="-13" y="30"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_RDl_IW6qEeGqrd__B0yUNA" fontHeight="8"/>
+      <element xmi:type="uml:Transition" href="RoboCab.uml#_RCtOUG6qEeGqrd__B0yUNA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_RDl_Im6qEeGqrd__B0yUNA" points="[0, 0, 170, -86]$[0, 86, 170, 0]$[-170, 86, 0, 0]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_RFFz8G6qEeGqrd__B0yUNA" id="(0.4966887417218543,1.0)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="___rq0G6sEeGqrd__B0yUNA" id="(1.0,0.35)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_iXEAIG6sEeGqrd__B0yUNA" type="7000" source="_lDOxsEHZEeG8nvjGjD0Mrg" target="_ub3yoG6oEeGqrd__B0yUNA" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_iYHJAG6sEeGqrd__B0yUNA" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FH2egG6tEeGqrd__B0yUNA" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FH2egW6tEeGqrd__B0yUNA" key="StereotypeList" value="RobotML::Transition"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FH2egm6tEeGqrd__B0yUNA" key="PropStereoDisplay" value="RobotML::Transition.guard"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FH2eg26tEeGqrd__B0yUNA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FH2ehG6tEeGqrd__B0yUNA" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_iXEAI26sEeGqrd__B0yUNA" visible="false" type="7001">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_iXEAJG6sEeGqrd__B0yUNA"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_iXEAJW6sEeGqrd__B0yUNA" type="7002">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_iXEAJm6sEeGqrd__B0yUNA"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_iXEAJ26sEeGqrd__B0yUNA" type="7003">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_iXEAKG6sEeGqrd__B0yUNA" x="-29" y="32"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_iXEAIW6sEeGqrd__B0yUNA" fontHeight="8"/>
+      <element xmi:type="uml:Transition" href="RoboCab.uml#_iWLPUG6sEeGqrd__B0yUNA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_iXEAIm6sEeGqrd__B0yUNA" points="[63, 8, -115, -140]$[178, 8, 0, -140]$[178, 138, 0, -10]"/>
+    </edges>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_v-s3YEHyEeGGXpGscpkjdg" type="CompositeStructure" name="GenerationTestModulesDiagram" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_UB1cgEH1EeGwG_JKFhyhxw" type="2073" fontName="Ubuntu" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_UB1cgkH1EeGwG_JKFhyhxw" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_UB1cg0H1EeGwG_JKFhyhxw" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_UB2DkEH1EeGwG_JKFhyhxw" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_UB2DkUH1EeGwG_JKFhyhxw" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_UB2DkkH1EeGwG_JKFhyhxw" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_UB2Dk0H1EeGwG_JKFhyhxw" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_UB2DlEH1EeGwG_JKFhyhxw" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_UB2DlUH1EeGwG_JKFhyhxw" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_UB2DlkH1EeGwG_JKFhyhxw"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_UB2Dl0H1EeGwG_JKFhyhxw"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_WDYdgEH1EeGwG_JKFhyhxw" type="3069" fontName="Ubuntu" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_WDZEkEH1EeGwG_JKFhyhxw" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_WDZEkUH1EeGwG_JKFhyhxw" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_WDZEkkH1EeGwG_JKFhyhxw" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_WDZEk0H1EeGwG_JKFhyhxw" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_WDZroEH1EeGwG_JKFhyhxw" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_WDZroUH1EeGwG_JKFhyhxw" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_WDZrokH1EeGwG_JKFhyhxw" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_WDZro0H1EeGwG_JKFhyhxw" x="25"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_WDZrpEH1EeGwG_JKFhyhxw" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_WDZrpUH1EeGwG_JKFhyhxw" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="RoboCab.uml#_mJzj8EH0EeGwG_JKFhyhxw"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_WDYdgUH1EeGwG_JKFhyhxw" x="-10" y="60"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_irmXsEH0EeGwG_JKFhyhxw"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_UB1cgUH1EeGwG_JKFhyhxw" x="15" y="20" width="538" height="314"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_hHWN4EJ8EeGaqsrav5IKYg" type="2073" fontName="Ubuntu" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_hHW08EJ8EeGaqsrav5IKYg" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_hHW08UJ8EeGaqsrav5IKYg" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_hHW08kJ8EeGaqsrav5IKYg" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_hHXcAEJ8EeGaqsrav5IKYg" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_hHXcAUJ8EeGaqsrav5IKYg" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_hHXcAkJ8EeGaqsrav5IKYg" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_hHXcA0J8EeGaqsrav5IKYg" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_hHXcBEJ8EeGaqsrav5IKYg" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_hHXcBUJ8EeGaqsrav5IKYg"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_hHXcBkJ8EeGaqsrav5IKYg"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_4R8VYEHxEeGGXpGscpkjdg"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_hHWN4UJ8EeGaqsrav5IKYg" x="580" y="20" width="556" height="316"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_v-s3YUHyEeGGXpGscpkjdg"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_ZuO_IH7LEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Model" href="RoboCab.uml#_fdzJx6k_EeCXqcRV-18f6Q"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <styles xmi:type="notation:StringValueStyle" xmi:id="_ZuO_IX7LEeSFyNbnLYDCkw" name="diagram_compatibility_version" stringValue="1.0.0"/>
+    <element xmi:type="uml:Model" href="RoboCab.uml#_fdzJx6k_EeCXqcRV-18f6Q"/>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_EKbpcEK6EeGv-54Wm4mRWQ" type="PapyrusUMLStateMachineDiagram" name="SmTestDiagram" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_EKbpcUK6EeGv-54Wm4mRWQ" type="2000" fontName="Ubuntu" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_EKbpckK6EeGv-54Wm4mRWQ" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_EKbpc0K6EeGv-54Wm4mRWQ" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_EKbpdEK6EeGv-54Wm4mRWQ" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_EKbpdUK6EeGv-54Wm4mRWQ" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_EKbpdkK6EeGv-54Wm4mRWQ" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_EKbpd0K6EeGv-54Wm4mRWQ" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_EKbpeEK6EeGv-54Wm4mRWQ" type="2001">
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_EKbpeUK6EeGv-54Wm4mRWQ" width="931" height="15"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_EKbpekK6EeGv-54Wm4mRWQ" type="2002">
+        <children xmi:type="notation:Shape" xmi:id="_EKbpe0K6EeGv-54Wm4mRWQ" type="3000" fontName="Ubuntu" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_EKbpfEK6EeGv-54Wm4mRWQ" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_EKbpfUK6EeGv-54Wm4mRWQ" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_EKbpfkK6EeGv-54Wm4mRWQ" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_EKbpf0K6EeGv-54Wm4mRWQ" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_EKbpgEK6EeGv-54Wm4mRWQ" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_EKbpgUK6EeGv-54Wm4mRWQ" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_EKbpgkK6EeGv-54Wm4mRWQ" source="RegionAnnotationKey">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_EKbpg0K6EeGv-54Wm4mRWQ" key="RegionZoneKey" value=""/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_EKbphEK6EeGv-54Wm4mRWQ" type="3002">
+            <children xmi:type="notation:Shape" xmi:id="_M9yVcEK6EeGv-54Wm4mRWQ" type="6000" fontName="Ubuntu" lineColor="0">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_M9y8gEK6EeGv-54Wm4mRWQ" source="ShadowFigure">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_M9y8gUK6EeGv-54Wm4mRWQ" key="ShadowFigure_Value" value="false"/>
+              </eAnnotations>
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_M9y8gkK6EeGv-54Wm4mRWQ" source="displayNameLabelIcon">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_M9y8g0K6EeGv-54Wm4mRWQ" key="displayNameLabelIcon_value" value="false"/>
+              </eAnnotations>
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_M9y8hEK6EeGv-54Wm4mRWQ" source="QualifiedName">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_M9y8hUK6EeGv-54Wm4mRWQ" key="QualifiedNameDepth" value="1000"/>
+              </eAnnotations>
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_M-FQYEK6EeGv-54Wm4mRWQ" source="Stereotype_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_13Le4EK8EeGv-54Wm4mRWQ" key="StereotypeWithQualifiedNameList" value=""/>
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_13Le4UK8EeGv-54Wm4mRWQ" key="StereotypeList" value="RobotML::State"/>
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_13Le4kK8EeGv-54Wm4mRWQ" key="PropStereoDisplay" value="RobotML::State.operation"/>
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_13Le40K8EeGv-54Wm4mRWQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_13Le5EK8EeGv-54Wm4mRWQ" key="StereotypePropertyLocation" value="Compartment"/>
+              </eAnnotations>
+              <children xmi:type="notation:DecorationNode" xmi:id="_M9y8hkK6EeGv-54Wm4mRWQ" type="6001">
+                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_IX0lAEK8EeGv-54Wm4mRWQ" width="191" height="73"/>
+              </children>
+              <children xmi:type="notation:DecorationNode" xmi:id="_M9y8h0K6EeGv-54Wm4mRWQ" type="6002">
+                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_M9y8iEK6EeGv-54Wm4mRWQ" y="73" width="191" height="87"/>
+              </children>
+              <element xmi:type="uml:State" href="RoboCab.uml#_M9id0EK6EeGv-54Wm4mRWQ"/>
+              <layoutConstraint xmi:type="notation:Bounds" xmi:id="_M9yVcUK6EeGv-54Wm4mRWQ" x="35" y="262" width="191" height="160"/>
+            </children>
+            <children xmi:type="notation:Shape" xmi:id="_AsIEoEK8EeGv-54Wm4mRWQ" type="6000" fontName="UnBatang" lineColor="0">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_AsIEokK8EeGv-54Wm4mRWQ" source="ShadowFigure">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_AsIrsEK8EeGv-54Wm4mRWQ" key="ShadowFigure_Value" value="false"/>
+              </eAnnotations>
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_AsIrsUK8EeGv-54Wm4mRWQ" source="displayNameLabelIcon">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_AsIrskK8EeGv-54Wm4mRWQ" key="displayNameLabelIcon_value" value="false"/>
+              </eAnnotations>
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_AsIrs0K8EeGv-54Wm4mRWQ" source="QualifiedName">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_AsIrtEK8EeGv-54Wm4mRWQ" key="QualifiedNameDepth" value="1000"/>
+              </eAnnotations>
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_AsM9IEK8EeGv-54Wm4mRWQ" source="Stereotype_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uHIC8EK8EeGv-54Wm4mRWQ" key="StereotypeWithQualifiedNameList" value=""/>
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uHIC8UK8EeGv-54Wm4mRWQ" key="StereotypeList" value="RobotML::State"/>
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uHIC8kK8EeGv-54Wm4mRWQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uHIC80K8EeGv-54Wm4mRWQ" key="PropStereoDisplay" value="RobotML::State.operation"/>
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uHIC9EK8EeGv-54Wm4mRWQ" key="StereotypePropertyLocation" value="Compartment"/>
+              </eAnnotations>
+              <children xmi:type="notation:DecorationNode" xmi:id="_AsIrtUK8EeGv-54Wm4mRWQ" type="6001">
+                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_NsoGgEK8EeGv-54Wm4mRWQ" width="196" height="73"/>
+              </children>
+              <children xmi:type="notation:DecorationNode" xmi:id="_AsIrtkK8EeGv-54Wm4mRWQ" type="6002">
+                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_AsIrt0K8EeGv-54Wm4mRWQ" y="73" width="196" height="84"/>
+              </children>
+              <element xmi:type="uml:State" href="RoboCab.uml#_Ar40EEK8EeGv-54Wm4mRWQ"/>
+              <layoutConstraint xmi:type="notation:Bounds" xmi:id="_AsIEoUK8EeGv-54Wm4mRWQ" x="295" y="17" width="196" height="157"/>
+            </children>
+            <children xmi:type="notation:Shape" xmi:id="_Pv0GQEK8EeGv-54Wm4mRWQ" type="6000" fontName="Ubuntu" lineColor="0">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Pv0GQkK8EeGv-54Wm4mRWQ" source="ShadowFigure">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Pv0GQ0K8EeGv-54Wm4mRWQ" key="ShadowFigure_Value" value="false"/>
+              </eAnnotations>
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Pv0GREK8EeGv-54Wm4mRWQ" source="displayNameLabelIcon">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Pv0GRUK8EeGv-54Wm4mRWQ" key="displayNameLabelIcon_value" value="false"/>
+              </eAnnotations>
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Pv0GRkK8EeGv-54Wm4mRWQ" source="QualifiedName">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Pv0GR0K8EeGv-54Wm4mRWQ" key="QualifiedNameDepth" value="1000"/>
+              </eAnnotations>
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Pv4-wEK8EeGv-54Wm4mRWQ" source="Stereotype_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_s3hcQEK8EeGv-54Wm4mRWQ" key="StereotypeWithQualifiedNameList" value=""/>
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_s3hcQUK8EeGv-54Wm4mRWQ" key="StereotypeList" value="RobotML::State"/>
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_s3hcQkK8EeGv-54Wm4mRWQ" key="PropStereoDisplay" value="RobotML::State.operation"/>
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_s3hcQ0K8EeGv-54Wm4mRWQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_s3hcREK8EeGv-54Wm4mRWQ" key="StereotypePropertyLocation" value="Compartment"/>
+              </eAnnotations>
+              <children xmi:type="notation:DecorationNode" xmi:id="_Pv0GSEK8EeGv-54Wm4mRWQ" type="6001">
+                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_kYurAEK8EeGv-54Wm4mRWQ" width="191" height="73"/>
+              </children>
+              <children xmi:type="notation:DecorationNode" xmi:id="_Pv0tUEK8EeGv-54Wm4mRWQ" type="6002">
+                <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Pv0tUUK8EeGv-54Wm4mRWQ" y="73" width="191" height="91"/>
+              </children>
+              <element xmi:type="uml:State" href="RoboCab.uml#_PvjnkEK8EeGv-54Wm4mRWQ"/>
+              <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Pv0GQUK8EeGv-54Wm4mRWQ" x="545" y="262" width="191" height="164"/>
+            </children>
+            <children xmi:type="notation:Shape" xmi:id="_exomkGLwEeGQvv5wJEmGUQ" type="8000" fontHeight="8" lineColor="0">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_exomkmLwEeGQvv5wJEmGUQ" source="ShadowFigure">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_exomk2LwEeGQvv5wJEmGUQ" key="ShadowFigure_Value" value="false"/>
+              </eAnnotations>
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_exomlGLwEeGQvv5wJEmGUQ" source="displayNameLabelIcon">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_exomlWLwEeGQvv5wJEmGUQ" key="displayNameLabelIcon_value" value="false"/>
+              </eAnnotations>
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_exomlmLwEeGQvv5wJEmGUQ" source="QualifiedName">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_exoml2LwEeGQvv5wJEmGUQ" key="QualifiedNameDepth" value="1000"/>
+              </eAnnotations>
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ex7hgGLwEeGQvv5wJEmGUQ" source="Stereotype_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ex7hgWLwEeGQvv5wJEmGUQ" key="StereotypeWithQualifiedNameList" value=""/>
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ex7hgmLwEeGQvv5wJEmGUQ" key="StereotypeList" value=""/>
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ex7hg2LwEeGQvv5wJEmGUQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_eyFSgGLwEeGQvv5wJEmGUQ" key="PropStereoDisplay" value=""/>
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_eyFSgWLwEeGQvv5wJEmGUQ" key="StereotypePropertyLocation" value="Compartment"/>
+              </eAnnotations>
+              <children xmi:type="notation:DecorationNode" xmi:id="_exyXkGLwEeGQvv5wJEmGUQ" type="8001">
+                <layoutConstraint xmi:type="notation:Location" xmi:id="_exyXkWLwEeGQvv5wJEmGUQ" x="25" y="3"/>
+              </children>
+              <children xmi:type="notation:DecorationNode" xmi:id="_exyXkmLwEeGQvv5wJEmGUQ" type="8002">
+                <layoutConstraint xmi:type="notation:Location" xmi:id="_exyXk2LwEeGQvv5wJEmGUQ" x="25" y="-10"/>
+              </children>
+              <element xmi:type="uml:Pseudostate" href="RoboCab.uml#_exCJoGLwEeGQvv5wJEmGUQ"/>
+              <layoutConstraint xmi:type="notation:Bounds" xmi:id="_exomkWLwEeGQvv5wJEmGUQ" x="89" y="114"/>
+            </children>
+            <children xmi:type="notation:Shape" xmi:id="_g7eA4GLwEeGQvv5wJEmGUQ" type="5000" fontHeight="8" lineColor="0">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g7eA4mLwEeGQvv5wJEmGUQ" source="ShadowFigure">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g7eA42LwEeGQvv5wJEmGUQ" key="ShadowFigure_Value" value="false"/>
+              </eAnnotations>
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g7eA5GLwEeGQvv5wJEmGUQ" source="displayNameLabelIcon">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g7eA5WLwEeGQvv5wJEmGUQ" key="displayNameLabelIcon_value" value="false"/>
+              </eAnnotations>
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g7eA5mLwEeGQvv5wJEmGUQ" source="QualifiedName">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_g7eA52LwEeGQvv5wJEmGUQ" key="QualifiedNameDepth" value="1000"/>
+              </eAnnotations>
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_g7nx4GLwEeGQvv5wJEmGUQ" source="Stereotype_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_I_PmYGLyEeGQvv5wJEmGUQ" key="StereotypeWithQualifiedNameList" value=""/>
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_I_PmYWLyEeGQvv5wJEmGUQ" key="StereotypeList" value=""/>
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_I_PmYmLyEeGQvv5wJEmGUQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_I_PmY2LyEeGQvv5wJEmGUQ" key="PropStereoDisplay" value=""/>
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_I_PmZGLyEeGQvv5wJEmGUQ" key="StereotypePropertyLocation" value="Compartment"/>
+              </eAnnotations>
+              <children xmi:type="notation:DecorationNode" xmi:id="_g7eA6GLwEeGQvv5wJEmGUQ" type="5001">
+                <layoutConstraint xmi:type="notation:Location" xmi:id="_g7eA6WLwEeGQvv5wJEmGUQ" x="25" y="3"/>
+              </children>
+              <children xmi:type="notation:DecorationNode" xmi:id="_g7eA6mLwEeGQvv5wJEmGUQ" type="5002">
+                <layoutConstraint xmi:type="notation:Location" xmi:id="_g7eA62LwEeGQvv5wJEmGUQ" x="25" y="-10"/>
+              </children>
+              <element xmi:type="uml:FinalState" href="RoboCab.uml#_g7UP4GLwEeGQvv5wJEmGUQ"/>
+              <layoutConstraint xmi:type="notation:Bounds" xmi:id="_g7eA4WLwEeGQvv5wJEmGUQ" x="661" y="116"/>
+            </children>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_EKbphUK6EeGv-54Wm4mRWQ"/>
+          </children>
+          <element xmi:type="uml:Region" href="RoboCab.uml#_EKPcMEK6EeGv-54Wm4mRWQ"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_EKbphkK6EeGv-54Wm4mRWQ" width="931" height="466"/>
+        </children>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_EKbph0K6EeGv-54Wm4mRWQ" y="15" width="931" height="466"/>
+      </children>
+      <element xmi:type="uml:StateMachine" href="RoboCab.uml#_De5ZIEK6EeGv-54Wm4mRWQ"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_EKbpiEK6EeGv-54Wm4mRWQ" x="30" y="30" width="931" height="481"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_EKbpiUK6EeGv-54Wm4mRWQ"/>
+    <element xmi:type="uml:StateMachine" href="RoboCab.uml#_De5ZIEK6EeGv-54Wm4mRWQ"/>
+    <edges xmi:type="notation:Connector" xmi:id="_4nylUEK8EeGv-54Wm4mRWQ" type="7000" source="_M9yVcEK6EeGv-54Wm4mRWQ" target="_AsIEoEK8EeGv-54Wm4mRWQ" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_4pQk8EK8EeGv-54Wm4mRWQ" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4pRMAEK8EeGv-54Wm4mRWQ" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4pRMAUK8EeGv-54Wm4mRWQ" key="StereotypeList" value="RobotML::Transition"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4pRMAkK8EeGv-54Wm4mRWQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4pRMA0K8EeGv-54Wm4mRWQ" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_4pRMBEK8EeGv-54Wm4mRWQ" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_4nzMYEK8EeGv-54Wm4mRWQ" type="7001">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_0j4OgEK9EeGv-54Wm4mRWQ" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_0kJ7UEK9EeGv-54Wm4mRWQ" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_0kJ7UUK9EeGv-54Wm4mRWQ" key="StereotypeList" value="RobotML::Transition"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_0kJ7UkK9EeGv-54Wm4mRWQ" key="PropStereoDisplay" value="RobotML::Transition.guard"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_0kJ7U0K9EeGv-54Wm4mRWQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_0kJ7VEK9EeGv-54Wm4mRWQ" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_4nzMYUK8EeGv-54Wm4mRWQ" x="9" y="-33"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_4nzMYkK8EeGv-54Wm4mRWQ" type="7002">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_4nzMY0K8EeGv-54Wm4mRWQ"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_4nzMZEK8EeGv-54Wm4mRWQ" type="7003">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_4nzMZUK8EeGv-54Wm4mRWQ" x="-5" y="-35"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_4nylUUK8EeGv-54Wm4mRWQ" fontName="Ubuntu"/>
+      <element xmi:type="uml:Transition" href="RoboCab.uml#_4nd1MEK8EeGv-54Wm4mRWQ"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_4nylUkK8EeGv-54Wm4mRWQ" points="[10, -20, -167, 234]$[79, -255, -98, -1]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_4pq0oEK8EeGv-54Wm4mRWQ" id="(0.9476439790575916,0.554140127388535)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_6CXs8EK8EeGv-54Wm4mRWQ" type="7000" source="_AsIEoEK8EeGv-54Wm4mRWQ" target="_M9yVcEK6EeGv-54Wm4mRWQ" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6CpZwEK8EeGv-54Wm4mRWQ" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6CpZwUK8EeGv-54Wm4mRWQ" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6CpZwkK8EeGv-54Wm4mRWQ" key="StereotypeList" value="RobotML::Transition"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6CpZw0K8EeGv-54Wm4mRWQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6CpZxEK8EeGv-54Wm4mRWQ" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6CpZxUK8EeGv-54Wm4mRWQ" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_6CYUAEK8EeGv-54Wm4mRWQ" type="7001">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_6CYUAUK8EeGv-54Wm4mRWQ" x="-16" y="-28"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_6CYUAkK8EeGv-54Wm4mRWQ" type="7002">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_6CYUA0K8EeGv-54Wm4mRWQ"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_6CYUBEK8EeGv-54Wm4mRWQ" type="7003">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_6CYUBUK8EeGv-54Wm4mRWQ" x="-2" y="-33"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_6CXs8UK8EeGv-54Wm4mRWQ" fontName="Ubuntu"/>
+      <element xmi:type="uml:Transition" href="RoboCab.uml#_6CGnMEK8EeGv-54Wm4mRWQ"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_6CXs8kK8EeGv-54Wm4mRWQ" points="[-10, 13, 157, -227]$[-146, 256, 21, 16]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_6DB0QEK8EeGv-54Wm4mRWQ" id="(0.39285714285714285,0.9166666666666666)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_6DB0QUK8EeGv-54Wm4mRWQ" id="(0.8900523560209425,0.8789808917197452)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_697WQEK8EeGv-54Wm4mRWQ" type="7000" source="_AsIEoEK8EeGv-54Wm4mRWQ" target="_Pv0GQEK8EeGv-54Wm4mRWQ" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_6-NDEEK8EeGv-54Wm4mRWQ" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6-NDEUK8EeGv-54Wm4mRWQ" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6-NDEkK8EeGv-54Wm4mRWQ" key="StereotypeList" value="RobotML::Transition"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6-NqIEK8EeGv-54Wm4mRWQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6-NqIUK8EeGv-54Wm4mRWQ" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6-NqIkK8EeGv-54Wm4mRWQ" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_6979UEK8EeGv-54Wm4mRWQ" type="7001">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_YzyywEK9EeGv-54Wm4mRWQ" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_aiskkEK9EeGv-54Wm4mRWQ" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_aiskkUK9EeGv-54Wm4mRWQ" key="StereotypeList" value="RobotML::Transition"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_aiskkkK9EeGv-54Wm4mRWQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_aiskk0K9EeGv-54Wm4mRWQ" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_aisklEK9EeGv-54Wm4mRWQ" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_6979UUK8EeGv-54Wm4mRWQ" x="-6" y="-45"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_6979UkK8EeGv-54Wm4mRWQ" visible="false" type="7002">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_6979U0K8EeGv-54Wm4mRWQ"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_6979VEK8EeGv-54Wm4mRWQ" type="7003">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_6979VUK8EeGv-54Wm4mRWQ" x="1" y="-42"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_697WQUK8EeGv-54Wm4mRWQ" fontName="Ubuntu"/>
+      <element xmi:type="uml:Transition" href="RoboCab.uml#_69reoEK8EeGv-54Wm4mRWQ"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_697WQkK8EeGv-54Wm4mRWQ" points="[13, 22, -130, -203]$[119, 236, -24, 11]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_6-mEoEK8EeGv-54Wm4mRWQ" id="(0.6683673469387755,0.8589743589743589)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_6-mEoUK8EeGv-54Wm4mRWQ" id="(0.1256544502617801,0.7080745341614907)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_7i-kEEK8EeGv-54Wm4mRWQ" type="7000" source="_Pv0GQEK8EeGv-54Wm4mRWQ" target="_AsIEoEK8EeGv-54Wm4mRWQ" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7jPp0EK8EeGv-54Wm4mRWQ" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7jPp0UK8EeGv-54Wm4mRWQ" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7jQQ4EK8EeGv-54Wm4mRWQ" key="StereotypeList" value="RobotML::Transition"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7jQQ4UK8EeGv-54Wm4mRWQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7jQQ4kK8EeGv-54Wm4mRWQ" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7jQQ40K8EeGv-54Wm4mRWQ" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_7i-kE0K8EeGv-54Wm4mRWQ" type="7001">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lnK-oEK9EeGv-54Wm4mRWQ" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_l53RIEK9EeGv-54Wm4mRWQ" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_l53RIUK9EeGv-54Wm4mRWQ" key="StereotypeList" value="RobotML::Transition"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_l53RIkK9EeGv-54Wm4mRWQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_l53RI0K9EeGv-54Wm4mRWQ" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_l53RJEK9EeGv-54Wm4mRWQ" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_7i_LIEK8EeGv-54Wm4mRWQ" x="15" y="-31"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_7i_LIUK8EeGv-54Wm4mRWQ" type="7002">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_7i_LIkK8EeGv-54Wm4mRWQ"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_7i_LI0K8EeGv-54Wm4mRWQ" type="7003">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_krR-IEK9EeGv-54Wm4mRWQ" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_krhOsEK9EeGv-54Wm4mRWQ" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_krhOsUK9EeGv-54Wm4mRWQ" key="StereotypeList" value="RobotML::Transition"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_krhOskK9EeGv-54Wm4mRWQ" key="PropStereoDisplay" value="RobotML::Transition.guard"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_krhOs0K9EeGv-54Wm4mRWQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_krhOtEK9EeGv-54Wm4mRWQ" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_7i_LJEK8EeGv-54Wm4mRWQ" x="10" y="-37"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_7i-kEUK8EeGv-54Wm4mRWQ" fontName="Ubuntu"/>
+      <element xmi:type="uml:Transition" href="RoboCab.uml#_7irpIEK8EeGv-54Wm4mRWQ"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_7i-kEkK8EeGv-54Wm4mRWQ" points="[-21, -29, 133, 181]$[-152, -200, 2, 10]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_7jorYEK8EeGv-54Wm4mRWQ" id="(0.0,0.7142857142857143)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_7jorYUK8EeGv-54Wm4mRWQ" id="(0.5969387755102041,0.9358974358974359)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_tUqLIGLwEeGQvv5wJEmGUQ" type="7000" source="_exomkGLwEeGQvv5wJEmGUQ" target="_AsIEoEK8EeGv-54Wm4mRWQ" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_tVG3EGLwEeGQvv5wJEmGUQ" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tVG3EWLwEeGQvv5wJEmGUQ" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tVG3EmLwEeGQvv5wJEmGUQ" key="StereotypeList" value="RobotML::Transition"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tVG3E2LwEeGQvv5wJEmGUQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tVG3FGLwEeGQvv5wJEmGUQ" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_tVG3FWLwEeGQvv5wJEmGUQ" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_tUqLI2LwEeGQvv5wJEmGUQ" type="7001">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_tUqLJGLwEeGQvv5wJEmGUQ"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_tUqLJWLwEeGQvv5wJEmGUQ" type="7002">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_tUqLJmLwEeGQvv5wJEmGUQ"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_tUqLJ2LwEeGQvv5wJEmGUQ" type="7003">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_tUqLKGLwEeGQvv5wJEmGUQ" y="60"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_tUqLIWLwEeGQvv5wJEmGUQ" fontHeight="8"/>
+      <element xmi:type="uml:Transition" href="RoboCab.uml#_tUNfMGLwEeGQvv5wJEmGUQ"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_tUqLImLwEeGQvv5wJEmGUQ" points="[10, -3, -203, 49]$[196, -51, -17, 1]"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_tVjjAGLwEeGQvv5wJEmGUQ" id="(0.08673469387755102,0.5555555555555556)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_uRAeoGLwEeGQvv5wJEmGUQ" type="7000" source="_AsIEoEK8EeGv-54Wm4mRWQ" target="_g7eA4GLwEeGQvv5wJEmGUQ" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_uRdKkGLwEeGQvv5wJEmGUQ" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uRdKkWLwEeGQvv5wJEmGUQ" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uRdKkmLwEeGQvv5wJEmGUQ" key="StereotypeList" value="RobotML::Transition"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uRdKk2LwEeGQvv5wJEmGUQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uRdKlGLwEeGQvv5wJEmGUQ" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_uRdKlWLwEeGQvv5wJEmGUQ" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_uRAeo2LwEeGQvv5wJEmGUQ" visible="false" type="7001">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_uRAepGLwEeGQvv5wJEmGUQ"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_uRAepWLwEeGQvv5wJEmGUQ" type="7002">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_uRAepmLwEeGQvv5wJEmGUQ"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_uRAep2LwEeGQvv5wJEmGUQ" type="7003">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_uRAeqGLwEeGQvv5wJEmGUQ" x="22" y="23"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_uRAeoWLwEeGQvv5wJEmGUQ" fontHeight="8"/>
+      <element xmi:type="uml:Transition" href="RoboCab.uml#_uQtjsGLwEeGQvv5wJEmGUQ"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_uRAeomLwEeGQvv5wJEmGUQ" points="[17, 4, -187, -44]$[207, 47, 3, -1]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_uRm7kGLwEeGQvv5wJEmGUQ" id="(0.9132653061224489,0.4)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_uRm7kWLwEeGQvv5wJEmGUQ" id="(0.85,0.45)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_vPJh4GLwEeGQvv5wJEmGUQ" type="7000" source="_Pv0GQEK8EeGv-54Wm4mRWQ" target="_g7eA4GLwEeGQvv5wJEmGUQ" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_vPmN0GLwEeGQvv5wJEmGUQ" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vPmN0WLwEeGQvv5wJEmGUQ" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vPmN0mLwEeGQvv5wJEmGUQ" key="StereotypeList" value="RobotML::Transition"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vPmN02LwEeGQvv5wJEmGUQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vPmN1GLwEeGQvv5wJEmGUQ" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vPmN1WLwEeGQvv5wJEmGUQ" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_vPJh42LwEeGQvv5wJEmGUQ" visible="false" type="7001">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_vPJh5GLwEeGQvv5wJEmGUQ" x="9" y="35"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_vPJh5WLwEeGQvv5wJEmGUQ" type="7002">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_vPJh5mLwEeGQvv5wJEmGUQ"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_vPJh52LwEeGQvv5wJEmGUQ" type="7003">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_vPJh6GLwEeGQvv5wJEmGUQ" y="60"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_vPJh4WLwEeGQvv5wJEmGUQ" fontHeight="8"/>
+      <element xmi:type="uml:Transition" href="RoboCab.uml#_vO1_4GLwEeGQvv5wJEmGUQ"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_vPJh4mLwEeGQvv5wJEmGUQ" points="[3, -14, -27, 136]$[35, -140, 5, 10]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_vP5IwGLwEeGQvv5wJEmGUQ" id="(0.5026178010471204,0.1320754716981132)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_yPE2sGLwEeGQvv5wJEmGUQ" type="7000" source="_M9yVcEK6EeGv-54Wm4mRWQ" target="_g7eA4GLwEeGQvv5wJEmGUQ" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_yPhioGLwEeGQvv5wJEmGUQ" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_yPhioWLwEeGQvv5wJEmGUQ" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_yPhiomLwEeGQvv5wJEmGUQ" key="StereotypeList" value="RobotML::Transition"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_yPhio2LwEeGQvv5wJEmGUQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_yPhipGLwEeGQvv5wJEmGUQ" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_yPhipWLwEeGQvv5wJEmGUQ" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_yPE2s2LwEeGQvv5wJEmGUQ" visible="false" type="7001">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_yPE2tGLwEeGQvv5wJEmGUQ"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_yPE2tWLwEeGQvv5wJEmGUQ" visible="false" type="7002">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_yPE2tmLwEeGQvv5wJEmGUQ"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_yPE2t2LwEeGQvv5wJEmGUQ" type="7003">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_yPE2uGLwEeGQvv5wJEmGUQ" x="142" y="-16"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_yPE2sWLwEeGQvv5wJEmGUQ" fontHeight="8"/>
+      <element xmi:type="uml:Transition" href="RoboCab.uml#_yOoKwGLwEeGQvv5wJEmGUQ"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_yPE2smLwEeGQvv5wJEmGUQ" points="[39, -19, -445, 209]$[481, -218, -3, 10]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_yPqskGLwEeGQvv5wJEmGUQ" id="(0.7958115183246073,0.9019607843137255)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_1YPAAGLwEeGQvv5wJEmGUQ" type="7000" source="_exomkGLwEeGQvv5wJEmGUQ" target="_M9yVcEK6EeGv-54Wm4mRWQ" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_1Yrr8GLwEeGQvv5wJEmGUQ" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_1Yrr8WLwEeGQvv5wJEmGUQ" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_1Yrr8mLwEeGQvv5wJEmGUQ" key="StereotypeList" value="RobotML::Transition"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_1Yrr82LwEeGQvv5wJEmGUQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_1Yrr9GLwEeGQvv5wJEmGUQ" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_1Yrr9WLwEeGQvv5wJEmGUQ" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_1YPAA2LwEeGQvv5wJEmGUQ" visible="false" type="7001">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_1YPABGLwEeGQvv5wJEmGUQ"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_1YPABWLwEeGQvv5wJEmGUQ" type="7002">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_1YPABmLwEeGQvv5wJEmGUQ"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_1YPAB2LwEeGQvv5wJEmGUQ" type="7003">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_1YPACGLwEeGQvv5wJEmGUQ" x="-1" y="30"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_1YPAAWLwEeGQvv5wJEmGUQ" fontHeight="8"/>
+      <element xmi:type="uml:Transition" href="RoboCab.uml#_1X8FEGLwEeGQvv5wJEmGUQ"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_1YPAAmLwEeGQvv5wJEmGUQ" points="[2, 10, -30, -137]$[32, 138, 0, -9]"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_1Y1c8GLwEeGQvv5wJEmGUQ" id="(0.5026178010471204,0.058823529411764705)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_2wmhIGLwEeGQvv5wJEmGUQ" type="7000" source="_exomkGLwEeGQvv5wJEmGUQ" target="_Pv0GQEK8EeGv-54Wm4mRWQ" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_2xDNEGLwEeGQvv5wJEmGUQ" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2xDNEWLwEeGQvv5wJEmGUQ" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2xDNEmLwEeGQvv5wJEmGUQ" key="StereotypeList" value="RobotML::Transition"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2xDNE2LwEeGQvv5wJEmGUQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2xDNFGLwEeGQvv5wJEmGUQ" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2xDNFWLwEeGQvv5wJEmGUQ" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_2wmhI2LwEeGQvv5wJEmGUQ" visible="false" type="7001">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_2wmhJGLwEeGQvv5wJEmGUQ"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_2wmhJWLwEeGQvv5wJEmGUQ" type="7002">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_2wmhJmLwEeGQvv5wJEmGUQ"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_2wmhJ2LwEeGQvv5wJEmGUQ" type="7003">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_2wmhKGLwEeGQvv5wJEmGUQ" x="-125" y="-1"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_2wmhIWLwEeGQvv5wJEmGUQ" fontHeight="8"/>
+      <element xmi:type="uml:Transition" href="RoboCab.uml#_2wTmMGLwEeGQvv5wJEmGUQ"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_2wmhImLwEeGQvv5wJEmGUQ" points="[17, 5, -451, -148]$[453, 140, -15, -13]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_2xM-EGLwEeGQvv5wJEmGUQ" id="(0.15,0.45)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_2xM-EWLwEeGQvv5wJEmGUQ" id="(0.07853403141361257,0.08917197452229299)"/>
+    </edges>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_HdXyIELAEeGFx4iVEwo0kA" type="PapyrusUMLClassDiagram" name="TestClassDiagram" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_IVMK8ELAEeGFx4iVEwo0kA" type="2008" fontName="Ubuntu" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_IVNZEELAEeGFx4iVEwo0kA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_IVNZEULAEeGFx4iVEwo0kA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_IVNZEkLAEeGFx4iVEwo0kA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_IVNZE0LAEeGFx4iVEwo0kA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_IVNZFELAEeGFx4iVEwo0kA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_IVNZFULAEeGFx4iVEwo0kA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_LP1-MELAEeGFx4iVEwo0kA" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_LQEnsELAEeGFx4iVEwo0kA" key="StereotypeWithQualifiedNameList" value="RobotML::Software"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_LQEnsULAEeGFx4iVEwo0kA" key="StereotypeList" value="RobotML::Software"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_LQEnskLAEeGFx4iVEwo0kA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_LQFOwELAEeGFx4iVEwo0kA" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_LQFOwULAEeGFx4iVEwo0kA" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_IVOAIELAEeGFx4iVEwo0kA" type="5029"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_IVOAIULAEeGFx4iVEwo0kA" type="7017">
+        <children xmi:type="notation:Shape" xmi:id="_TnY38ELAEeGFx4iVEwo0kA" type="3012" fontName="Ubuntu" lineColor="0">
+          <element xmi:type="uml:Port" href="RoboCab.uml#_mJzj8EH0EeGwG_JKFhyhxw"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_TnY38ULAEeGFx4iVEwo0kA"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_IVOAIkLAEeGFx4iVEwo0kA"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_IVOAI0LAEeGFx4iVEwo0kA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_IVOAJELAEeGFx4iVEwo0kA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_IVOAJULAEeGFx4iVEwo0kA"/>
+      </children>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_IVOAJkLAEeGFx4iVEwo0kA" type="7018">
+        <children xmi:type="notation:Shape" xmi:id="_M-xlMELAEeGFx4iVEwo0kA" type="3013" fontName="Ubuntu" lineColor="0">
+          <element xmi:type="uml:Operation" href="RoboCab.uml#_gDWe0EK_EeGFx4iVEwo0kA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_M-xlMULAEeGFx4iVEwo0kA"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_IVOAJ0LAEeGFx4iVEwo0kA"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_IVOAKELAEeGFx4iVEwo0kA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_IVOAKULAEeGFx4iVEwo0kA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_IVOAKkLAEeGFx4iVEwo0kA"/>
+      </children>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_IVOAK0LAEeGFx4iVEwo0kA" type="7019">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_IVOALELAEeGFx4iVEwo0kA"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_IVOALULAEeGFx4iVEwo0kA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_IVOALkLAEeGFx4iVEwo0kA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_IVOAL0LAEeGFx4iVEwo0kA"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_irmXsEH0EeGwG_JKFhyhxw"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_IVMyAELAEeGFx4iVEwo0kA" x="70" y="145" width="281" height="176"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_IvHG0ELAEeGFx4iVEwo0kA" type="2008" fontName="Ubuntu" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_IvHt4ELAEeGFx4iVEwo0kA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_IvHt4ULAEeGFx4iVEwo0kA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_IvHt4kLAEeGFx4iVEwo0kA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_IvHt40LAEeGFx4iVEwo0kA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_IvHt5ELAEeGFx4iVEwo0kA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_IvHt5ULAEeGFx4iVEwo0kA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_IvIU8ELAEeGFx4iVEwo0kA" type="5029"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_IvIU8ULAEeGFx4iVEwo0kA" type="7017">
+        <children xmi:type="notation:Shape" xmi:id="_R_qFIELAEeGFx4iVEwo0kA" type="3012" fontName="Ubuntu" lineColor="0">
+          <element xmi:type="uml:Port" href="RoboCab.uml#_FpXIwEK-EeGv-54Wm4mRWQ"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_R_qFIULAEeGFx4iVEwo0kA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_R_qFIkLAEeGFx4iVEwo0kA" type="3012" fontName="Ubuntu" lineColor="0">
+          <element xmi:type="uml:Port" href="RoboCab.uml#_TVYM0EK-EeGv-54Wm4mRWQ"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_R_qFI0LAEeGFx4iVEwo0kA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_R_qsMELAEeGFx4iVEwo0kA" type="3012" fontName="Ubuntu" lineColor="0">
+          <element xmi:type="uml:Port" href="RoboCab.uml#_aL1HQEK-EeGv-54Wm4mRWQ"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_R_qsMULAEeGFx4iVEwo0kA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_R_rTQELAEeGFx4iVEwo0kA" type="3012" fontName="Ubuntu" lineColor="0">
+          <element xmi:type="uml:Port" href="RoboCab.uml#_d9wgwEK-EeGv-54Wm4mRWQ"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_R_rTQULAEeGFx4iVEwo0kA"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_IvIU8kLAEeGFx4iVEwo0kA"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_IvIU80LAEeGFx4iVEwo0kA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_IvIU9ELAEeGFx4iVEwo0kA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_IvIU9ULAEeGFx4iVEwo0kA"/>
+      </children>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_IvIU9kLAEeGFx4iVEwo0kA" type="7018">
+        <children xmi:type="notation:Shape" xmi:id="_R_r6UELAEeGFx4iVEwo0kA" type="3013" fontName="Ubuntu" lineColor="0">
+          <element xmi:type="uml:Operation" href="RoboCab.uml#_LJ25sEK6EeGv-54Wm4mRWQ"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_R_r6UULAEeGFx4iVEwo0kA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_R_r6UkLAEeGFx4iVEwo0kA" type="3013" fontName="Ubuntu" lineColor="0">
+          <element xmi:type="uml:Operation" href="RoboCab.uml#_co9N0EK6EeGv-54Wm4mRWQ"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_R_r6U0LAEeGFx4iVEwo0kA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_R_shYELAEeGFx4iVEwo0kA" type="3013" fontName="Ubuntu" lineColor="0">
+          <element xmi:type="uml:Operation" href="RoboCab.uml#_lxCzsEK6EeGv-54Wm4mRWQ"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_R_shYULAEeGFx4iVEwo0kA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_R_tIcELAEeGFx4iVEwo0kA" type="3013" fontName="Ubuntu" lineColor="0">
+          <element xmi:type="uml:Operation" href="RoboCab.uml#_sD-KUEK6EeGv-54Wm4mRWQ"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_R_tIcULAEeGFx4iVEwo0kA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_R_tIckLAEeGFx4iVEwo0kA" type="3013" fontName="Ubuntu" lineColor="0">
+          <element xmi:type="uml:Operation" href="RoboCab.uml#_rnfNMEK7EeGv-54Wm4mRWQ"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_R_tIc0LAEeGFx4iVEwo0kA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_R_tvgELAEeGFx4iVEwo0kA" type="3013" fontName="Ubuntu" lineColor="0">
+          <element xmi:type="uml:Operation" href="RoboCab.uml#_zsmTIEK7EeGv-54Wm4mRWQ"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_R_tvgULAEeGFx4iVEwo0kA"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_IvIU90LAEeGFx4iVEwo0kA"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_IvIU-ELAEeGFx4iVEwo0kA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_IvIU-ULAEeGFx4iVEwo0kA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_IvIU-kLAEeGFx4iVEwo0kA"/>
+      </children>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_IvIU-0LAEeGFx4iVEwo0kA" type="7019">
+        <children xmi:type="notation:Shape" xmi:id="_R_uWkELAEeGFx4iVEwo0kA" type="3014" fontName="Ubuntu" lineColor="0">
+          <element xmi:type="uml:StateMachine" href="RoboCab.uml#_De5ZIEK6EeGv-54Wm4mRWQ"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_R_uWkULAEeGFx4iVEwo0kA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_R_uWkkLAEeGFx4iVEwo0kA" type="3014" fontName="Ubuntu" lineColor="0">
+          <element xmi:type="uml:OpaqueBehavior" href="RoboCab.uml#_6qJJgEK6EeGv-54Wm4mRWQ"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_R_uWk0LAEeGFx4iVEwo0kA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_R_u9oELAEeGFx4iVEwo0kA" type="3014" fontName="Ubuntu" lineColor="0">
+          <element xmi:type="uml:OpaqueBehavior" href="RoboCab.uml#_MJ8oQEK7EeGv-54Wm4mRWQ"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_R_u9oULAEeGFx4iVEwo0kA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_R_vksELAEeGFx4iVEwo0kA" type="3014" fontName="Ubuntu" lineColor="0">
+          <element xmi:type="uml:OpaqueBehavior" href="RoboCab.uml#_M-5TQEK7EeGv-54Wm4mRWQ"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_R_vksULAEeGFx4iVEwo0kA"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_IvIU_ELAEeGFx4iVEwo0kA"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_IvIU_ULAEeGFx4iVEwo0kA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_IvIU_kLAEeGFx4iVEwo0kA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_IvIU_0LAEeGFx4iVEwo0kA"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_4R8VYEHxEeGGXpGscpkjdg"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_IvHG0ULAEeGFx4iVEwo0kA" x="390" y="145" width="371" height="336"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_HdXyIULAEeGFx4iVEwo0kA"/>
+    <element xmi:type="uml:Model" href="RoboCab.uml#_fdzJx6k_EeCXqcRV-18f6Q"/>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_zyLisGbWEeGGNuX1IHg1zg" type="CompositeStructure" name="TargetPlatformsDiagram" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_v876AGbXEeGjxc8c7ZBkPQ" type="2073" fontHeight="8" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_v9FrAGbXEeGjxc8c7ZBkPQ" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_v9FrAWbXEeGjxc8c7ZBkPQ" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_v9FrAmbXEeGjxc8c7ZBkPQ" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_v9FrA2bXEeGjxc8c7ZBkPQ" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_v9FrBGbXEeGjxc8c7ZBkPQ" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_v9FrBWbXEeGjxc8c7ZBkPQ" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_wCS7IGbXEeGjxc8c7ZBkPQ" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_5EdfMGbXEeGjxc8c7ZBkPQ" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_5EdfMWbXEeGjxc8c7ZBkPQ" key="StereotypeList" value="RobotML::Platform"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_5EdfMmbXEeGjxc8c7ZBkPQ" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_5EdfM2bXEeGjxc8c7ZBkPQ" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_5EdfNGbXEeGjxc8c7ZBkPQ" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_v9FrBmbXEeGjxc8c7ZBkPQ" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_v9FrB2bXEeGjxc8c7ZBkPQ" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_v9FrCGbXEeGjxc8c7ZBkPQ"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_v9FrCWbXEeGjxc8c7ZBkPQ"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_v8CiIGbXEeGjxc8c7ZBkPQ"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_v876AWbXEeGjxc8c7ZBkPQ" x="129" y="72" width="172"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_OlEEcGbZEeGTV_735pzUXQ" type="2073" fontHeight="8" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_OlEEcmbZEeGTV_735pzUXQ" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OlEEc2bZEeGTV_735pzUXQ" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_OlEEdGbZEeGTV_735pzUXQ" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OlEEdWbZEeGTV_735pzUXQ" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_OlEEdmbZEeGTV_735pzUXQ" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OlEEd2bZEeGTV_735pzUXQ" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_bPizAGbZEeGTV_735pzUXQ" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DH5QgyG4EeKBc8qhxlvO_Q" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DH5QhCG4EeKBc8qhxlvO_Q" key="StereotypeList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DH5QhSG4EeKBc8qhxlvO_Q" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DH5QhiG4EeKBc8qhxlvO_Q" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DH5QhyG4EeKBc8qhxlvO_Q" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_OlEEeGbZEeGTV_735pzUXQ" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_OlEEeWbZEeGTV_735pzUXQ" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_OlEEembZEeGTV_735pzUXQ"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_OlEEe2bZEeGTV_735pzUXQ"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_Oj3xoGbZEeGTV_735pzUXQ"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_OlEEcWbZEeGTV_735pzUXQ" x="155" y="190"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_jdQbUGbZEeGTV_735pzUXQ" type="2073" fontHeight="8" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_jdQbUmbZEeGTV_735pzUXQ" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jdQbU2bZEeGTV_735pzUXQ" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_jdQbVGbZEeGTV_735pzUXQ" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jdQbVWbZEeGTV_735pzUXQ" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_jdQbVmbZEeGTV_735pzUXQ" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jdQbV2bZEeGTV_735pzUXQ" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_jdjWQGbZEeGTV_735pzUXQ" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jdjWQWbZEeGTV_735pzUXQ" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jdjWQmbZEeGTV_735pzUXQ" key="StereotypeList" value="RobotML::RoboticMiddleware"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jdjWQ2bZEeGTV_735pzUXQ" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jdjWRGbZEeGTV_735pzUXQ" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_jdjWRWbZEeGTV_735pzUXQ" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_jdQbWGbZEeGTV_735pzUXQ" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_jdQbWWbZEeGTV_735pzUXQ" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_jdQbWmbZEeGTV_735pzUXQ"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_jdQbW2bZEeGTV_735pzUXQ"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_jcp-YGbZEeGTV_735pzUXQ"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_jdQbUWbZEeGTV_735pzUXQ" x="160" y="300"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_zyLisWbWEeGGNuX1IHg1zg"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_ktGgcH7LEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Package" href="RoboCab.uml#_tR1bIGbWEeGGNuX1IHg1zg"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <element xmi:type="uml:Package" href="RoboCab.uml#_tR1bIGbWEeGGNuX1IHg1zg"/>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_Cwt3MGbaEeGTV_735pzUXQ" type="CompositeStructure" name="PlatformArchitectureDiagram" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_DVXcYGbaEeGTV_735pzUXQ" type="2073" fontHeight="8" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_DVhNYGbaEeGTV_735pzUXQ" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DVhNYWbaEeGTV_735pzUXQ" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_DVhNYmbaEeGTV_735pzUXQ" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DVhNY2baEeGTV_735pzUXQ" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_DVhNZGbaEeGTV_735pzUXQ" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_DVhNZWbaEeGTV_735pzUXQ" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_DVhNZmbaEeGTV_735pzUXQ" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_DVhNZ2baEeGTV_735pzUXQ" type="7073">
+        <children xmi:type="notation:Shape" xmi:id="_EmSRsGbaEeGTV_735pzUXQ" type="3070" fontHeight="8" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_EmSRsmbaEeGTV_735pzUXQ" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_EmSRs2baEeGTV_735pzUXQ" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_EmSRtGbaEeGTV_735pzUXQ" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_EmSRtWbaEeGTV_735pzUXQ" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_EmSRtmbaEeGTV_735pzUXQ" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_EmSRt2baEeGTV_735pzUXQ" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_EmSRuGbaEeGTV_735pzUXQ" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_EmSRuWbaEeGTV_735pzUXQ" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_EmSRumbaEeGTV_735pzUXQ"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_EmSRu2baEeGTV_735pzUXQ"/>
+          </children>
+          <element xmi:type="uml:Property" href="RoboCab.uml#_El_WwGbaEeGTV_735pzUXQ"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_EmSRsWbaEeGTV_735pzUXQ" x="261" y="32"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_Maq0AGbaEeGTV_735pzUXQ" type="3070" fontHeight="8" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Maq0AmbaEeGTV_735pzUXQ" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Maq0A2baEeGTV_735pzUXQ" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Maq0BGbaEeGTV_735pzUXQ" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Maq0BWbaEeGTV_735pzUXQ" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Maq0BmbaEeGTV_735pzUXQ" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Maq0B2baEeGTV_735pzUXQ" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_Maq0CGbaEeGTV_735pzUXQ" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_Maq0CWbaEeGTV_735pzUXQ" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_Maq0CmbaEeGTV_735pzUXQ"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Maq0C2baEeGTV_735pzUXQ"/>
+          </children>
+          <element xmi:type="uml:Property" href="RoboCab.uml#_MaXSAGbaEeGTV_735pzUXQ"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Maq0AWbaEeGTV_735pzUXQ" x="21" y="37"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_DVhNaGbaEeGTV_735pzUXQ"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_DVhNaWbaEeGTV_735pzUXQ"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_v8CiIGbXEeGjxc8c7ZBkPQ"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_DVXcYWbaEeGTV_735pzUXQ" x="114" y="80" width="422" height="201"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_Cwt3MWbaEeGTV_735pzUXQ"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_ktGgcX7LEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Package" href="RoboCab.uml#_tR1bIGbWEeGGNuX1IHg1zg"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <element xmi:type="uml:Package" href="RoboCab.uml#_tR1bIGbWEeGGNuX1IHg1zg"/>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_-IQaMKENEeKLUqX9IJq2Gg" type="CompositeStructure" name="RoboCabEnvironmentDiagram" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_--MjsKENEeKLUqX9IJq2Gg" type="2073" gradient="8905185, 16777215, 0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_--MjsqENEeKLUqX9IJq2Gg" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_--Mjs6ENEeKLUqX9IJq2Gg" type="7073">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_--MjtqENEeKLUqX9IJq2Gg" source="PapyrusCSSForceValue">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_--Mjt6ENEeKLUqX9IJq2Gg" key="showTitle" value="true"/>
+        </eAnnotations>
+        <children xmi:type="notation:Shape" xmi:id="_K94BwKEOEeKLUqX9IJq2Gg" type="3070" gradient="10265827, 16777215, 0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_aNbVIKEOEeKLUqX9IJq2Gg" source="PapyrusHyperLink_Diagram" references="_OCVFkBwAEeGa5bH_RJFzBQ">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_aNbVIaEOEeKLUqX9IJq2Gg" key="tooltip_text" value="RobocabDefaultArchitecture"/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_aNbVIqEOEeKLUqX9IJq2Gg" key="diagram_name" value="RobocabDefaultArchitecture"/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_aNbVI6EOEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_K94BwqEOEeKLUqX9IJq2Gg" type="5126">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_VaLBgKEOEeKLUqX9IJq2Gg" source="PapyrusHyperLink_Diagram" references="_OCVFkBwAEeGa5bH_RJFzBQ">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_VaLBgaEOEeKLUqX9IJq2Gg" key="tooltip_text" value="RobocabDefaultArchitecture"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_VaLBgqEOEeKLUqX9IJq2Gg" key="diagram_name" value="RobocabDefaultArchitecture"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_VaLBg6EOEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
+            </eAnnotations>
+          </children>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_K94Bw6EOEeKLUqX9IJq2Gg" type="7077">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_K-BywKEOEeKLUqX9IJq2Gg" source="PapyrusCSSForceValue">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_K-BywaEOEeKLUqX9IJq2Gg" key="showTitle" value="true"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_R0svoKEOEeKLUqX9IJq2Gg" key="visible" value="true"/>
+            </eAnnotations>
+            <styles xmi:type="notation:TitleStyle" xmi:id="_K94BxKEOEeKLUqX9IJq2Gg"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_K94BxaEOEeKLUqX9IJq2Gg"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_PPdjcLU4EeWmy72C-w00OQ" type="6054">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_PPdjcbU4EeWmy72C-w00OQ" y="5"/>
+          </children>
+          <element xmi:type="uml:Property" href="RoboCab.uml#_K9lG0KEOEeKLUqX9IJq2Gg"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_K94BwaEOEeKLUqX9IJq2Gg" x="178" y="115" width="185"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_--MjtKENEeKLUqX9IJq2Gg"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_--MjtaENEeKLUqX9IJq2Gg"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_PPc8YLU4EeWmy72C-w00OQ" type="6089">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_PPc8YbU4EeWmy72C-w00OQ" y="5"/>
+      </children>
+      <element xmi:type="uml:Class" href="RoboCab.uml#_-9mt0KENEeKLUqX9IJq2Gg"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_--MjsaENEeKLUqX9IJq2Gg" x="97" y="90" width="634" height="436"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_PQrEYLU4EeWmy72C-w00OQ" type="StereotypeComment">
+      <styles xmi:type="notation:TitleStyle" xmi:id="_PQrEYbU4EeWmy72C-w00OQ" showTitle="true"/>
+      <styles xmi:type="notation:EObjectValueStyle" xmi:id="_PQrrcLU4EeWmy72C-w00OQ" name="BASE_ELEMENT">
+        <eObjectValue xmi:type="uml:Class" href="RoboCab.uml#_-9mt0KENEeKLUqX9IJq2Gg"/>
+      </styles>
+      <element xsi:nil="true"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_PQrEYrU4EeWmy72C-w00OQ" x="297" y="90"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_-IQaMaENEeKLUqX9IJq2Gg"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_bEBtYH7LEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Model" href="RoboCab.uml#_fdzI0ak_EeCXqcRV-18f6Q"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <styles xmi:type="notation:StringValueStyle" xmi:id="_bEBtYX7LEeSFyNbnLYDCkw" name="diagram_compatibility_version" stringValue="1.1.0"/>
+    <element xmi:type="uml:Model" href="RoboCab.uml#_fdzI0ak_EeCXqcRV-18f6Q"/>
+    <edges xmi:type="notation:Connector" xmi:id="_PQsSgLU4EeWmy72C-w00OQ" type="StereotypeCommentLink" source="_--MjsKENEeKLUqX9IJq2Gg" target="_PQrEYLU4EeWmy72C-w00OQ">
+      <styles xmi:type="notation:FontStyle" xmi:id="_PQsSgbU4EeWmy72C-w00OQ"/>
+      <styles xmi:type="notation:EObjectValueStyle" xmi:id="_PQsShbU4EeWmy72C-w00OQ" name="BASE_ELEMENT">
+        <eObjectValue xmi:type="uml:Class" href="RoboCab.uml#_-9mt0KENEeKLUqX9IJq2Gg"/>
+      </styles>
+      <element xsi:nil="true"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_PQsSgrU4EeWmy72C-w00OQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_PQsSg7U4EeWmy72C-w00OQ"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_PQsShLU4EeWmy72C-w00OQ"/>
+    </edges>
+  </notation:Diagram>
+  <css:ModelStyleSheets xmi:id="_1O5S4MyrEeSbw_7Zqs0KhQ"/>
+</xmi:XMI>
diff --git a/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.uml b/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.uml
index 7e1d026..06d4daa 100644
--- a/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.uml
+++ b/org.eclipse.papyrus.robotml.templaterepository/resource/RoboCab.uml
@@ -1,1416 +1,1405 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<xmi:XMI xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"  xmlns:RobotML="http://Papyrus/RobotML/1" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML" >
-  <uml:Model xmi:id="_fdzI0Kk_EeCXqcRV-18f6Q" name="RoboCab">
-    <packageImport xmi:type="uml:PackageImport" xmi:id="__Xbz4Kk_EeCYaYi0hzq5kg">
-      <importedPackage xmi:type="uml:Package" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_dt_y4AHtEeCQQOKrhO_fIQ"/>
-    </packageImport>
-    <packagedElement xmi:type="uml:Model" xmi:id="_fdzI0ak_EeCXqcRV-18f6Q" name="CoreModel">
-      <packagedElement xmi:type="uml:Class" xmi:id="_fdzI0qk_EeCXqcRV-18f6Q" name="RoboCab">
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzI16k_EeCXqcRV-18f6Q" name="landis" visibility="public" type="_fdzJZ6k_EeCXqcRV-18f6Q" aggregation="composite">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzI2ak_EeCXqcRV-18f6Q" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzI2Kk_EeCXqcRV-18f6Q" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzI2qk_EeCXqcRV-18f6Q">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_BE-egKlmEeCLku4RFrI7uw" name="missionGenerator" type="_aG5SkKlgEeCYfbnxVSyZ9g"/>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_bsDDwKlmEeCLku4RFrI7uw" name="organizeSpace" type="_fdzJyKk_EeCXqcRV-18f6Q"/>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_kbbj0BwnEeGa5bH_RJFzBQ" name="challengerSpace" type="_fdzLHak_EeCXqcRV-18f6Q">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_kbfOMBwnEeGa5bH_RJFzBQ" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_kbgcUBwnEeGa5bH_RJFzBQ" value="1"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_7PWh8B8kEeG4gPCEznVNOA" name="stereoPair" type="_fdzJgak_EeCXqcRV-18f6Q"/>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_NJdXEB8lEeG4gPCEznVNOA" name="frontCamera" type="_ef5gsKlAEeCYaYi0hzq5kg"/>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_OENvIB8lEeG4gPCEznVNOA" name="rearCamera" type="_lHqboDUpEeG5pL_fpN2DgQ"/>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_94cOoB8lEeG4gPCEznVNOA" name="wideCam" type="_ypiFMDUpEeG5pL_fpN2DgQ"/>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_KdDxgB9BEeGetOLfkLNwfg" name="ublox" type="_fdzJdKk_EeCXqcRV-18f6Q"/>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_YLTDIB9BEeGetOLfkLNwfg" name="odometry" type="_5rrL4B8oEeG4gPCEznVNOA"/>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_A68QIB9DEeGetOLfkLNwfg" name="lms" type="_fdzJWqk_EeCXqcRV-18f6Q"/>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k82NkB9CEeGetOLfkLNwfg" name="Connector1">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k82NkR9CEeGetOLfkLNwfg" partWithPort="_BE-egKlmEeCLku4RFrI7uw" role="_cPiaEKlgEeCYfbnxVSyZ9g">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k82Nkx9CEeGetOLfkLNwfg" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k82Nkh9CEeGetOLfkLNwfg" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k820oB9CEeGetOLfkLNwfg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_fdzLNqk_EeCXqcRV-18f6Q">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k820oh9CEeGetOLfkLNwfg" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k820oR9CEeGetOLfkLNwfg" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_myDbsB9CEeGetOLfkLNwfg" name="Connector2">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_myDbsR9CEeGetOLfkLNwfg" partWithPort="_BE-egKlmEeCLku4RFrI7uw" role="_cPiaEKlgEeCYfbnxVSyZ9g">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_myDbsx9CEeGetOLfkLNwfg" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_myDbsh9CEeGetOLfkLNwfg" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_myECwB9CEeGetOLfkLNwfg" partWithPort="_bsDDwKlmEeCLku4RFrI7uw" role="_00caYB8sEeG4gPCEznVNOA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_myECwh9CEeGetOLfkLNwfg" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_myECwR9CEeGetOLfkLNwfg" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_qQmmMB9CEeGetOLfkLNwfg" name="Connector3">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_qQmmMR9CEeGetOLfkLNwfg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_ImFDAKlnEeCLku4RFrI7uw">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_qQmmMx9CEeGetOLfkLNwfg" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_qQmmMh9CEeGetOLfkLNwfg" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_qQnNQB9CEeGetOLfkLNwfg" partWithPort="_bsDDwKlmEeCLku4RFrI7uw" role="_tRMrYB8sEeG4gPCEznVNOA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_qQnNQh9CEeGetOLfkLNwfg" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_qQnNQR9CEeGetOLfkLNwfg" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_1ODLMB9CEeGetOLfkLNwfg" name="Connector6">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_1ODLMR9CEeGetOLfkLNwfg" partWithPort="_NJdXEB8lEeG4gPCEznVNOA" role="_lpqYsKlAEeCYaYi0hzq5kg">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_1ODLMx9CEeGetOLfkLNwfg" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_1ODLMh9CEeGetOLfkLNwfg" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_1ODyQB9CEeGetOLfkLNwfg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_x9oBcB8wEeGetOLfkLNwfg">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_1ODyQh9CEeGetOLfkLNwfg" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_1ODyQR9CEeGetOLfkLNwfg" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_Qq3ssB9DEeGetOLfkLNwfg" name="Connector8">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_Qq4TwB9DEeGetOLfkLNwfg" partWithPort="_A68QIB9DEeGetOLfkLNwfg" role="_fdzJY6k_EeCXqcRV-18f6Q">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_Qq4Twh9DEeGetOLfkLNwfg" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_Qq4TwR9DEeGetOLfkLNwfg" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_Qq4Twx9DEeGetOLfkLNwfg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_FgbvMB8wEeGetOLfkLNwfg">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_Qq4TxR9DEeGetOLfkLNwfg" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_Qq4TxB9DEeGetOLfkLNwfg" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_RpgfMB9DEeGetOLfkLNwfg" name="Connector9">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_RpgfMR9DEeGetOLfkLNwfg" partWithPort="_YLTDIB9BEeGetOLfkLNwfg" role="_9cOsYB8oEeG4gPCEznVNOA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_RpgfMx9DEeGetOLfkLNwfg" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_RpgfMh9DEeGetOLfkLNwfg" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_RphGQB9DEeGetOLfkLNwfg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_egSUcB8vEeG4gPCEznVNOA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_RphGQh9DEeGetOLfkLNwfg" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_RphGQR9DEeGetOLfkLNwfg" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_WrKbMB9DEeGetOLfkLNwfg" name="Connector10">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_WrKbMR9DEeGetOLfkLNwfg" partWithPort="_KdDxgB9BEeGetOLfkLNwfg" role="_fdzJfak_EeCXqcRV-18f6Q">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_WrKbMx9DEeGetOLfkLNwfg" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_WrKbMh9DEeGetOLfkLNwfg" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_WrKbNB9DEeGetOLfkLNwfg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_NkEOcB8wEeGetOLfkLNwfg">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_WrKbNh9DEeGetOLfkLNwfg" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_WrKbNR9DEeGetOLfkLNwfg" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_balXsB9DEeGetOLfkLNwfg" name="Connector11">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_balXsR9DEeGetOLfkLNwfg" partWithPort="_KdDxgB9BEeGetOLfkLNwfg" role="_4xF7kKlLEeCYfbnxVSyZ9g">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_balXsx9DEeGetOLfkLNwfg" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_balXsh9DEeGetOLfkLNwfg" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_balXtB9DEeGetOLfkLNwfg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_LA8qUKlkEeCLku4RFrI7uw">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_balXth9DEeGetOLfkLNwfg" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_balXtR9DEeGetOLfkLNwfg" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_V2bPwDU1EeG5pL_fpN2DgQ" name="Connector12">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_V2b20DU1EeG5pL_fpN2DgQ" partWithPort="_7PWh8B8kEeG4gPCEznVNOA" role="_zEf_YDUoEeG5pL_fpN2DgQ">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_V2b20jU1EeG5pL_fpN2DgQ" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_V2b20TU1EeG5pL_fpN2DgQ" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_V2b20zU1EeG5pL_fpN2DgQ" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_WZjocB8wEeGetOLfkLNwfg">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_V2b21TU1EeG5pL_fpN2DgQ" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_V2b21DU1EeG5pL_fpN2DgQ" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_WjUK8DU1EeG5pL_fpN2DgQ" name="Connector13">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_WjUyADU1EeG5pL_fpN2DgQ" partWithPort="_7PWh8B8kEeG4gPCEznVNOA" role="_2hQaIDUoEeG5pL_fpN2DgQ">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_WjUyAjU1EeG5pL_fpN2DgQ" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_WjUyATU1EeG5pL_fpN2DgQ" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_WjUyAzU1EeG5pL_fpN2DgQ" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_qPrSwDUzEeG5pL_fpN2DgQ">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_WjUyBTU1EeG5pL_fpN2DgQ" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_WjUyBDU1EeG5pL_fpN2DgQ" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_cXizYDU1EeG5pL_fpN2DgQ" name="Connector14">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_cXizYTU1EeG5pL_fpN2DgQ" partWithPort="_fdzI16k_EeCXqcRV-18f6Q" role="_fdzJcKk_EeCXqcRV-18f6Q">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_cXizYzU1EeG5pL_fpN2DgQ" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_cXizYjU1EeG5pL_fpN2DgQ" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_cXizZDU1EeG5pL_fpN2DgQ" partWithPort="_bsDDwKlmEeCLku4RFrI7uw" role="_vP_roDUrEeG5pL_fpN2DgQ">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_cXizZjU1EeG5pL_fpN2DgQ" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_cXizZTU1EeG5pL_fpN2DgQ" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_dpY1wDU1EeG5pL_fpN2DgQ" name="Connector15">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_dpZc0DU1EeG5pL_fpN2DgQ" partWithPort="_fdzI16k_EeCXqcRV-18f6Q" role="_UMascKlFEeCgdMhwEBuWIg">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_dpZc0jU1EeG5pL_fpN2DgQ" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_dpZc0TU1EeG5pL_fpN2DgQ" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_dpZc0zU1EeG5pL_fpN2DgQ" partWithPort="_bsDDwKlmEeCLku4RFrI7uw" role="__vhZIDUrEeG5pL_fpN2DgQ">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_dpZc1TU1EeG5pL_fpN2DgQ" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_dpZc1DU1EeG5pL_fpN2DgQ" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_fRxI0DU1EeG5pL_fpN2DgQ" name="Connector16">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_fRxI0TU1EeG5pL_fpN2DgQ" partWithPort="_fdzI16k_EeCXqcRV-18f6Q" role="_nCjE8KlFEeCniaMk5QUBRg">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fRxI0zU1EeG5pL_fpN2DgQ" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fRxI0jU1EeG5pL_fpN2DgQ" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_fRxI1DU1EeG5pL_fpN2DgQ" partWithPort="_bsDDwKlmEeCLku4RFrI7uw" role="__UwIsDUrEeG5pL_fpN2DgQ">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fRxI1jU1EeG5pL_fpN2DgQ" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fRxI1TU1EeG5pL_fpN2DgQ" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_m3ZdcDU1EeG5pL_fpN2DgQ" name="Connector17">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_m3ZdcTU1EeG5pL_fpN2DgQ" partWithPort="_fdzI16k_EeCXqcRV-18f6Q" role="_fdzJcKk_EeCXqcRV-18f6Q">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_m3ZdczU1EeG5pL_fpN2DgQ" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_m3ZdcjU1EeG5pL_fpN2DgQ" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_m3ZddDU1EeG5pL_fpN2DgQ" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_0-eXwDUzEeG5pL_fpN2DgQ">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_m3ZddjU1EeG5pL_fpN2DgQ" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_m3ZddTU1EeG5pL_fpN2DgQ" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_nraUUDU1EeG5pL_fpN2DgQ" name="Connector18">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_nra7YDU1EeG5pL_fpN2DgQ" partWithPort="_fdzI16k_EeCXqcRV-18f6Q" role="_UMascKlFEeCgdMhwEBuWIg">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_nra7YjU1EeG5pL_fpN2DgQ" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_nra7YTU1EeG5pL_fpN2DgQ" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_nra7YzU1EeG5pL_fpN2DgQ" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_2izRQDUzEeG5pL_fpN2DgQ">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_nra7ZTU1EeG5pL_fpN2DgQ" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_nra7ZDU1EeG5pL_fpN2DgQ" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_ovKQUDU1EeG5pL_fpN2DgQ" name="Connector19">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_ovKQUTU1EeG5pL_fpN2DgQ" partWithPort="_fdzI16k_EeCXqcRV-18f6Q" role="_nCjE8KlFEeCniaMk5QUBRg">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_ovKQUzU1EeG5pL_fpN2DgQ" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_ovKQUjU1EeG5pL_fpN2DgQ" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_ovKQVDU1EeG5pL_fpN2DgQ" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_3wKcQDUzEeG5pL_fpN2DgQ">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_ovKQVjU1EeG5pL_fpN2DgQ" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_ovKQVTU1EeG5pL_fpN2DgQ" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_1kW5UEHnEeGGXpGscpkjdg" name="Connector20">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_1kXgYEHnEeGGXpGscpkjdg" partWithPort="_OENvIB8lEeG4gPCEznVNOA" role="_lpqYsKlAEeCYaYi0hzq5kg">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_1kXgYkHnEeGGXpGscpkjdg" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_1kXgYUHnEeGGXpGscpkjdg" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_1kYHcEHnEeGGXpGscpkjdg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_WC5TkB8-EeGetOLfkLNwfg">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_1kYHckHnEeGGXpGscpkjdg" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_1kYHcUHnEeGGXpGscpkjdg" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_3mcF0EHnEeGGXpGscpkjdg" name="Connector21">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_3mcs4EHnEeGGXpGscpkjdg" partWithPort="_94cOoB8lEeG4gPCEznVNOA" role="_lpqYsKlAEeCYaYi0hzq5kg">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_3mcs4kHnEeGGXpGscpkjdg" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_3mcs4UHnEeGGXpGscpkjdg" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_3mcs40HnEeGGXpGscpkjdg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_a8AXkB8-EeGetOLfkLNwfg">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_3mcs5UHnEeGGXpGscpkjdg" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_3mcs5EHnEeGGXpGscpkjdg" value="1"/>
-          </end>
-        </ownedConnector>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Model" xmi:id="_fdzJQak_EeCXqcRV-18f6Q" name="RoboCab Datatypes">
-        <packagedElement xmi:type="uml:DataType" xmi:id="_pf4OwKlgEeCYfbnxVSyZ9g" name="Goal">
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_rg65cKlgEeCYfbnxVSyZ9g" name="position">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_lZ5bYKlhEeC0sZu-_Vgeyw"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_YvxcsKliEeCLku4RFrI7uw" name="position_err">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotmlPlatformLibraries.uml#_lZ5bYKlhEeC0sZu-_Vgeyw"/>
-          </ownedAttribute>
-        </packagedElement>
-        <packagedElement xmi:type="uml:DataType" xmi:id="_0y-5sKlrEeCLku4RFrI7uw" name="PathDeviation">
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_36grUKlrEeCLku4RFrI7uw" name="lateral">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_8L9SYKlrEeCLku4RFrI7uw" name="angular">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-          </ownedAttribute>
-        </packagedElement>
-        <packagedElement xmi:type="uml:DataType" xmi:id="_m-wp8KltEeCLku4RFrI7uw" name="PathDefinition">
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_uMjGUKltEeCLku4RFrI7uw" name="origine">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_lZ5bYKlhEeC0sZu-_Vgeyw"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_5CNBQKltEeCLku4RFrI7uw" name="curvature">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-          </ownedAttribute>
-        </packagedElement>
-        <packagedElement xmi:type="uml:DataType" xmi:id="_rye5YB8mEeG4gPCEznVNOA" name="CarLikeOdometry">
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_9y7AAB8mEeG4gPCEznVNOA" name="rearLeftWheel">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_9zBtsB8mEeG4gPCEznVNOA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_9zDi4B8mEeG4gPCEznVNOA" value="1"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_LR0OEB8nEeG4gPCEznVNOA" name="rearRightWheel">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_LR2DQB8nEeG4gPCEznVNOA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_LR34cB8nEeG4gPCEznVNOA" value="1"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_QKiQgB8nEeG4gPCEznVNOA" name="motorSpeed">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_QKkswB8nEeG4gPCEznVNOA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_QKl64B8nEeG4gPCEznVNOA" value="1"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_V1xVAB8nEeG4gPCEznVNOA" name="steeringAngle">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_V1zxQB8nEeG4gPCEznVNOA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_V11mcB8nEeG4gPCEznVNOA" value="1"/>
-          </ownedAttribute>
-        </packagedElement>
-        <packagedElement xmi:type="uml:DataType" xmi:id="_n122UB8nEeG4gPCEznVNOA" name="CarLikeCommand">
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_uKPlgB8nEeG4gPCEznVNOA" name="velocity">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_uKSBwB8nEeG4gPCEznVNOA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_uKT28B8nEeG4gPCEznVNOA" value="1"/>
-            <defaultValue xmi:type="uml:LiteralInteger" xmi:id="_CpreIB8oEeG4gPCEznVNOA" name="defaultSpeed"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_u0I3EB8nEeG4gPCEznVNOA" name="steeringAngle">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_u0KsQB8nEeG4gPCEznVNOA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_u0MhcB8nEeG4gPCEznVNOA" value="1"/>
-            <defaultValue xmi:type="uml:LiteralInteger" xmi:id="_6SphwB8nEeG4gPCEznVNOA" name="defaultSteering"/>
-          </ownedAttribute>
-        </packagedElement>
-        <packagedElement xmi:type="uml:DataType" xmi:id="_TKz3sDUtEeG5pL_fpN2DgQ" name="MultiLayerLidarScan">
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_xUCqMDUvEeG5pL_fpN2DgQ" name="layers" type="_G0xAsDUwEeG5pL_fpN2DgQ"/>
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_Ku_6QDUzEeG5pL_fpN2DgQ" name="nbLayer">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_6NJfkAKnEeCQReIOIWJ0nA"/>
-          </ownedAttribute>
-        </packagedElement>
-        <packagedElement xmi:type="uml:DataType" xmi:id="_G0xAsDUwEeG5pL_fpN2DgQ" name="ExtentedLidarScan">
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_K0p9sDUwEeG5pL_fpN2DgQ" name="scan">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_zdwdIAKsEeCQReIOIWJ0nA"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_PcJGMDUwEeG5pL_fpN2DgQ" name="layerId">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_6NJfkAKnEeCQReIOIWJ0nA"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_YIP6sDUwEeG5pL_fpN2DgQ" name="layerAngle">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_quXmAAH6EeC_ZLzLQhW-TQ"/>
-          </ownedAttribute>
-        </packagedElement>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Model" xmi:id="_fdzJTKk_EeCXqcRV-18f6Q" name="RoboCab Internal Interfaces">
-        <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_uh_Z4EHTEeGzzenJt5yQtw">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_uiz5QEHTEeGzzenJt5yQtw" source="http://www.eclipse.org/uml2/2.0.0/UML">
-            <references xmi:type="ecore:EPackage" href="http://Papyrus/RobotML/1#/"/>
-          </eAnnotations>
-          <appliedProfile xmi:type="uml:Profile" href="pathmap://Robotml_PROFILES/RobotMLProfile.profile.uml#_3QOHEPcEEd-J06U5HM_o-Q"/>
-        </profileApplication>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Model" xmi:id="_fdzJWak_EeCXqcRV-18f6Q" name="RoboCab Sensors">
-        <packagedElement xmi:type="uml:Class" xmi:id="_fdzJWqk_EeCXqcRV-18f6Q" name="LIDAR3D">
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJW6k_EeCXqcRV-18f6Q" name="frequency" visibility="public">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJXak_EeCXqcRV-18f6Q" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJXKk_EeCXqcRV-18f6Q" value="1"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzJXqk_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJX6k_EeCXqcRV-18f6Q" name="accuracy" visibility="public">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJYak_EeCXqcRV-18f6Q" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJYKk_EeCXqcRV-18f6Q" value="1"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzJYqk_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzJY6k_EeCXqcRV-18f6Q" name="LidarOut" visibility="public" type="_TKz3sDUtEeG5pL_fpN2DgQ" aggregation="composite">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJZak_EeCXqcRV-18f6Q" value="4"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJZKk_EeCXqcRV-18f6Q" value="4"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzJZqk_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-        </packagedElement>
-        <packagedElement xmi:type="uml:Class" xmi:id="_fdzJZ6k_EeCXqcRV-18f6Q" name="RTK_GPS_IMU">
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJaKk_EeCXqcRV-18f6Q" name="accuracy" visibility="public">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJaqk_EeCXqcRV-18f6Q" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJaak_EeCXqcRV-18f6Q" value="1"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzJa6k_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJbKk_EeCXqcRV-18f6Q" name="frequency" visibility="public">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJbqk_EeCXqcRV-18f6Q" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJbak_EeCXqcRV-18f6Q" value="1"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzJb6k_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzJcKk_EeCXqcRV-18f6Q" name="Pos3D" visibility="public" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJcqk_EeCXqcRV-18f6Q" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJcak_EeCXqcRV-18f6Q" value="1"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzJc6k_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_UMascKlFEeCgdMhwEBuWIg" name="Velocity3D" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_nCjE8KlFEeCniaMk5QUBRg" name="Acc3D" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
-          </ownedAttribute>
-        </packagedElement>
-        <packagedElement xmi:type="uml:Class" xmi:id="_fdzJdKk_EeCXqcRV-18f6Q" name="MetricGPS">
-          <ownedComment xmi:type="uml:Comment" xmi:id="_ZM4u8KlAEeCYaYi0hzq5kg">
-            <body>Low Cost GPS</body>
-          </ownedComment>
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJdak_EeCXqcRV-18f6Q" name="frequency" visibility="public">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJd6k_EeCXqcRV-18f6Q" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJdqk_EeCXqcRV-18f6Q" value="1"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzJeKk_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJeak_EeCXqcRV-18f6Q" name="accuracy" visibility="public">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJe6k_EeCXqcRV-18f6Q" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJeqk_EeCXqcRV-18f6Q" value="1"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzJfKk_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzJfak_EeCXqcRV-18f6Q" name="Pos3D" visibility="public" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJf6k_EeCXqcRV-18f6Q" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJfqk_EeCXqcRV-18f6Q" value="1"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzJgKk_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_4xF7kKlLEeCYfbnxVSyZ9g" name="Velocity3D" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_Nes3wAIDEeC_ZLzLQhW-TQ"/>
-          </ownedAttribute>
-        </packagedElement>
-        <packagedElement xmi:type="uml:Class" xmi:id="_fdzJgak_EeCXqcRV-18f6Q" name="StereoVision">
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJgqk_EeCXqcRV-18f6Q" name="resolution" visibility="public">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJhKk_EeCXqcRV-18f6Q" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJg6k_EeCXqcRV-18f6Q" value="1"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzJhak_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJhqk_EeCXqcRV-18f6Q" name="frequencyMax" visibility="public">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJiKk_EeCXqcRV-18f6Q" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJh6k_EeCXqcRV-18f6Q" value="1"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzJiak_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJiqk_EeCXqcRV-18f6Q" name="focal" visibility="public">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJjKk_EeCXqcRV-18f6Q" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJi6k_EeCXqcRV-18f6Q" value="1"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzJjak_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_ZBvoIDUoEeG5pL_fpN2DgQ" name="leftCam" type="_ef5gsKlAEeCYaYi0hzq5kg"/>
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_Zo_1YDUoEeG5pL_fpN2DgQ" name="rightCam" type="_ef5gsKlAEeCYaYi0hzq5kg"/>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_zEf_YDUoEeG5pL_fpN2DgQ" name="rightFrame" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_2hQaIDUoEeG5pL_fpN2DgQ" name="leftFrame" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
-          </ownedAttribute>
-          <nestedClassifier xmi:type="uml:Class" xmi:id="_RiF_sDUoEeG5pL_fpN2DgQ" name="LeftCamera" visibility="private"/>
-        </packagedElement>
-        <packagedElement xmi:type="uml:Class" xmi:id="_ef5gsKlAEeCYaYi0hzq5kg" name="FrontCamera">
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_lpqYsKlAEeCYaYi0hzq5kg" name="frameOut" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
-          </ownedAttribute>
-        </packagedElement>
-        <packagedElement xmi:type="uml:Class" xmi:id="_5rrL4B8oEeG4gPCEznVNOA" name="VipalabOdometry">
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_9cOsYB8oEeG4gPCEznVNOA" name="odometryOutput" type="_rye5YB8mEeG4gPCEznVNOA" aggregation="composite"/>
-        </packagedElement>
-        <packagedElement xmi:type="uml:Class" xmi:id="_lHqboDUpEeG5pL_fpN2DgQ" name="RearCamera">
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_n_2JsDUpEeG5pL_fpN2DgQ" name="frameOut" visibility="public" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
-          </ownedAttribute>
-        </packagedElement>
-        <packagedElement xmi:type="uml:Class" xmi:id="_ypiFMDUpEeG5pL_fpN2DgQ" name="WideAngleCamera">
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_4Jd4oDUpEeG5pL_fpN2DgQ" name="frameOut" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
-          </ownedAttribute>
-        </packagedElement>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Model" xmi:id="_fdzJn6k_EeCXqcRV-18f6Q" name="RoboCab Actuators">
-        <packagedElement xmi:type="uml:Class" xmi:id="_fdzJoKk_EeCXqcRV-18f6Q" name="Brake">
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_wAakkKlVEeCYfbnxVSyZ9g" name="BrakeIn" aggregation="composite">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-          </ownedAttribute>
-        </packagedElement>
-        <packagedElement xmi:type="uml:Class" xmi:id="_fdzJrak_EeCXqcRV-18f6Q" name="Steering">
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_shbfwKlWEeCYfbnxVSyZ9g" name="SteeringIn" aggregation="composite">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-          </ownedAttribute>
-        </packagedElement>
-        <packagedElement xmi:type="uml:Class" xmi:id="_fdzJuqk_EeCXqcRV-18f6Q" name="Motor">
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_ZAGOIKlWEeCYfbnxVSyZ9g" name="MotorIn" aggregation="composite">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-          </ownedAttribute>
-        </packagedElement>
-        <packagedElement xmi:type="uml:Class" xmi:id="_KqA8UB8pEeG4gPCEznVNOA" name="HighLevelController">
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_PhiE4B8pEeG4gPCEznVNOA" name="input" type="_n122UB8nEeG4gPCEznVNOA" aggregation="composite"/>
-        </packagedElement>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Model" xmi:id="_fdzJx6k_EeCXqcRV-18f6Q" name="RoboCab Subsystems">
-        <packageImport xmi:type="uml:PackageImport" xmi:id="_BOvG8GOAEeG9e5HjMGBgnQ">
-          <importedPackage xmi:type="uml:Model" href="pathmap://Papyrus_Alf_LIBRARIES/alflibrary.uml#_0bBI4Hy5EeCKy5kSqd4eVw"/>
-        </packageImport>
-        <packagedElement xmi:type="uml:Class" xmi:id="_fdzJyKk_EeCXqcRV-18f6Q" name="OrganizerSystem">
-          <ownedComment xmi:type="uml:Comment" xmi:id="_UJCjIKlXEeCYfbnxVSyZ9g">
-            <body></body>
-          </ownedComment>
-          <ownedComment xmi:type="uml:Comment" xmi:id="_WVHZIKlXEeCYfbnxVSyZ9g">
-            <body></body>
-          </ownedComment>
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJzak_EeCXqcRV-18f6Q" name="navigationSafety" visibility="public" type="_fdzKoKk_EeCXqcRV-18f6Q" aggregation="composite">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJz6k_EeCXqcRV-18f6Q" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJzqk_EeCXqcRV-18f6Q" value="1"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzJ0Kk_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_Gde_kB8rEeG4gPCEznVNOA" name="controller" type="_KqA8UB8pEeG4gPCEznVNOA"/>
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_qKrmYB8sEeG4gPCEznVNOA" name="challengerEvaluation" type="_kdlWIB8rEeG4gPCEznVNOA"/>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_tRMrYB8sEeG4gPCEznVNOA" name="ChallengerInput" type="_n122UB8nEeG4gPCEznVNOA" aggregation="composite"/>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_00caYB8sEeG4gPCEznVNOA" name="mission" type="_pf4OwKlgEeCYfbnxVSyZ9g" aggregation="composite"/>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_vP_roDUrEeG5pL_fpN2DgQ" name="rtk_pos" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="__UwIsDUrEeG5pL_fpN2DgQ" name="rtk_acc" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="__vhZIDUrEeG5pL_fpN2DgQ" name="rtk_vel" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
-          </ownedAttribute>
-          <ownedConnector xmi:type="uml:Connector" xmi:id="_cbA78B8tEeG4gPCEznVNOA" name="Connector11">
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_cbA78R8tEeG4gPCEznVNOA" role="_00caYB8sEeG4gPCEznVNOA">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_cbA78x8tEeG4gPCEznVNOA" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_cbA78h8tEeG4gPCEznVNOA" value="1"/>
-            </end>
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_cbA79B8tEeG4gPCEznVNOA" partWithPort="_qKrmYB8sEeG4gPCEznVNOA" role="_01c8cB8rEeG4gPCEznVNOA">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_cbA79h8tEeG4gPCEznVNOA" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_cbA79R8tEeG4gPCEznVNOA" value="1"/>
-            </end>
-          </ownedConnector>
-          <ownedConnector xmi:type="uml:Connector" xmi:id="_UOGS8B8vEeG4gPCEznVNOA" name="Connector14">
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_UOGS8R8vEeG4gPCEznVNOA" role="_00caYB8sEeG4gPCEznVNOA">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_UOG6AR8vEeG4gPCEznVNOA" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_UOG6AB8vEeG4gPCEznVNOA" value="1"/>
-            </end>
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_UOG6Ah8vEeG4gPCEznVNOA" partWithPort="_fdzJzak_EeCXqcRV-18f6Q" role="_fdzK36k_EeCXqcRV-18f6Q">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_UOG6BB8vEeG4gPCEznVNOA" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_UOG6Ax8vEeG4gPCEznVNOA" value="1"/>
-            </end>
-          </ownedConnector>
-          <ownedConnector xmi:type="uml:Connector" xmi:id="_VcOS8B8vEeG4gPCEznVNOA" name="Connector15">
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_VcOS8R8vEeG4gPCEznVNOA" role="_tRMrYB8sEeG4gPCEznVNOA">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_VcOS8x8vEeG4gPCEznVNOA" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_VcOS8h8vEeG4gPCEznVNOA" value="1"/>
-            </end>
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_VcO6AB8vEeG4gPCEznVNOA" partWithPort="_fdzJzak_EeCXqcRV-18f6Q" role="_6oOzYB8rEeG4gPCEznVNOA">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_VcO6Ah8vEeG4gPCEznVNOA" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_VcO6AR8vEeG4gPCEznVNOA" value="1"/>
-            </end>
-          </ownedConnector>
-          <ownedConnector xmi:type="uml:Connector" xmi:id="_XoXaYB8vEeG4gPCEznVNOA" name="Connector18">
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_XoXaYR8vEeG4gPCEznVNOA" partWithPort="_fdzJzak_EeCXqcRV-18f6Q" role="_6VYv4B8rEeG4gPCEznVNOA">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_XoXaYx8vEeG4gPCEznVNOA" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_XoXaYh8vEeG4gPCEznVNOA" value="1"/>
-            </end>
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_XoXaZB8vEeG4gPCEznVNOA" partWithPort="_Gde_kB8rEeG4gPCEznVNOA" role="_PhiE4B8pEeG4gPCEznVNOA">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_XoXaZh8vEeG4gPCEznVNOA" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_XoXaZR8vEeG4gPCEznVNOA" value="1"/>
-            </end>
-          </ownedConnector>
-          <ownedConnector xmi:type="uml:Connector" xmi:id="_LtN6MDUsEeG5pL_fpN2DgQ" name="Connector19">
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_LtOhQDUsEeG5pL_fpN2DgQ" role="__UwIsDUrEeG5pL_fpN2DgQ">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_LtOhQjUsEeG5pL_fpN2DgQ" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_LtOhQTUsEeG5pL_fpN2DgQ" value="1"/>
-            </end>
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_LtOhQzUsEeG5pL_fpN2DgQ" partWithPort="_qKrmYB8sEeG4gPCEznVNOA" role="_xHBi4B8rEeG4gPCEznVNOA">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_LtOhRTUsEeG5pL_fpN2DgQ" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_LtOhRDUsEeG5pL_fpN2DgQ" value="1"/>
-            </end>
-          </ownedConnector>
-          <ownedConnector xmi:type="uml:Connector" xmi:id="_RCtYMDUsEeG5pL_fpN2DgQ" name="Connector20">
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_RCtYMTUsEeG5pL_fpN2DgQ" partWithPort="_qKrmYB8sEeG4gPCEznVNOA" role="_vQPAYB8rEeG4gPCEznVNOA">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_RCtYMzUsEeG5pL_fpN2DgQ" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_RCtYMjUsEeG5pL_fpN2DgQ" value="1"/>
-            </end>
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_RCtYNDUsEeG5pL_fpN2DgQ" role="_vP_roDUrEeG5pL_fpN2DgQ">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_RCtYNjUsEeG5pL_fpN2DgQ" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_RCtYNTUsEeG5pL_fpN2DgQ" value="1"/>
-            </end>
-          </ownedConnector>
-          <ownedConnector xmi:type="uml:Connector" xmi:id="_RxvBYDUsEeG5pL_fpN2DgQ" name="Connector21">
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_RxvocDUsEeG5pL_fpN2DgQ" role="__vhZIDUrEeG5pL_fpN2DgQ">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_RxvocjUsEeG5pL_fpN2DgQ" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_RxvocTUsEeG5pL_fpN2DgQ" value="1"/>
-            </end>
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_RxvoczUsEeG5pL_fpN2DgQ" partWithPort="_fdzJzak_EeCXqcRV-18f6Q" role="_GJzrUKlbEeCYfbnxVSyZ9g">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_RxvodTUsEeG5pL_fpN2DgQ" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_RxvodDUsEeG5pL_fpN2DgQ" value="1"/>
-            </end>
-          </ownedConnector>
-          <ownedConnector xmi:type="uml:Connector" xmi:id="_SZiBMDUsEeG5pL_fpN2DgQ" name="Connector22">
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_SZioQDUsEeG5pL_fpN2DgQ" role="_vP_roDUrEeG5pL_fpN2DgQ">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_SZioQjUsEeG5pL_fpN2DgQ" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_SZioQTUsEeG5pL_fpN2DgQ" value="1"/>
-            </end>
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_SZioQzUsEeG5pL_fpN2DgQ" partWithPort="_fdzJzak_EeCXqcRV-18f6Q" role="_fdzK06k_EeCXqcRV-18f6Q">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_SZioRTUsEeG5pL_fpN2DgQ" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_SZioRDUsEeG5pL_fpN2DgQ" value="1"/>
-            </end>
-          </ownedConnector>
-        </packagedElement>
-        <packagedElement xmi:type="uml:Class" xmi:id="_fdzKIqk_EeCXqcRV-18f6Q" name="PathPlannerModule">
-          <ownedComment xmi:type="uml:Comment" xmi:id="_X4PBoKlrEeCLku4RFrI7uw">
-            <body>Le pathplanner genere un chemin et une vitesse de consigne </body>
-          </ownedComment>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzKI6k_EeCXqcRV-18f6Q" name="mission" visibility="public" type="_pf4OwKlgEeCYfbnxVSyZ9g" aggregation="composite">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzKJak_EeCXqcRV-18f6Q" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzKJKk_EeCXqcRV-18f6Q" value="1"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzKJqk_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzKJ6k_EeCXqcRV-18f6Q" name="pos3D" visibility="public" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzKKak_EeCXqcRV-18f6Q" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzKKKk_EeCXqcRV-18f6Q" value="1"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzKKqk_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzKK6k_EeCXqcRV-18f6Q" name="pathDef" visibility="public" type="_m-wp8KltEeCLku4RFrI7uw" aggregation="composite">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzKLak_EeCXqcRV-18f6Q" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzKLKk_EeCXqcRV-18f6Q" value="1"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzKLqk_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzKL6k_EeCXqcRV-18f6Q" name="velocity" visibility="public" aggregation="composite">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzKMak_EeCXqcRV-18f6Q" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzKMKk_EeCXqcRV-18f6Q" value="1"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzKMqk_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-        </packagedElement>
-        <packagedElement xmi:type="uml:Class" xmi:id="_fdzKVKk_EeCXqcRV-18f6Q" name="ServoingModule">
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzKZak_EeCXqcRV-18f6Q" name="inPathDeviation" visibility="public" type="_0y-5sKlrEeCLku4RFrI7uw" aggregation="composite">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzKZ6k_EeCXqcRV-18f6Q" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzKZqk_EeCXqcRV-18f6Q" value="1"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzKaKk_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzKaak_EeCXqcRV-18f6Q" name="pathDef" visibility="public" type="_m-wp8KltEeCLku4RFrI7uw" aggregation="composite">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzKa6k_EeCXqcRV-18f6Q" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzKaqk_EeCXqcRV-18f6Q" value="1"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzKbKk_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzKcak_EeCXqcRV-18f6Q" name="control" visibility="public" type="_n122UB8nEeG4gPCEznVNOA" aggregation="composite">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzKc6k_EeCXqcRV-18f6Q" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzKcqk_EeCXqcRV-18f6Q" value="1"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzKdKk_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_gFYxYB8sEeG4gPCEznVNOA" name="velocity" aggregation="composite">
-            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-          </ownedAttribute>
-        </packagedElement>
-        <packagedElement xmi:type="uml:Class" xmi:id="_fdzKoKk_EeCXqcRV-18f6Q" name="MonitoringAndIntegrityModule">
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzK06k_EeCXqcRV-18f6Q" name="rtk_pos" visibility="public" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzK1ak_EeCXqcRV-18f6Q" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzK1Kk_EeCXqcRV-18f6Q" value="1"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzK1qk_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzK36k_EeCXqcRV-18f6Q" name="missionDefIn" visibility="public" type="_pf4OwKlgEeCYfbnxVSyZ9g" aggregation="composite">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzK4ak_EeCXqcRV-18f6Q" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzK4Kk_EeCXqcRV-18f6Q" value="1"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzK4qk_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_GJzrUKlbEeCYfbnxVSyZ9g" name="rtk_vel" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_6VYv4B8rEeG4gPCEznVNOA" name="output" type="_n122UB8nEeG4gPCEznVNOA" aggregation="composite"/>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_6oOzYB8rEeG4gPCEznVNOA" name="input" type="_n122UB8nEeG4gPCEznVNOA" aggregation="composite"/>
-        </packagedElement>
-        <packagedElement xmi:type="uml:Class" xmi:id="_fdzK5Kk_EeCXqcRV-18f6Q" name="LocalisationModule" classifierBehavior="_P2-PUEHZEeG8nvjGjD0Mrg">
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzK6ak_EeCXqcRV-18f6Q" name="pos3D" visibility="public" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzK66k_EeCXqcRV-18f6Q" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzK6qk_EeCXqcRV-18f6Q" value="1"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzK7Kk_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzK9ak_EeCXqcRV-18f6Q" name="pathDefIn" visibility="public" type="_m-wp8KltEeCLku4RFrI7uw" aggregation="composite">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzK96k_EeCXqcRV-18f6Q" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzK9qk_EeCXqcRV-18f6Q" value="1"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzK-Kk_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzK-ak_EeCXqcRV-18f6Q" name="pathDeviation" visibility="public" type="_0y-5sKlrEeCLku4RFrI7uw" aggregation="composite">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzK-6k_EeCXqcRV-18f6Q" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzK-qk_EeCXqcRV-18f6Q" value="1"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzK_Kk_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_UIObEKloEeCLku4RFrI7uw" name="velocity3D" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_Nes3wAIDEeC_ZLzLQhW-TQ"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_UegmIDUrEeG5pL_fpN2DgQ" name="odometry" type="_rye5YB8mEeG4gPCEznVNOA" aggregation="composite"/>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_beSbsDUrEeG5pL_fpN2DgQ" name="frontFrame" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
-          </ownedAttribute>
-          <ownedBehavior xmi:type="uml:StateMachine" xmi:id="_P2-PUEHZEeG8nvjGjD0Mrg" name="LocalisationFSM">
-            <connectionPoint xmi:type="uml:Pseudostate" xmi:id="_QFIKoEHaEeG8nvjGjD0Mrg" name="EstimatedState" kind="exitPoint"/>
-            <connectionPoint xmi:type="uml:Pseudostate" xmi:id="_YlaJoEHaEeG8nvjGjD0Mrg" name="Input" kind="entryPoint"/>
-            <connectionPoint xmi:type="uml:Pseudostate" xmi:id="_a-YMIEHaEeG8nvjGjD0Mrg" name="Measurements" kind="entryPoint"/>
-            <region xmi:type="uml:Region" xmi:id="_Qv-68EHZEeG8nvjGjD0Mrg" name="Region1">
-              <transition xmi:type="uml:Transition" xmi:id="_3JM4kEHZEeG8nvjGjD0Mrg" name="StateUpdate" source="_lC9E4EHZEeG8nvjGjD0Mrg" target="_thXboEHZEeG8nvjGjD0Mrg"/>
-              <transition xmi:type="uml:Transition" xmi:id="_ecobsEHaEeG8nvjGjD0Mrg" name="Transition0" source="_M4zYkEHaEeG8nvjGjD0Mrg" target="_lC9E4EHZEeG8nvjGjD0Mrg"/>
-              <transition xmi:type="uml:Transition" xmi:id="_ihyTMEHaEeG8nvjGjD0Mrg" name="Transition1" source="_lC9E4EHZEeG8nvjGjD0Mrg" target="_YlaJoEHaEeG8nvjGjD0Mrg"/>
-              <transition xmi:type="uml:Transition" xmi:id="_mejDsEHaEeG8nvjGjD0Mrg" name="Transition2" source="_thXboEHZEeG8nvjGjD0Mrg" target="_QFIKoEHaEeG8nvjGjD0Mrg"/>
-              <transition xmi:type="uml:Transition" xmi:id="_0QZ9EG6oEeGqrd__B0yUNA" name="Transition4" source="_todYsG6oEeGqrd__B0yUNA" target="_lC9E4EHZEeG8nvjGjD0Mrg"/>
-              <transition xmi:type="uml:Transition" xmi:id="_bziJEG6pEeGqrd__B0yUNA" name="Transition5" source="_lC9E4EHZEeG8nvjGjD0Mrg" target="_lC9E4EHZEeG8nvjGjD0Mrg"/>
-              <transition xmi:type="uml:Transition" xmi:id="_RCtOUG6qEeGqrd__B0yUNA" name="Transition6" source="_thXboEHZEeG8nvjGjD0Mrg" target="_ubR8wG6oEeGqrd__B0yUNA"/>
-              <transition xmi:type="uml:Transition" xmi:id="_iWLPUG6sEeGqrd__B0yUNA" name="Transition7" source="_lC9E4EHZEeG8nvjGjD0Mrg" target="_ubR8wG6oEeGqrd__B0yUNA"/>
-              <subvertex xmi:type="uml:State" xmi:id="_lC9E4EHZEeG8nvjGjD0Mrg" name="KalmanFilter"/>
-              <subvertex xmi:type="uml:State" xmi:id="_thXboEHZEeG8nvjGjD0Mrg" name="ComputePathDeviation"/>
-              <subvertex xmi:type="uml:Pseudostate" xmi:id="_M4zYkEHaEeG8nvjGjD0Mrg" name="Initial0"/>
-              <subvertex xmi:type="uml:Pseudostate" xmi:id="_todYsG6oEeGqrd__B0yUNA" name="intialState"/>
-              <subvertex xmi:type="uml:FinalState" xmi:id="_ubR8wG6oEeGqrd__B0yUNA" name="FinalState"/>
-            </region>
-          </ownedBehavior>
-          <ownedOperation xmi:type="uml:Operation" xmi:id="_5lDGgG6oEeGqrd__B0yUNA" name="allSensorsDataReceived">
-            <ownedParameter xmi:type="uml:Parameter" xmi:id="_KbAXAG6pEeGqrd__B0yUNA" direction="out">
-              <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
-            </ownedParameter>
-          </ownedOperation>
-          <ownedOperation xmi:type="uml:Operation" xmi:id="_5FqmYG6pEeGqrd__B0yUNA" name="positionChanged">
-            <ownedParameter xmi:type="uml:Parameter" xmi:id="_AxZjAG6qEeGqrd__B0yUNA" direction="out">
-              <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
-            </ownedParameter>
-          </ownedOperation>
-          <ownedOperation xmi:type="uml:Operation" xmi:id="_cWKfkG6qEeGqrd__B0yUNA" name="sensorDataReceived">
-            <ownedParameter xmi:type="uml:Parameter" xmi:id="_iyBvwG6qEeGqrd__B0yUNA" direction="out">
-              <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
-            </ownedParameter>
-          </ownedOperation>
-          <ownedOperation xmi:type="uml:Operation" xmi:id="_1FtigG6qEeGqrd__B0yUNA" name="shutDownSignalReceived">
-            <ownedParameter xmi:type="uml:Parameter" xmi:id="_ZuvfcG6sEeGqrd__B0yUNA" direction="out">
-              <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
-            </ownedParameter>
-          </ownedOperation>
-        </packagedElement>
-        <packagedElement xmi:type="uml:Class" xmi:id="_fdzLHak_EeCXqcRV-18f6Q" name="ChallengerSystem">
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzLIqk_EeCXqcRV-18f6Q" name="mappingSystem" type="_07AcABwkEeGa5bH_RJFzBQ"/>
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzLJ6k_EeCXqcRV-18f6Q" name="oDSystem" visibility="public" type="_MaVUkBwiEeGa5bH_RJFzBQ">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzLKak_EeCXqcRV-18f6Q" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzLKKk_EeCXqcRV-18f6Q" value="1"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzLKqk_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzLNqk_EeCXqcRV-18f6Q" name="missionDef" visibility="public" type="_pf4OwKlgEeCYfbnxVSyZ9g" aggregation="composite">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzLOKk_EeCXqcRV-18f6Q" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzLN6k_EeCXqcRV-18f6Q" value="1"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzLOak_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzLQqk_EeCXqcRV-18f6Q" name="pathPlanner" visibility="public" type="_fdzKIqk_EeCXqcRV-18f6Q" aggregation="composite">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzLRKk_EeCXqcRV-18f6Q" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzLQ6k_EeCXqcRV-18f6Q" value="1"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzLRak_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzLRqk_EeCXqcRV-18f6Q" name="control" visibility="public" type="_fdzKVKk_EeCXqcRV-18f6Q" aggregation="composite">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzLSKk_EeCXqcRV-18f6Q" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzLR6k_EeCXqcRV-18f6Q" value="1"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzLSak_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzLSqk_EeCXqcRV-18f6Q" name="localisation" visibility="public" type="_fdzK5Kk_EeCXqcRV-18f6Q" aggregation="composite">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzLTKk_EeCXqcRV-18f6Q" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzLS6k_EeCXqcRV-18f6Q" value="1"/>
-            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzLTak_EeCXqcRV-18f6Q">
-              <value xsi:nil="true"/>
-            </defaultValue>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_LA8qUKlkEeCLku4RFrI7uw" name="velocity3D" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_Nes3wAIDEeC_ZLzLQhW-TQ"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_ImFDAKlnEeCLku4RFrI7uw" name="cmdMessage" type="_n122UB8nEeG4gPCEznVNOA" aggregation="composite"/>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_egSUcB8vEeG4gPCEznVNOA" name="odometry" type="_rye5YB8mEeG4gPCEznVNOA" aggregation="composite"/>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_FgbvMB8wEeGetOLfkLNwfg" name="lidarScan" type="_TKz3sDUtEeG5pL_fpN2DgQ" aggregation="composite">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_JYJAkB8wEeGetOLfkLNwfg" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_JYLc0B8wEeGetOLfkLNwfg" value="1"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_NkEOcB8wEeGetOLfkLNwfg" name="gps" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_WZjocB8wEeGetOLfkLNwfg" name="stereoRight" visibility="public" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_wEZ2AB8wEeGetOLfkLNwfg" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_wEmqUB8wEeGetOLfkLNwfg" value="1"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_x9oBcB8wEeGetOLfkLNwfg" name="frontFrame" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_WC5TkB8-EeGetOLfkLNwfg" name="rearFrame" visibility="public" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_a8AXkB8-EeGetOLfkLNwfg" name="wideFrame" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_qPrSwDUzEeG5pL_fpN2DgQ" name="stereoLeft" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_0-eXwDUzEeG5pL_fpN2DgQ" name="rtk_pos" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_2izRQDUzEeG5pL_fpN2DgQ" name="rtk_vel" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_3wKcQDUzEeG5pL_fpN2DgQ" name="rtk_acc" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
-          </ownedAttribute>
-          <ownedConnector xmi:type="uml:Connector" xmi:id="_fdzLVqk_EeCXqcRV-18f6Q" name="Connector2">
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_fdzLV6k_EeCXqcRV-18f6Q" partWithPort="_fdzLQqk_EeCXqcRV-18f6Q" role="_fdzKK6k_EeCXqcRV-18f6Q"/>
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_fdzLWKk_EeCXqcRV-18f6Q" partWithPort="_fdzLSqk_EeCXqcRV-18f6Q" role="_fdzK9ak_EeCXqcRV-18f6Q"/>
-          </ownedConnector>
-          <ownedConnector xmi:type="uml:Connector" xmi:id="_fdzLWak_EeCXqcRV-18f6Q" name="Connector7">
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_fdzLWqk_EeCXqcRV-18f6Q" partWithPort="_fdzLRqk_EeCXqcRV-18f6Q" role="_fdzKZak_EeCXqcRV-18f6Q"/>
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_fdzLW6k_EeCXqcRV-18f6Q" partWithPort="_fdzLSqk_EeCXqcRV-18f6Q" role="_fdzK-ak_EeCXqcRV-18f6Q"/>
-          </ownedConnector>
-          <ownedConnector xmi:type="uml:Connector" xmi:id="_fdzLfak_EeCXqcRV-18f6Q" name="Connector1">
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_fdzLfqk_EeCXqcRV-18f6Q" role="_fdzLNqk_EeCXqcRV-18f6Q"/>
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_fdzLf6k_EeCXqcRV-18f6Q" partWithPort="_fdzLQqk_EeCXqcRV-18f6Q" role="_fdzKI6k_EeCXqcRV-18f6Q"/>
-          </ownedConnector>
-          <ownedConnector xmi:type="uml:Connector" xmi:id="_R3I6gKluEeCLku4RFrI7uw" name="Connector11">
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_R3I6galuEeCLku4RFrI7uw" partWithPort="_fdzLRqk_EeCXqcRV-18f6Q" role="_fdzKcak_EeCXqcRV-18f6Q">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_R3I6g6luEeCLku4RFrI7uw" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_R3I6gqluEeCLku4RFrI7uw" value="1"/>
-            </end>
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_R3I6hKluEeCLku4RFrI7uw" role="_ImFDAKlnEeCLku4RFrI7uw">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_R3I6hqluEeCLku4RFrI7uw" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_R3I6haluEeCLku4RFrI7uw" value="1"/>
-            </end>
-          </ownedConnector>
-          <ownedConnector xmi:type="uml:Connector" xmi:id="_6VbfMGbUEeGGNuX1IHg1zg" name="Connector12">
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_6VbfMWbUEeGGNuX1IHg1zg" partWithPort="_fdzLQqk_EeCXqcRV-18f6Q" role="_fdzKL6k_EeCXqcRV-18f6Q">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_6VbfM2bUEeGGNuX1IHg1zg" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_6VbfMmbUEeGGNuX1IHg1zg" value="1"/>
-            </end>
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_6VbfNGbUEeGGNuX1IHg1zg" partWithPort="_fdzLRqk_EeCXqcRV-18f6Q" role="_gFYxYB8sEeG4gPCEznVNOA">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_6VbfNmbUEeGGNuX1IHg1zg" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_6VbfNWbUEeGGNuX1IHg1zg" value="1"/>
-            </end>
-          </ownedConnector>
-          <ownedConnector xmi:type="uml:Connector" xmi:id="_YKRoAGbVEeGGNuX1IHg1zg" name="Connector13">
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_YKRoAWbVEeGGNuX1IHg1zg" role="_0-eXwDUzEeG5pL_fpN2DgQ">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_YKRoA2bVEeGGNuX1IHg1zg" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_YKRoAmbVEeGGNuX1IHg1zg" value="1"/>
-            </end>
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_YKRoBGbVEeGGNuX1IHg1zg" partWithPort="_fdzLQqk_EeCXqcRV-18f6Q" role="_fdzKJ6k_EeCXqcRV-18f6Q">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_YKRoBmbVEeGGNuX1IHg1zg" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_YKRoBWbVEeGGNuX1IHg1zg" value="1"/>
-            </end>
-          </ownedConnector>
-          <ownedConnector xmi:type="uml:Connector" xmi:id="_39LY8GbVEeGGNuX1IHg1zg" name="Connector14">
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_39LY8WbVEeGGNuX1IHg1zg" role="_LA8qUKlkEeCLku4RFrI7uw">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_39LY82bVEeGGNuX1IHg1zg" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_39LY8mbVEeGGNuX1IHg1zg" value="1"/>
-            </end>
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_39LY9GbVEeGGNuX1IHg1zg" partWithPort="_fdzLSqk_EeCXqcRV-18f6Q" role="_UIObEKloEeCLku4RFrI7uw">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_39LY9mbVEeGGNuX1IHg1zg" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_39LY9WbVEeGGNuX1IHg1zg" value="1"/>
-            </end>
-          </ownedConnector>
-          <ownedConnector xmi:type="uml:Connector" xmi:id="_56pLMGbVEeGGNuX1IHg1zg" name="Connector15">
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_56pLMWbVEeGGNuX1IHg1zg" role="_0-eXwDUzEeG5pL_fpN2DgQ">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_56pLM2bVEeGGNuX1IHg1zg" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_56pLMmbVEeGGNuX1IHg1zg" value="1"/>
-            </end>
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_56pLNGbVEeGGNuX1IHg1zg" partWithPort="_fdzLSqk_EeCXqcRV-18f6Q" role="_fdzK6ak_EeCXqcRV-18f6Q">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_56pLNmbVEeGGNuX1IHg1zg" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_56pLNWbVEeGGNuX1IHg1zg" value="1"/>
-            </end>
-          </ownedConnector>
-          <ownedConnector xmi:type="uml:Connector" xmi:id="_70r2AGbVEeGGNuX1IHg1zg" name="Connector16">
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_70r2AWbVEeGGNuX1IHg1zg" role="_egSUcB8vEeG4gPCEznVNOA">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_70r2A2bVEeGGNuX1IHg1zg" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_70r2AmbVEeGGNuX1IHg1zg" value="1"/>
-            </end>
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_70r2BGbVEeGGNuX1IHg1zg" partWithPort="_fdzLSqk_EeCXqcRV-18f6Q" role="_UegmIDUrEeG5pL_fpN2DgQ">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_70r2BmbVEeGGNuX1IHg1zg" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_70r2BWbVEeGGNuX1IHg1zg" value="1"/>
-            </end>
-          </ownedConnector>
-          <ownedConnector xmi:type="uml:Connector" xmi:id="_9A-qAGbVEeGGNuX1IHg1zg" name="Connector17">
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_9A-qAWbVEeGGNuX1IHg1zg" role="_x9oBcB8wEeGetOLfkLNwfg">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_9A-qA2bVEeGGNuX1IHg1zg" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_9A-qAmbVEeGGNuX1IHg1zg" value="1"/>
-            </end>
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_9A-qBGbVEeGGNuX1IHg1zg" partWithPort="_fdzLSqk_EeCXqcRV-18f6Q" role="_beSbsDUrEeG5pL_fpN2DgQ">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_9A-qBmbVEeGGNuX1IHg1zg" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_9A-qBWbVEeGGNuX1IHg1zg" value="1"/>
-            </end>
-          </ownedConnector>
-          <ownedConnector xmi:type="uml:Connector" xmi:id="_OCQZsGbWEeGGNuX1IHg1zg" name="Connector18">
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_OCQZsWbWEeGGNuX1IHg1zg" partWithPort="_fdzLJ6k_EeCXqcRV-18f6Q" role="_f6a-IBwkEeGa5bH_RJFzBQ">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_OCQZs2bWEeGGNuX1IHg1zg" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_OCQZsmbWEeGGNuX1IHg1zg" value="1"/>
-            </end>
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_OCQZtGbWEeGGNuX1IHg1zg" partWithPort="_fdzLRqk_EeCXqcRV-18f6Q" role="_fdzKaak_EeCXqcRV-18f6Q">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_OCQZtmbWEeGGNuX1IHg1zg" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_OCQZtWbWEeGGNuX1IHg1zg" value="1"/>
-            </end>
-          </ownedConnector>
-          <ownedConnector xmi:type="uml:Connector" xmi:id="_VhLCUGbWEeGGNuX1IHg1zg" name="Connector19">
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_VhLCUWbWEeGGNuX1IHg1zg" role="_FgbvMB8wEeGetOLfkLNwfg">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_VhLCU2bWEeGGNuX1IHg1zg" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_VhLCUmbWEeGGNuX1IHg1zg" value="1"/>
-            </end>
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_VhLCVGbWEeGGNuX1IHg1zg" partWithPort="_fdzLJ6k_EeCXqcRV-18f6Q" role="_Rsb1cBwkEeGa5bH_RJFzBQ">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_VhLCVmbWEeGGNuX1IHg1zg" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_VhLCVWbWEeGGNuX1IHg1zg" value="1"/>
-            </end>
-          </ownedConnector>
-          <ownedConnector xmi:type="uml:Connector" xmi:id="_aJQnwGbWEeGGNuX1IHg1zg" name="Connector20">
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_aJQnwWbWEeGGNuX1IHg1zg" partWithPort="_fdzLQqk_EeCXqcRV-18f6Q" role="_fdzKK6k_EeCXqcRV-18f6Q">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_aJQnw2bWEeGGNuX1IHg1zg" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_aJQnwmbWEeGGNuX1IHg1zg" value="1"/>
-            </end>
-            <end xmi:type="uml:ConnectorEnd" xmi:id="_aJQnxGbWEeGGNuX1IHg1zg" partWithPort="_fdzLJ6k_EeCXqcRV-18f6Q" role="_W2W8oBwkEeGa5bH_RJFzBQ">
-              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_aJQnxmbWEeGGNuX1IHg1zg" value="1"/>
-              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_aJQnxWbWEeGGNuX1IHg1zg" value="1"/>
-            </end>
-          </ownedConnector>
-        </packagedElement>
-        <packagedElement xmi:type="uml:Class" xmi:id="_aG5SkKlgEeCYfbnxVSyZ9g" name="MissionGeneratorModule">
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_cPiaEKlgEeCYfbnxVSyZ9g" name="mission" type="_pf4OwKlgEeCYfbnxVSyZ9g" aggregation="composite"/>
-        </packagedElement>
-        <packagedElement xmi:type="uml:Class" xmi:id="_MaVUkBwiEeGa5bH_RJFzBQ" name="ObstacleDetectionModule">
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_Rsb1cBwkEeGa5bH_RJFzBQ" name="Lidar" visibility="public" type="_TKz3sDUtEeG5pL_fpN2DgQ" aggregation="composite">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_bfjVUBwkEeGa5bH_RJFzBQ" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_bfpb8BwkEeGa5bH_RJFzBQ" value="1"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_W2W8oBwkEeGa5bH_RJFzBQ" name="path" visibility="public" type="_m-wp8KltEeCLku4RFrI7uw" aggregation="composite"/>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_f6a-IBwkEeGa5bH_RJFzBQ" name="pathOut" type="_m-wp8KltEeCLku4RFrI7uw" aggregation="composite"/>
-        </packagedElement>
-        <packagedElement xmi:type="uml:Class" xmi:id="_07AcABwkEeGa5bH_RJFzBQ" name="MappingModule"/>
-        <packagedElement xmi:type="uml:Class" xmi:id="_kdlWIB8rEeG4gPCEznVNOA" name="EvaluationModule">
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_vQPAYB8rEeG4gPCEznVNOA" name="pos" visibility="public" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_xHBi4B8rEeG4gPCEznVNOA" name="acc" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_01c8cB8rEeG4gPCEznVNOA" name="mission" type="_pf4OwKlgEeCYfbnxVSyZ9g" aggregation="composite"/>
-        </packagedElement>
-        <packagedElement xmi:type="uml:Class" xmi:id="_4R8VYEHxEeGGXpGscpkjdg" name="FsmTestModule" classifierBehavior="_De5ZIEK6EeGv-54Wm4mRWQ">
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_FpXIwEK-EeGv-54Wm4mRWQ" name="InVipalabOdometry" visibility="public" type="_rye5YB8mEeG4gPCEznVNOA" aggregation="composite">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_FpbaMEK-EeGv-54Wm4mRWQ" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_FpdPYEK-EeGv-54Wm4mRWQ" value="1"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_TVYM0EK-EeGv-54Wm4mRWQ" name="InLeftImage" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_TVapEEK-EeGv-54Wm4mRWQ" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_TVdFUEK-EeGv-54Wm4mRWQ" value="1"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_aL1HQEK-EeGv-54Wm4mRWQ" name="InRightImage" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_aL3jgEK-EeGv-54Wm4mRWQ" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_aL5YsEK-EeGv-54Wm4mRWQ" value="1"/>
-          </ownedAttribute>
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_d9wgwEK-EeGv-54Wm4mRWQ" name="InFrontImage" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_d9y9AEK-EeGv-54Wm4mRWQ" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_d90yMEK-EeGv-54Wm4mRWQ" value="1"/>
-          </ownedAttribute>
-          <ownedBehavior xmi:type="uml:StateMachine" xmi:id="_De5ZIEK6EeGv-54Wm4mRWQ" name="StateMachine1">
-            <region xmi:type="uml:Region" xmi:id="_EKPcMEK6EeGv-54Wm4mRWQ" name="Region1">
-              <transition xmi:type="uml:Transition" xmi:id="_4nd1MEK8EeGv-54Wm4mRWQ" name="Trans_LM" source="_M9id0EK6EeGv-54Wm4mRWQ" target="_Ar40EEK8EeGv-54Wm4mRWQ"/>
-              <transition xmi:type="uml:Transition" xmi:id="_6CGnMEK8EeGv-54Wm4mRWQ" name="Trans_ML" source="_Ar40EEK8EeGv-54Wm4mRWQ" target="_M9id0EK6EeGv-54Wm4mRWQ"/>
-              <transition xmi:type="uml:Transition" xmi:id="_69reoEK8EeGv-54Wm4mRWQ" name="Trans_MR" source="_Ar40EEK8EeGv-54Wm4mRWQ" target="_PvjnkEK8EeGv-54Wm4mRWQ">
-                <effect xmi:type="uml:Interaction" xmi:id="_Q34FEEK9EeGv-54Wm4mRWQ"/>
-              </transition>
-              <transition xmi:type="uml:Transition" xmi:id="_7irpIEK8EeGv-54Wm4mRWQ" name="Trans_RM" source="_PvjnkEK8EeGv-54Wm4mRWQ" target="_Ar40EEK8EeGv-54Wm4mRWQ"/>
-              <transition xmi:type="uml:Transition" xmi:id="_tUNfMGLwEeGQvv5wJEmGUQ" name="Transition1" source="_exCJoGLwEeGQvv5wJEmGUQ" target="_Ar40EEK8EeGv-54Wm4mRWQ"/>
-              <transition xmi:type="uml:Transition" xmi:id="_uQtjsGLwEeGQvv5wJEmGUQ" name="Transition2" source="_Ar40EEK8EeGv-54Wm4mRWQ" target="_g7UP4GLwEeGQvv5wJEmGUQ"/>
-              <transition xmi:type="uml:Transition" xmi:id="_vO1_4GLwEeGQvv5wJEmGUQ" name="Transition3" source="_PvjnkEK8EeGv-54Wm4mRWQ" target="_g7UP4GLwEeGQvv5wJEmGUQ"/>
-              <transition xmi:type="uml:Transition" xmi:id="_yOoKwGLwEeGQvv5wJEmGUQ" name="Transition4" source="_M9id0EK6EeGv-54Wm4mRWQ" target="_g7UP4GLwEeGQvv5wJEmGUQ"/>
-              <transition xmi:type="uml:Transition" xmi:id="_1X8FEGLwEeGQvv5wJEmGUQ" name="Transition5" source="_exCJoGLwEeGQvv5wJEmGUQ" target="_M9id0EK6EeGv-54Wm4mRWQ"/>
-              <transition xmi:type="uml:Transition" xmi:id="_2wTmMGLwEeGQvv5wJEmGUQ" name="Transition6" source="_exCJoGLwEeGQvv5wJEmGUQ" target="_PvjnkEK8EeGv-54Wm4mRWQ"/>
-              <subvertex xmi:type="uml:State" xmi:id="_M9id0EK6EeGv-54Wm4mRWQ" name="Left"/>
-              <subvertex xmi:type="uml:State" xmi:id="_Ar40EEK8EeGv-54Wm4mRWQ" name="Middle"/>
-              <subvertex xmi:type="uml:State" xmi:id="_PvjnkEK8EeGv-54Wm4mRWQ" name="Right"/>
-              <subvertex xmi:type="uml:Pseudostate" xmi:id="_exCJoGLwEeGQvv5wJEmGUQ" name="State1"/>
-              <subvertex xmi:type="uml:FinalState" xmi:id="_g7UP4GLwEeGQvv5wJEmGUQ" name="State2"/>
-            </region>
-          </ownedBehavior>
-          <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_6qJJgEK6EeGv-54Wm4mRWQ" name="isSteeredLeft" specification="_sD-KUEK6EeGv-54Wm4mRWQ">
-            <language>C++</language>
-            <body>(odometryMsg.steeringAngle > 5) ? return true : return false ;&#xD;
-return (odometryMsg.steeringAngle > 5) ? true: false;&#xD;
-</body>
-          </ownedBehavior>
-          <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_MJ8oQEK7EeGv-54Wm4mRWQ" name="isSteeredRight" specification="_rnfNMEK7EeGv-54Wm4mRWQ">
-            <language>C++</language>
-            <body>(odometryMsg.steeringAngle &lt; -5 ) return true : return false ;&#xD;
-return (odometryMsg.steeringAngle &lt; -5 ) ? true :false;&#xD;
-</body>
-          </ownedBehavior>
-          <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_M-5TQEK7EeGv-54Wm4mRWQ" name="isSteeredFront" specification="_zsmTIEK7EeGv-54Wm4mRWQ">
-            <language>C++</language>
-            <body>( -5 &lt;= odometryMsg.steeringAngle &amp;&amp; odometryMsg.steeringAngle &lt;= 5 ) ? return true : return false ;&#xD;
-return ( -5 &lt;= odometryMsg.steeringAngle &amp;&amp; odometryMsg.steeringAngle &lt;= 5 ) ? true:false;&#xD;
-</body>
-          </ownedBehavior>
-          <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_IgJOgBFxEeOl1IrgVMUxOA" name="showLeftCamera"/>
-          <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_ZmSQEBFxEeOl1IrgVMUxOA" name="showRightCamera"/>
-          <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_eBwV0BFxEeOl1IrgVMUxOA" name="showMiddleCamera"/>
-          <ownedOperation xmi:type="uml:Operation" xmi:id="_LJ25sEK6EeGv-54Wm4mRWQ" name="ShowLeftCamera">
-            <ownedParameter xmi:type="uml:Parameter" xmi:id="_qXQiIELAEeGFx4iVEwo0kA" name="frame">
-              <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
-            </ownedParameter>
-          </ownedOperation>
-          <ownedOperation xmi:type="uml:Operation" xmi:id="_co9N0EK6EeGv-54Wm4mRWQ" name="ShowRightCamera">
-            <ownedParameter xmi:type="uml:Parameter" xmi:id="_g8eCsELAEeGFx4iVEwo0kA" name="frame">
-              <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
-            </ownedParameter>
-          </ownedOperation>
-          <ownedOperation xmi:type="uml:Operation" xmi:id="_lxCzsEK6EeGv-54Wm4mRWQ" name="ShowMiddleCamera">
-            <ownedParameter xmi:type="uml:Parameter" xmi:id="_dybvoELAEeGFx4iVEwo0kA" name="frame">
-              <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
-            </ownedParameter>
-          </ownedOperation>
-          <ownedOperation xmi:type="uml:Operation" xmi:id="_sD-KUEK6EeGv-54Wm4mRWQ" name="LeftSteering" method="_6qJJgEK6EeGv-54Wm4mRWQ">
-            <ownedParameter xmi:type="uml:Parameter" xmi:id="_1kIR8EK6EeGv-54Wm4mRWQ" name="odometryMsg" type="_rye5YB8mEeG4gPCEznVNOA"/>
-          </ownedOperation>
-          <ownedOperation xmi:type="uml:Operation" xmi:id="_rnfNMEK7EeGv-54Wm4mRWQ" name="RightSteering" method="_MJ8oQEK7EeGv-54Wm4mRWQ">
-            <ownedParameter xmi:type="uml:Parameter" xmi:id="_yB1acEK7EeGv-54Wm4mRWQ" name="odometryMsg" type="_rye5YB8mEeG4gPCEznVNOA"/>
-          </ownedOperation>
-          <ownedOperation xmi:type="uml:Operation" xmi:id="_zsmTIEK7EeGv-54Wm4mRWQ" name="FrontSteering" method="_M-5TQEK7EeGv-54Wm4mRWQ">
-            <ownedParameter xmi:type="uml:Parameter" xmi:id="_7mEw0EK7EeGv-54Wm4mRWQ" name="odometryMsg" type="_rye5YB8mEeG4gPCEznVNOA"/>
-          </ownedOperation>
-        </packagedElement>
-        <packagedElement xmi:type="uml:Class" xmi:id="_irmXsEH0EeGwG_JKFhyhxw" name="ExternalAlgorithmTestModule">
-          <ownedAttribute xmi:type="uml:Port" xmi:id="_mJzj8EH0EeGwG_JKFhyhxw" name="inFrame" aggregation="composite">
-            <type xmi:type="uml:DataType" href="pathmap://Robotml_PROFILES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
-          </ownedAttribute>
-          <ownedOperation xmi:type="uml:Operation" xmi:id="_gDWe0EK_EeGFx4iVEwo0kA" name="opencv_imshow" visibility="public"/>
-          <ownedOperation xmi:type="uml:Operation" xmi:id="_4gEZAENGEeGaAsRpegEgPg" name="opencv_imread"/>
-        </packagedElement>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Class" xmi:id="_-9mt0KENEeKLUqX9IJq2Gg" name="Environment">
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_K9lG0KEOEeKLUqX9IJq2Gg" name="roboCab" type="_fdzI0qk_EeCXqcRV-18f6Q"/>
-      </packagedElement>
-    </packagedElement>
-    <packagedElement xmi:type="uml:Package" xmi:id="_k5GOkGbWEeGGNuX1IHg1zg" name="DeploymentPlans">
-      <packagedElement xmi:type="uml:Package" xmi:id="_k6lcUGbWEeGGNuX1IHg1zg" name="RoboCabDepPlan">
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k7L5QGbWEeGGNuX1IHg1zg" name="mainInstance" classifier="_fdzI0qk_EeCXqcRV-18f6Q">
-          <slot xmi:type="uml:Slot" xmi:id="_k8YMEGbWEeGGNuX1IHg1zg" definingFeature="_fdzI16k_EeCXqcRV-18f6Q">
-            <value xmi:type="uml:InstanceValue" xmi:id="_k8h9EGbWEeGGNuX1IHg1zg" instance="_k8ObEGbWEeGGNuX1IHg1zg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_k804AGbWEeGGNuX1IHg1zg" definingFeature="_BE-egKlmEeCLku4RFrI7uw">
-            <value xmi:type="uml:InstanceValue" xmi:id="_k804AWbWEeGGNuX1IHg1zg" instance="_k8rHAGbWEeGGNuX1IHg1zg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_k-UFwGbWEeGGNuX1IHg1zg" definingFeature="_bsDDwKlmEeCLku4RFrI7uw">
-            <value xmi:type="uml:InstanceValue" xmi:id="_k-UFwWbWEeGGNuX1IHg1zg" instance="_k8-B8GbWEeGGNuX1IHg1zg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_lAZwcGbWEeGGNuX1IHg1zg" definingFeature="_kbbj0BwnEeGa5bH_RJFzBQ">
-            <value xmi:type="uml:InstanceValue" xmi:id="_lAZwcWbWEeGGNuX1IHg1zg" instance="_k-UFwmbWEeGGNuX1IHg1zg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_lBcSQGbWEeGGNuX1IHg1zg" definingFeature="_7PWh8B8kEeG4gPCEznVNOA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_lBmDQGbWEeGGNuX1IHg1zg" instance="_lAZwcmbWEeGGNuX1IHg1zg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_lBvNMGbWEeGGNuX1IHg1zg" definingFeature="_NJdXEB8lEeG4gPCEznVNOA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_lB4-MGbWEeGGNuX1IHg1zg" instance="_lBmDQWbWEeGGNuX1IHg1zg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_lCCvMGbWEeGGNuX1IHg1zg" definingFeature="_OENvIB8lEeG4gPCEznVNOA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_lCCvMWbWEeGGNuX1IHg1zg" instance="_lB4-MWbWEeGGNuX1IHg1zg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_lCL5IWbWEeGGNuX1IHg1zg" definingFeature="_94cOoB8lEeG4gPCEznVNOA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_lCL5ImbWEeGGNuX1IHg1zg" instance="_lCL5IGbWEeGGNuX1IHg1zg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_lCVqIWbWEeGGNuX1IHg1zg" definingFeature="_KdDxgB9BEeGetOLfkLNwfg">
-            <value xmi:type="uml:InstanceValue" xmi:id="_lCfbIGbWEeGGNuX1IHg1zg" instance="_lCVqIGbWEeGGNuX1IHg1zg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_lCfbImbWEeGGNuX1IHg1zg" definingFeature="_YLTDIB9BEeGetOLfkLNwfg">
-            <value xmi:type="uml:InstanceValue" xmi:id="_lColEGbWEeGGNuX1IHg1zg" instance="_lCfbIWbWEeGGNuX1IHg1zg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_lCyWEGbWEeGGNuX1IHg1zg" definingFeature="_A68QIB9DEeGetOLfkLNwfg">
-            <value xmi:type="uml:InstanceValue" xmi:id="_lCyWEWbWEeGGNuX1IHg1zg" instance="_lColEWbWEeGGNuX1IHg1zg"/>
-          </slot>
-        </packagedElement>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k8ObEGbWEeGGNuX1IHg1zg" name="mainInstance.landis" classifier="_fdzJZ6k_EeCXqcRV-18f6Q"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k8rHAGbWEeGGNuX1IHg1zg" name="mainInstance.missionGenerator" classifier="_aG5SkKlgEeCYfbnxVSyZ9g"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k8-B8GbWEeGGNuX1IHg1zg" name="mainInstance.organizeSpace" classifier="_fdzJyKk_EeCXqcRV-18f6Q">
-          <slot xmi:type="uml:Slot" xmi:id="_k9Rj8GbWEeGGNuX1IHg1zg" definingFeature="_fdzJzak_EeCXqcRV-18f6Q">
-            <value xmi:type="uml:InstanceValue" xmi:id="_k9at4GbWEeGGNuX1IHg1zg" instance="_k9Hy8GbWEeGGNuX1IHg1zg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_k9uP4GbWEeGGNuX1IHg1zg" definingFeature="_Gde_kB8rEeG4gPCEznVNOA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_k9uP4WbWEeGGNuX1IHg1zg" instance="_k9ke4GbWEeGGNuX1IHg1zg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_k-BK0GbWEeGGNuX1IHg1zg" definingFeature="_qKrmYB8sEeG4gPCEznVNOA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_k-KUwGbWEeGGNuX1IHg1zg" instance="_k93Z0GbWEeGGNuX1IHg1zg"/>
-          </slot>
-        </packagedElement>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k9Hy8GbWEeGGNuX1IHg1zg" name="mainInstance.organizeSpace.navigationSafety" classifier="_fdzKoKk_EeCXqcRV-18f6Q"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k9ke4GbWEeGGNuX1IHg1zg" name="mainInstance.organizeSpace.controller" classifier="_KqA8UB8pEeG4gPCEznVNOA"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k93Z0GbWEeGGNuX1IHg1zg" name="mainInstance.organizeSpace.challengerEvaluation" classifier="_kdlWIB8rEeG4gPCEznVNOA"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k-UFwmbWEeGGNuX1IHg1zg" name="mainInstance.challengerSpace" classifier="_fdzLHak_EeCXqcRV-18f6Q">
-          <slot xmi:type="uml:Slot" xmi:id="_k-nAsGbWEeGGNuX1IHg1zg" definingFeature="_fdzLIqk_EeCXqcRV-18f6Q">
-            <value xmi:type="uml:InstanceValue" xmi:id="_k-wxsGbWEeGGNuX1IHg1zg" instance="_k-d2wGbWEeGGNuX1IHg1zg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_k-wxsmbWEeGGNuX1IHg1zg" definingFeature="_fdzLJ6k_EeCXqcRV-18f6Q">
-            <value xmi:type="uml:InstanceValue" xmi:id="_k-6isGbWEeGGNuX1IHg1zg" instance="_k-wxsWbWEeGGNuX1IHg1zg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_k_DsoGbWEeGGNuX1IHg1zg" definingFeature="_fdzLQqk_EeCXqcRV-18f6Q">
-            <value xmi:type="uml:InstanceValue" xmi:id="_k_DsoWbWEeGGNuX1IHg1zg" instance="_k-6isWbWEeGGNuX1IHg1zg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_k_zTgGbWEeGGNuX1IHg1zg" definingFeature="_fdzLRqk_EeCXqcRV-18f6Q">
-            <value xmi:type="uml:InstanceValue" xmi:id="_k_9EgGbWEeGGNuX1IHg1zg" instance="_k_qJkGbWEeGGNuX1IHg1zg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_lAG1gGbWEeGGNuX1IHg1zg" definingFeature="_fdzLSqk_EeCXqcRV-18f6Q">
-            <value xmi:type="uml:InstanceValue" xmi:id="_lAP_cGbWEeGGNuX1IHg1zg" instance="_k_9EgWbWEeGGNuX1IHg1zg"/>
-          </slot>
-        </packagedElement>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k-d2wGbWEeGGNuX1IHg1zg" name="mainInstance.challengerSpace.mappingSystem" classifier="_07AcABwkEeGa5bH_RJFzBQ"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k-wxsWbWEeGGNuX1IHg1zg" name="mainInstance.challengerSpace.oDSystem" classifier="_MaVUkBwiEeGa5bH_RJFzBQ"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k-6isWbWEeGGNuX1IHg1zg" name="mainInstance.challengerSpace.pathPlanner" classifier="_fdzKIqk_EeCXqcRV-18f6Q"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k_qJkGbWEeGGNuX1IHg1zg" name="mainInstance.challengerSpace.control" classifier="_fdzKVKk_EeCXqcRV-18f6Q"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k_9EgWbWEeGGNuX1IHg1zg" name="mainInstance.challengerSpace.localisation" classifier="_fdzK5Kk_EeCXqcRV-18f6Q"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_lAZwcmbWEeGGNuX1IHg1zg" name="mainInstance.stereoPair" classifier="_fdzJgak_EeCXqcRV-18f6Q">
-          <slot xmi:type="uml:Slot" xmi:id="_lAsrYGbWEeGGNuX1IHg1zg" definingFeature="_ZBvoIDUoEeG5pL_fpN2DgQ">
-            <value xmi:type="uml:InstanceValue" xmi:id="_lA2cYGbWEeGGNuX1IHg1zg" instance="_lAi6YGbWEeGGNuX1IHg1zg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_lBJXUWbWEeGGNuX1IHg1zg" definingFeature="_Zo_1YDUoEeG5pL_fpN2DgQ">
-            <value xmi:type="uml:InstanceValue" xmi:id="_lBTIUGbWEeGGNuX1IHg1zg" instance="_lBJXUGbWEeGGNuX1IHg1zg"/>
-          </slot>
-        </packagedElement>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_lAi6YGbWEeGGNuX1IHg1zg" name="mainInstance.stereoPair.leftCam" classifier="_ef5gsKlAEeCYaYi0hzq5kg"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_lBJXUGbWEeGGNuX1IHg1zg" name="mainInstance.stereoPair.rightCam" classifier="_ef5gsKlAEeCYaYi0hzq5kg"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_lBmDQWbWEeGGNuX1IHg1zg" name="mainInstance.frontCamera" classifier="_ef5gsKlAEeCYaYi0hzq5kg"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_lB4-MWbWEeGGNuX1IHg1zg" name="mainInstance.rearCamera" classifier="_lHqboDUpEeG5pL_fpN2DgQ"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_lCL5IGbWEeGGNuX1IHg1zg" name="mainInstance.wideCam" classifier="_ypiFMDUpEeG5pL_fpN2DgQ"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_lCVqIGbWEeGGNuX1IHg1zg" name="mainInstance.ublox" classifier="_fdzJdKk_EeCXqcRV-18f6Q"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_lCfbIWbWEeGGNuX1IHg1zg" name="mainInstance.odometry" classifier="_5rrL4B8oEeG4gPCEznVNOA"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_lColEWbWEeGGNuX1IHg1zg" name="mainInstance.lms" classifier="_fdzJWqk_EeCXqcRV-18f6Q"/>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Package" xmi:id="_nlUjUKEOEeKLUqX9IJq2Gg" name="EnvironmentDepPlan">
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nlneQKEOEeKLUqX9IJq2Gg" name="mainInstance" classifier="_-9mt0KENEeKLUqX9IJq2Gg">
-          <slot xmi:type="uml:Slot" xmi:id="_nmXFNKEOEeKLUqX9IJq2Gg" definingFeature="_K9lG0KEOEeKLUqX9IJq2Gg">
-            <value xmi:type="uml:InstanceValue" xmi:id="_nmg2IKEOEeKLUqX9IJq2Gg" instance="_nl6ZMKEOEeKLUqX9IJq2Gg"/>
-          </slot>
-        </packagedElement>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nl6ZMKEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab" classifier="_fdzI0qk_EeCXqcRV-18f6Q">
-          <slot xmi:type="uml:Slot" xmi:id="_nl6ZMqEOEeKLUqX9IJq2Gg" definingFeature="_fdzI16k_EeCXqcRV-18f6Q">
-            <value xmi:type="uml:InstanceValue" xmi:id="_nl6ZM6EOEeKLUqX9IJq2Gg" instance="_nl6ZMaEOEeKLUqX9IJq2Gg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_nmEKMaEOEeKLUqX9IJq2Gg" definingFeature="_BE-egKlmEeCLku4RFrI7uw">
-            <value xmi:type="uml:InstanceValue" xmi:id="_nmEKMqEOEeKLUqX9IJq2Gg" instance="_nmEKMKEOEeKLUqX9IJq2Gg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_nmEKPaEOEeKLUqX9IJq2Gg" definingFeature="_bsDDwKlmEeCLku4RFrI7uw">
-            <value xmi:type="uml:InstanceValue" xmi:id="_nmEKPqEOEeKLUqX9IJq2Gg" instance="_nmEKM6EOEeKLUqX9IJq2Gg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_nmN7O6EOEeKLUqX9IJq2Gg" definingFeature="_kbbj0BwnEeGa5bH_RJFzBQ">
-            <value xmi:type="uml:InstanceValue" xmi:id="_nmN7PKEOEeKLUqX9IJq2Gg" instance="_nmEKP6EOEeKLUqX9IJq2Gg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_nmXFIKEOEeKLUqX9IJq2Gg" definingFeature="_7PWh8B8kEeG4gPCEznVNOA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_nmXFIaEOEeKLUqX9IJq2Gg" instance="_nmN7PaEOEeKLUqX9IJq2Gg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_nmXFI6EOEeKLUqX9IJq2Gg" definingFeature="_NJdXEB8lEeG4gPCEznVNOA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_nmXFJKEOEeKLUqX9IJq2Gg" instance="_nmXFIqEOEeKLUqX9IJq2Gg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_nmXFJqEOEeKLUqX9IJq2Gg" definingFeature="_OENvIB8lEeG4gPCEznVNOA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_nmXFJ6EOEeKLUqX9IJq2Gg" instance="_nmXFJaEOEeKLUqX9IJq2Gg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_nmXFKaEOEeKLUqX9IJq2Gg" definingFeature="_94cOoB8lEeG4gPCEznVNOA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_nmXFKqEOEeKLUqX9IJq2Gg" instance="_nmXFKKEOEeKLUqX9IJq2Gg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_nmXFLKEOEeKLUqX9IJq2Gg" definingFeature="_KdDxgB9BEeGetOLfkLNwfg">
-            <value xmi:type="uml:InstanceValue" xmi:id="_nmXFLaEOEeKLUqX9IJq2Gg" instance="_nmXFK6EOEeKLUqX9IJq2Gg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_nmXFL6EOEeKLUqX9IJq2Gg" definingFeature="_YLTDIB9BEeGetOLfkLNwfg">
-            <value xmi:type="uml:InstanceValue" xmi:id="_nmXFMKEOEeKLUqX9IJq2Gg" instance="_nmXFLqEOEeKLUqX9IJq2Gg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_nmXFMqEOEeKLUqX9IJq2Gg" definingFeature="_A68QIB9DEeGetOLfkLNwfg">
-            <value xmi:type="uml:InstanceValue" xmi:id="_nmXFM6EOEeKLUqX9IJq2Gg" instance="_nmXFMaEOEeKLUqX9IJq2Gg"/>
-          </slot>
-        </packagedElement>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nl6ZMaEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.landis" classifier="_fdzJZ6k_EeCXqcRV-18f6Q"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmEKMKEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.missionGenerator" classifier="_aG5SkKlgEeCYfbnxVSyZ9g"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmEKM6EOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.organizeSpace" classifier="_fdzJyKk_EeCXqcRV-18f6Q">
-          <slot xmi:type="uml:Slot" xmi:id="_nmEKNaEOEeKLUqX9IJq2Gg" definingFeature="_fdzJzak_EeCXqcRV-18f6Q">
-            <value xmi:type="uml:InstanceValue" xmi:id="_nmEKNqEOEeKLUqX9IJq2Gg" instance="_nmEKNKEOEeKLUqX9IJq2Gg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_nmEKOKEOEeKLUqX9IJq2Gg" definingFeature="_Gde_kB8rEeG4gPCEznVNOA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_nmEKOaEOEeKLUqX9IJq2Gg" instance="_nmEKN6EOEeKLUqX9IJq2Gg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_nmEKO6EOEeKLUqX9IJq2Gg" definingFeature="_qKrmYB8sEeG4gPCEznVNOA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_nmEKPKEOEeKLUqX9IJq2Gg" instance="_nmEKOqEOEeKLUqX9IJq2Gg"/>
-          </slot>
-        </packagedElement>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmEKNKEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.organizeSpace.navigationSafety" classifier="_fdzKoKk_EeCXqcRV-18f6Q"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmEKN6EOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.organizeSpace.controller" classifier="_KqA8UB8pEeG4gPCEznVNOA"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmEKOqEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.organizeSpace.challengerEvaluation" classifier="_kdlWIB8rEeG4gPCEznVNOA"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmEKP6EOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.challengerSpace" classifier="_fdzLHak_EeCXqcRV-18f6Q">
-          <slot xmi:type="uml:Slot" xmi:id="_nmEKQaEOEeKLUqX9IJq2Gg" definingFeature="_fdzLIqk_EeCXqcRV-18f6Q">
-            <value xmi:type="uml:InstanceValue" xmi:id="_nmEKQqEOEeKLUqX9IJq2Gg" instance="_nmEKQKEOEeKLUqX9IJq2Gg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_nmN7MKEOEeKLUqX9IJq2Gg" definingFeature="_fdzLJ6k_EeCXqcRV-18f6Q">
-            <value xmi:type="uml:InstanceValue" xmi:id="_nmN7MaEOEeKLUqX9IJq2Gg" instance="_nmEKQ6EOEeKLUqX9IJq2Gg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_nmN7M6EOEeKLUqX9IJq2Gg" definingFeature="_fdzLQqk_EeCXqcRV-18f6Q">
-            <value xmi:type="uml:InstanceValue" xmi:id="_nmN7NKEOEeKLUqX9IJq2Gg" instance="_nmN7MqEOEeKLUqX9IJq2Gg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_nmN7NqEOEeKLUqX9IJq2Gg" definingFeature="_fdzLRqk_EeCXqcRV-18f6Q">
-            <value xmi:type="uml:InstanceValue" xmi:id="_nmN7N6EOEeKLUqX9IJq2Gg" instance="_nmN7NaEOEeKLUqX9IJq2Gg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_nmN7OaEOEeKLUqX9IJq2Gg" definingFeature="_fdzLSqk_EeCXqcRV-18f6Q">
-            <value xmi:type="uml:InstanceValue" xmi:id="_nmN7OqEOEeKLUqX9IJq2Gg" instance="_nmN7OKEOEeKLUqX9IJq2Gg"/>
-          </slot>
-        </packagedElement>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmEKQKEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.challengerSpace.mappingSystem" classifier="_07AcABwkEeGa5bH_RJFzBQ"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmEKQ6EOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.challengerSpace.oDSystem" classifier="_MaVUkBwiEeGa5bH_RJFzBQ"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmN7MqEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.challengerSpace.pathPlanner" classifier="_fdzKIqk_EeCXqcRV-18f6Q"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmN7NaEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.challengerSpace.control" classifier="_fdzKVKk_EeCXqcRV-18f6Q"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmN7OKEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.challengerSpace.localisation" classifier="_fdzK5Kk_EeCXqcRV-18f6Q"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmN7PaEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.stereoPair" classifier="_fdzJgak_EeCXqcRV-18f6Q">
-          <slot xmi:type="uml:Slot" xmi:id="_nmN7P6EOEeKLUqX9IJq2Gg" definingFeature="_ZBvoIDUoEeG5pL_fpN2DgQ">
-            <value xmi:type="uml:InstanceValue" xmi:id="_nmN7QKEOEeKLUqX9IJq2Gg" instance="_nmN7PqEOEeKLUqX9IJq2Gg"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_nmN7QqEOEeKLUqX9IJq2Gg" definingFeature="_Zo_1YDUoEeG5pL_fpN2DgQ">
-            <value xmi:type="uml:InstanceValue" xmi:id="_nmN7Q6EOEeKLUqX9IJq2Gg" instance="_nmN7QaEOEeKLUqX9IJq2Gg"/>
-          </slot>
-        </packagedElement>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmN7PqEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.stereoPair.leftCam" classifier="_ef5gsKlAEeCYaYi0hzq5kg"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmN7QaEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.stereoPair.rightCam" classifier="_ef5gsKlAEeCYaYi0hzq5kg"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmXFIqEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.frontCamera" classifier="_ef5gsKlAEeCYaYi0hzq5kg"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmXFJaEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.rearCamera" classifier="_lHqboDUpEeG5pL_fpN2DgQ"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmXFKKEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.wideCam" classifier="_ypiFMDUpEeG5pL_fpN2DgQ"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmXFK6EOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.ublox" classifier="_fdzJdKk_EeCXqcRV-18f6Q"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmXFLqEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.odometry" classifier="_5rrL4B8oEeG4gPCEznVNOA"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmXFMaEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.lms" classifier="_fdzJWqk_EeCXqcRV-18f6Q"/>
-        <packagedElement xmi:type="uml:Abstraction" xmi:id="_ra4foKEOEeKLUqX9IJq2Gg" name="allocate to platform" client="_nl6ZMKEOEeKLUqX9IJq2Gg" supplier="_-PhHcGbaEeGTV_735pzUXQ"/>
-        <packagedElement xmi:type="uml:Abstraction" xmi:id="_tdHdIKEOEeKLUqX9IJq2Gg" name="allocate to platform.cycabTK" client="_nl6ZMaEOEeKLUqX9IJq2Gg" supplier="_vZa14GbaEeGTV_735pzUXQ"/>
-        <packagedElement xmi:type="uml:Abstraction" xmi:id="_t1GfUKEOEeKLUqX9IJq2Gg" name="allocate to platform.rtmaps" client="_nmEKMKEOEeKLUqX9IJq2Gg" supplier="_vZj_0GbaEeGTV_735pzUXQ"/>
-        <packagedElement xmi:type="uml:Abstraction" xmi:id="_uUP5cKEOEeKLUqX9IJq2Gg" name="allocate to platform.rtmaps" client="_nmEKM6EOEeKLUqX9IJq2Gg" supplier="_vZj_0GbaEeGTV_735pzUXQ"/>
-        <packagedElement xmi:type="uml:Abstraction" xmi:id="_uqTB8KEOEeKLUqX9IJq2Gg" name="allocate to platform.rtmaps" client="_nmEKP6EOEeKLUqX9IJq2Gg" supplier="_vZj_0GbaEeGTV_735pzUXQ"/>
-        <packagedElement xmi:type="uml:Abstraction" xmi:id="_vMuZkKEOEeKLUqX9IJq2Gg" name="allocate to platform.cycabTK" client="_nmN7PaEOEeKLUqX9IJq2Gg" supplier="_vZa14GbaEeGTV_735pzUXQ"/>
-        <packagedElement xmi:type="uml:Abstraction" xmi:id="_vvSUEKEOEeKLUqX9IJq2Gg" name="allocate to platform.cycabTK" client="_nmXFIqEOEeKLUqX9IJq2Gg" supplier="_vZa14GbaEeGTV_735pzUXQ"/>
-        <packagedElement xmi:type="uml:Abstraction" xmi:id="_wD__0KEOEeKLUqX9IJq2Gg" name="allocate to platform.cycabTK" client="_nmXFJaEOEeKLUqX9IJq2Gg" supplier="_vZa14GbaEeGTV_735pzUXQ"/>
-        <packagedElement xmi:type="uml:Abstraction" xmi:id="_wgnDUKEOEeKLUqX9IJq2Gg" name="allocate to platform.cycabTK" client="_nmXFKKEOEeKLUqX9IJq2Gg" supplier="_vZa14GbaEeGTV_735pzUXQ"/>
-        <packagedElement xmi:type="uml:Abstraction" xmi:id="_w2OG8KEOEeKLUqX9IJq2Gg" name="allocate to platform.cycabTK" client="_nmXFK6EOEeKLUqX9IJq2Gg" supplier="_vZa14GbaEeGTV_735pzUXQ"/>
-        <packagedElement xmi:type="uml:Abstraction" xmi:id="_xNA2UKEOEeKLUqX9IJq2Gg" name="allocate to platform.cycabTK" client="_nmXFLqEOEeKLUqX9IJq2Gg" supplier="_vZa14GbaEeGTV_735pzUXQ"/>
-        <packagedElement xmi:type="uml:Abstraction" xmi:id="_xfyoYKEOEeKLUqX9IJq2Gg" name="allocate to platform.cycabTK" client="_nmXFMaEOEeKLUqX9IJq2Gg" supplier="_vZa14GbaEeGTV_735pzUXQ"/>
-      </packagedElement>
-    </packagedElement>
-    <packagedElement xmi:type="uml:Package" xmi:id="_tR1bIGbWEeGGNuX1IHg1zg" name="PlatformModel">
-      <packagedElement xmi:type="uml:Class" xmi:id="_v8CiIGbXEeGjxc8c7ZBkPQ" name="Platform">
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_El_WwGbaEeGTV_735pzUXQ" name="cycabTK" type="_Oj3xoGbZEeGTV_735pzUXQ"/>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_MaXSAGbaEeGTV_735pzUXQ" name="rtmaps" type="_jcp-YGbZEeGTV_735pzUXQ"/>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Class" xmi:id="_Oj3xoGbZEeGTV_735pzUXQ" name="CyCabTK"/>
-      <packagedElement xmi:type="uml:Class" xmi:id="_jcp-YGbZEeGTV_735pzUXQ" name="RTMaps"/>
-      <packagedElement xmi:type="uml:Package" xmi:id="_vZRE4GbaEeGTV_735pzUXQ" name="PlatformPlatform">
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_vZa14GbaEeGTV_735pzUXQ" name="platform.cycabTK" classifier="_Oj3xoGbZEeGTV_735pzUXQ"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_vZj_0GbaEeGTV_735pzUXQ" name="platform.rtmaps" classifier="_jcp-YGbZEeGTV_735pzUXQ"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_-PhHcGbaEeGTV_735pzUXQ" name="platform" classifier="_v8CiIGbXEeGjxc8c7ZBkPQ">
-          <slot xmi:type="uml:Slot" xmi:id="_HLRhgGbbEeGTV_735pzUXQ" definingFeature="_El_WwGbaEeGTV_735pzUXQ">
-            <value xmi:type="uml:InstanceValue" xmi:id="_iAD9MGbcEeGTV_735pzUXQ" name="platform.cycabtk" instance="_vZa14GbaEeGTV_735pzUXQ"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_eSgi0GbbEeGTV_735pzUXQ" definingFeature="_MaXSAGbaEeGTV_735pzUXQ">
-            <value xmi:type="uml:InstanceValue" xmi:id="_mVhhkGbcEeGTV_735pzUXQ" name="platform.rtmaps" instance="_vZj_0GbaEeGTV_735pzUXQ"/>
-          </slot>
-        </packagedElement>
-      </packagedElement>
-    </packagedElement>
-    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_fdzLgKk_EeCXqcRV-18f6Q">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_fdzLgak_EeCXqcRV-18f6Q" source="http://www.eclipse.org/uml2/2.0.0/UML">
-        <references xmi:type="ecore:EPackage" href="http://Papyrus/RobotML/1#/"/>
-      </eAnnotations>
-      <appliedProfile xmi:type="uml:Profile" href="pathmap://Robotml_PROFILES/RobotMLProfile.profile.uml#_3QOHEPcEEd-J06U5HM_o-Q"/>
-    </profileApplication>
-   
-  </uml:Model>
-  <RobotML:SensorSystem xmi:id="_feGDzqk_EeCXqcRV-18f6Q" base_Class="_fdzJZ6k_EeCXqcRV-18f6Q"/>
-  <RobotML:ActuatorSystem xmi:id="_feGD0qk_EeCXqcRV-18f6Q" base_Class="_fdzJoKk_EeCXqcRV-18f6Q"/>
-  <RobotML:ActuatorSystem xmi:id="_feGD06k_EeCXqcRV-18f6Q" base_Class="_fdzJrak_EeCXqcRV-18f6Q"/>
-  <RobotML:DataFlowPort xmi:id="_feGD16k_EeCXqcRV-18f6Q" base_Port="_fdzK6ak_EeCXqcRV-18f6Q"/>
-  <RobotML:System xmi:id="_feGD3Kk_EeCXqcRV-18f6Q" base_Class="_fdzJyKk_EeCXqcRV-18f6Q"/>
-  <RobotML:DataFlowPort xmi:id="_feGD36k_EeCXqcRV-18f6Q" base_Port="_fdzJcKk_EeCXqcRV-18f6Q" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_feGD4ak_EeCXqcRV-18f6Q" base_Port="_fdzLNqk_EeCXqcRV-18f6Q"/>
-  <RobotML:DataFlowPort xmi:id="_feGD5qk_EeCXqcRV-18f6Q" base_Port="_fdzK9ak_EeCXqcRV-18f6Q"/>
-  <RobotML:DataFlowPort xmi:id="_feGD56k_EeCXqcRV-18f6Q" base_Port="_fdzK-ak_EeCXqcRV-18f6Q" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_feGD6qk_EeCXqcRV-18f6Q" base_Port="_fdzK06k_EeCXqcRV-18f6Q"/>
-  <RobotML:DataFlowPort xmi:id="_feGD66k_EeCXqcRV-18f6Q" base_Port="_fdzKaak_EeCXqcRV-18f6Q"/>
-  <RobotML:DataFlowPort xmi:id="_feGD7ak_EeCXqcRV-18f6Q" base_Port="_fdzKL6k_EeCXqcRV-18f6Q" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_feGD-ak_EeCXqcRV-18f6Q" base_Port="_fdzKcak_EeCXqcRV-18f6Q" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_feGD-qk_EeCXqcRV-18f6Q" base_Port="_fdzKZak_EeCXqcRV-18f6Q"/>
-  <RobotML:DataFlowPort xmi:id="_feGD-6k_EeCXqcRV-18f6Q" base_Port="_fdzKK6k_EeCXqcRV-18f6Q" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_feGD_Kk_EeCXqcRV-18f6Q" base_Port="_fdzKJ6k_EeCXqcRV-18f6Q"/>
-  <RobotML:DataFlowPort xmi:id="_feGD_ak_EeCXqcRV-18f6Q" base_Port="_fdzKI6k_EeCXqcRV-18f6Q"/>
-  <RobotML:DataFlowPort xmi:id="_feGD_6k_EeCXqcRV-18f6Q" base_Port="_fdzK36k_EeCXqcRV-18f6Q"/>
-  <RobotML:DataFlowPort xmi:id="_feGEDak_EeCXqcRV-18f6Q" base_Port="_fdzJY6k_EeCXqcRV-18f6Q" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_feGEDqk_EeCXqcRV-18f6Q" base_Port="_fdzJfak_EeCXqcRV-18f6Q" direction="out"/>
-  <RobotML:Software xmi:id="_feGEEqk_EeCXqcRV-18f6Q" base_Class="_fdzKoKk_EeCXqcRV-18f6Q"/>
-  <RobotML:Software xmi:id="_feGEE6k_EeCXqcRV-18f6Q" base_Class="_fdzK5Kk_EeCXqcRV-18f6Q"/>
-  <RobotML:Software xmi:id="_feGEFak_EeCXqcRV-18f6Q" base_Class="_fdzKIqk_EeCXqcRV-18f6Q" isPeriodic="true" period="5.0"/>
-  <RobotML:Software xmi:id="_feGEFqk_EeCXqcRV-18f6Q" base_Class="_fdzKVKk_EeCXqcRV-18f6Q" period="5.0"/>
-  <RobotML:DataFlowPort xmi:id="_lrAcjKlAEeCYaYi0hzq5kg" base_Port="_lpqYsKlAEeCYaYi0hzq5kg" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_UOgXIKlFEeCgdMhwEBuWIg" base_Port="_UMascKlFEeCgdMhwEBuWIg" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_nDmN0KlFEeCniaMk5QUBRg" base_Port="_nCjE8KlFEeCniaMk5QUBRg" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_4x_TcKlLEeCYfbnxVSyZ9g" base_Port="_4xF7kKlLEeCYfbnxVSyZ9g" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_wBwoYKlVEeCYfbnxVSyZ9g" base_Port="_wAakkKlVEeCYfbnxVSyZ9g"/>
-  <RobotML:DataFlowPort xmi:id="_ZBcR8KlWEeCYfbnxVSyZ9g" base_Port="_ZAGOIKlWEeCYfbnxVSyZ9g"/>
-  <RobotML:DataFlowPort xmi:id="_siw8gKlWEeCYfbnxVSyZ9g" base_Port="_shbfwKlWEeCYfbnxVSyZ9g"/>
-  <RobotML:DataFlowPort xmi:id="_GNOywKlbEeCYfbnxVSyZ9g" base_Port="_GJzrUKlbEeCYfbnxVSyZ9g"/>
-  <RobotML:DataFlowPort xmi:id="_cS-IkKlgEeCYfbnxVSyZ9g" base_Port="_cPiaEKlgEeCYfbnxVSyZ9g" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_LCI9IKlkEeCLku4RFrI7uw" base_Port="_LA8qUKlkEeCLku4RFrI7uw"/>
-  <RobotML:DataFlowPort xmi:id="_IqGnaqlnEeCLku4RFrI7uw" base_Port="_ImFDAKlnEeCLku4RFrI7uw" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_UMGOfKloEeCLku4RFrI7uw" base_Port="_UIObEKloEeCLku4RFrI7uw"/>
-  <RobotML:DataFlowPort xmi:id="_Rsqe8BwkEeGa5bH_RJFzBQ" base_Port="_Rsb1cBwkEeGa5bH_RJFzBQ"/>
-  <RobotML:DataFlowPort xmi:id="_W2oCYBwkEeGa5bH_RJFzBQ" base_Port="_W2W8oBwkEeGa5bH_RJFzBQ"/>
-  <RobotML:DataFlowPort xmi:id="_f6tSABwkEeGa5bH_RJFzBQ" base_Port="_f6a-IBwkEeGa5bH_RJFzBQ" direction="out"/>
-  <RobotML:Software xmi:id="_Kvp5AB8jEeGSYcCs5KgO3A" base_Class="_aG5SkKlgEeCYfbnxVSyZ9g"/>
-  <RobotML:Software xmi:id="_ORRloB8jEeGSYcCs5KgO3A" base_Class="_MaVUkBwiEeGa5bH_RJFzBQ"/>
-  <RobotML:Software xmi:id="_TXKhYB8jEeGSYcCs5KgO3A" base_Class="_07AcABwkEeGa5bH_RJFzBQ"/>
-  <RobotML:DataFlowPort xmi:id="_9cl4wB8oEeG4gPCEznVNOA" base_Port="_9cOsYB8oEeG4gPCEznVNOA" direction="out"/>
-  <RobotML:ActuatorSystem xmi:id="_Kqe2YB8pEeG4gPCEznVNOA" base_Class="_KqA8UB8pEeG4gPCEznVNOA"/>
-  <RobotML:DataFlowPort xmi:id="_Ph0_0B8pEeG4gPCEznVNOA" base_Port="_PhiE4B8pEeG4gPCEznVNOA"/>
-  <RobotML:Software xmi:id="_rTk9kB8rEeG4gPCEznVNOA" base_Class="_kdlWIB8rEeG4gPCEznVNOA"/>
-  <RobotML:DataFlowPort xmi:id="_vQjJcB8rEeG4gPCEznVNOA" base_Port="_vQPAYB8rEeG4gPCEznVNOA"/>
-  <RobotML:DataFlowPort xmi:id="_xHWTAB8rEeG4gPCEznVNOA" base_Port="_xHBi4B8rEeG4gPCEznVNOA"/>
-  <RobotML:DataFlowPort xmi:id="_01y6sB8rEeG4gPCEznVNOA" base_Port="_01c8cB8rEeG4gPCEznVNOA"/>
-  <RobotML:DataFlowPort xmi:id="_6VtgAB8rEeG4gPCEznVNOA" base_Port="_6VYv4B8rEeG4gPCEznVNOA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_6okKkB8rEeG4gPCEznVNOA" base_Port="_6oOzYB8rEeG4gPCEznVNOA"/>
-  <RobotML:DataFlowPort xmi:id="_gFs6cB8sEeG4gPCEznVNOA" base_Port="_gFYxYB8sEeG4gPCEznVNOA"/>
-  <RobotML:DataFlowPort xmi:id="_tRhbgB8sEeG4gPCEznVNOA" base_Port="_tRMrYB8sEeG4gPCEznVNOA"/>
-  <RobotML:DataFlowPort xmi:id="_00v8YB8sEeG4gPCEznVNOA" base_Port="_00caYB8sEeG4gPCEznVNOA"/>
-  <RobotML:DataFlowPort xmi:id="_egxcoB8vEeG4gPCEznVNOA" base_Port="_egSUcB8vEeG4gPCEznVNOA"/>
-  <RobotML:DataFlowPort xmi:id="_Fg_I0B8wEeGetOLfkLNwfg" base_Port="_FgbvMB8wEeGetOLfkLNwfg"/>
-  <RobotML:DataFlowPort xmi:id="_NkcB4B8wEeGetOLfkLNwfg" base_Port="_NkEOcB8wEeGetOLfkLNwfg"/>
-  <RobotML:DataFlowPort xmi:id="_WZ8C8B8wEeGetOLfkLNwfg" base_Port="_WZjocB8wEeGetOLfkLNwfg"/>
-  <RobotML:DataFlowPort xmi:id="_x-C4MB8wEeGetOLfkLNwfg" base_Port="_x9oBcB8wEeGetOLfkLNwfg"/>
-  <RobotML:DataFlowPort xmi:id="_WDTjQB8-EeGetOLfkLNwfg" base_Port="_WC5TkB8-EeGetOLfkLNwfg"/>
-  <RobotML:DataFlowPort xmi:id="_a8anQB8-EeGetOLfkLNwfg" base_Port="_a8AXkB8-EeGetOLfkLNwfg"/>
-  <Blocks:NestedConnectorEnd xmi:id="_o4MA0H7LEeSFyNbnLYDCkw"/>
-  <Blocks:NestedConnectorEnd xmi:id="_o4MA0X7LEeSFyNbnLYDCkw"/>
-  <RobotML:DataFlowPort xmi:id="_zFJfoDUoEeG5pL_fpN2DgQ" base_Port="_zEf_YDUoEeG5pL_fpN2DgQ" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_2ho0oDUoEeG5pL_fpN2DgQ" base_Port="_2hQaIDUoEeG5pL_fpN2DgQ" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_oAN9IDUpEeG5pL_fpN2DgQ" base_Port="_n_2JsDUpEeG5pL_fpN2DgQ" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_4J2TIDUpEeG5pL_fpN2DgQ" base_Port="_4Jd4oDUpEeG5pL_fpN2DgQ" direction="out"/>
-  <Blocks:NestedConnectorEnd xmi:id="_o4MA0n7LEeSFyNbnLYDCkw"/>
-  <RobotML:DataFlowPort xmi:id="_UezhEDUrEeG5pL_fpN2DgQ" base_Port="_UegmIDUrEeG5pL_fpN2DgQ"/>
-  <RobotML:DataFlowPort xmi:id="_bel9sDUrEeG5pL_fpN2DgQ" base_Port="_beSbsDUrEeG5pL_fpN2DgQ"/>
-  <Blocks:NestedConnectorEnd xmi:id="_o4Vx0H7LEeSFyNbnLYDCkw"/>
-  <Blocks:NestedConnectorEnd xmi:id="_o4Vx0X7LEeSFyNbnLYDCkw"/>
-  <RobotML:DataFlowPort xmi:id="_vQT0sDUrEeG5pL_fpN2DgQ" base_Port="_vP_roDUrEeG5pL_fpN2DgQ"/>
-  <RobotML:DataFlowPort xmi:id="__VDqsDUrEeG5pL_fpN2DgQ" base_Port="__UwIsDUrEeG5pL_fpN2DgQ"/>
-  <RobotML:DataFlowPort xmi:id="__v07IDUrEeG5pL_fpN2DgQ" base_Port="__vhZIDUrEeG5pL_fpN2DgQ"/>
-  <Blocks:NestedConnectorEnd xmi:id="_o4Vx0n7LEeSFyNbnLYDCkw"/>
-  <Blocks:NestedConnectorEnd xmi:id="_o4Vx037LEeSFyNbnLYDCkw"/>
-  <RobotML:DataFlowPort xmi:id="_qQAC4DUzEeG5pL_fpN2DgQ" base_Port="_qPrSwDUzEeG5pL_fpN2DgQ"/>
-  <RobotML:DataFlowPort xmi:id="_0-yg0DUzEeG5pL_fpN2DgQ" base_Port="_0-eXwDUzEeG5pL_fpN2DgQ"/>
-  <RobotML:DataFlowPort xmi:id="_2jIocDUzEeG5pL_fpN2DgQ" base_Port="_2izRQDUzEeG5pL_fpN2DgQ"/>
-  <RobotML:DataFlowPort xmi:id="_3wfMYDUzEeG5pL_fpN2DgQ" base_Port="_3wKcQDUzEeG5pL_fpN2DgQ"/>
-  <RobotML:Transition xmi:id="_3J41EEHZEeG8nvjGjD0Mrg" base_Transition="_3JM4kEHZEeG8nvjGjD0Mrg"/>
-  <RobotML:System xmi:id="_eYr5YEHmEeGGXpGscpkjdg" base_Class="_fdzLHak_EeCXqcRV-18f6Q"/>
-  <RobotML:DataFlowPort xmi:id="_mKL-cEH0EeGwG_JKFhyhxw" base_Port="_mJzj8EH0EeGwG_JKFhyhxw"/>
-  <RobotML:Software xmi:id="_MkTegEH2EeGwG_JKFhyhxw" base_Class="_irmXsEH0EeGwG_JKFhyhxw"/>
-  <RobotML:Software xmi:id="_OzYlMEH2EeGwG_JKFhyhxw" base_Class="_4R8VYEHxEeGGXpGscpkjdg" period="5.0"/>
-  <RobotML:State xmi:id="_M-CNEEK6EeGv-54Wm4mRWQ" base_State="_M9id0EK6EeGv-54Wm4mRWQ" behavior="_IgJOgBFxEeOl1IrgVMUxOA" operation="_YsuBwEK6EeGv-54Wm4mRWQ"/>
-  <RobotML:Algorithm xmi:id="_YsuBwEK6EeGv-54Wm4mRWQ" base_Operation="_LJ25sEK6EeGv-54Wm4mRWQ"/>
-  <RobotML:Algorithm xmi:id="_g2wD8EK6EeGv-54Wm4mRWQ" base_Operation="_co9N0EK6EeGv-54Wm4mRWQ"/>
-  <RobotML:Algorithm xmi:id="_mvhOIEK6EeGv-54Wm4mRWQ" base_Operation="_lxCzsEK6EeGv-54Wm4mRWQ"/>
-  <RobotML:Algorithm xmi:id="_5nYsAEK6EeGv-54Wm4mRWQ" base_Operation="_sD-KUEK6EeGv-54Wm4mRWQ"/>
-  <RobotML:Algorithm xmi:id="_zI1ewEK7EeGv-54Wm4mRWQ" base_Operation="_rnfNMEK7EeGv-54Wm4mRWQ"/>
-  <RobotML:Algorithm xmi:id="_0Yl2cEK7EeGv-54Wm4mRWQ" base_Operation="_zsmTIEK7EeGv-54Wm4mRWQ"/>
-  <RobotML:State xmi:id="_AsLvAEK8EeGv-54Wm4mRWQ" base_State="_Ar40EEK8EeGv-54Wm4mRWQ" behavior="_eBwV0BFxEeOl1IrgVMUxOA" operation="_mvhOIEK6EeGv-54Wm4mRWQ"/>
-  <RobotML:State xmi:id="_Pv3JkEK8EeGv-54Wm4mRWQ" base_State="_PvjnkEK8EeGv-54Wm4mRWQ" behavior="_ZmSQEBFxEeOl1IrgVMUxOA" operation="_g2wD8EK6EeGv-54Wm4mRWQ"/>
-  <RobotML:Transition xmi:id="_4pOvwEK8EeGv-54Wm4mRWQ" base_Transition="_4nd1MEK8EeGv-54Wm4mRWQ" guard="_M-5TQEK7EeGv-54Wm4mRWQ"/>
-  <RobotML:Transition xmi:id="_6CnkkEK8EeGv-54Wm4mRWQ" base_Transition="_6CGnMEK8EeGv-54Wm4mRWQ" guard="_6qJJgEK6EeGv-54Wm4mRWQ"/>
-  <RobotML:Transition xmi:id="_6-L08EK8EeGv-54Wm4mRWQ" base_Transition="_69reoEK8EeGv-54Wm4mRWQ" guard="_MJ8oQEK7EeGv-54Wm4mRWQ"/>
-  <RobotML:Transition xmi:id="_7jObsEK8EeGv-54Wm4mRWQ" base_Transition="_7irpIEK8EeGv-54Wm4mRWQ" guard="_M-5TQEK7EeGv-54Wm4mRWQ"/>
-  <RobotML:DataFlowPort xmi:id="_HrQvEEK-EeGv-54Wm4mRWQ" base_Port="_FpXIwEK-EeGv-54Wm4mRWQ"/>
-  <RobotML:DataFlowPort xmi:id="_UfDKoEK-EeGv-54Wm4mRWQ" base_Port="_TVYM0EK-EeGv-54Wm4mRWQ"/>
-  <RobotML:DataFlowPort xmi:id="_cjWYQEK-EeGv-54Wm4mRWQ" base_Port="_aL1HQEK-EeGv-54Wm4mRWQ"/>
-  <RobotML:DataFlowPort xmi:id="_iL8YcEK-EeGv-54Wm4mRWQ" base_Port="_d9wgwEK-EeGv-54Wm4mRWQ"/>
-  <RobotML:Algorithm xmi:id="_k5w0IEK_EeGFx4iVEwo0kA" base_Operation="_gDWe0EK_EeGFx4iVEwo0kA" isExternal="true" extFunctionName="imshow" path="/usr/lib/libopencv_highgui.so"/>
-  <RobotML:Algorithm xmi:id="_7NN7wENGEeGaAsRpegEgPg" base_Operation="_4gEZAENGEeGaAsRpegEgPg" isExternal="true" extFunctionName="imread" path="/usr/lib/libopencv_highgui.so"/>
-  <RobotML:GPSSystem xmi:id="_-n1mQEZsEeGo2rLT49hsRw" base_Class="_fdzJdKk_EeCXqcRV-18f6Q"/>
-  <RobotML:SensorSystem xmi:id="_1f-NYEZtEeGo2rLT49hsRw" base_Class="_5rrL4B8oEeG4gPCEznVNOA"/>
-  <RobotML:CameraSystem xmi:id="_4vfdYEZtEeGo2rLT49hsRw" base_Class="_lHqboDUpEeG5pL_fpN2DgQ"/>
-  <RobotML:CameraSystem xmi:id="_IsYX4EZuEeGo2rLT49hsRw" base_Class="_ypiFMDUpEeG5pL_fpN2DgQ"/>
-  <RobotML:CameraSystem xmi:id="_KhgGcEZuEeGo2rLT49hsRw" base_Class="_ef5gsKlAEeCYaYi0hzq5kg"/>
-  <RobotML:LidarSystem xmi:id="_OVsCYEZxEeGo2rLT49hsRw" base_Class="_fdzJWqk_EeCXqcRV-18f6Q"/>
-  <RobotML:Robot xmi:id="_HZt_wF4gEeGua5Z-VEhs4w" base_Class="_fdzI0qk_EeCXqcRV-18f6Q"/>
-  <RobotML:CameraSystem xmi:id="_KlbGwF4gEeGua5Z-VEhs4w" base_Class="_fdzJgak_EeCXqcRV-18f6Q"/>
-  <RobotML:EngineSystem xmi:id="_RVtHwF4gEeGua5Z-VEhs4w" base_Class="_fdzJuqk_EeCXqcRV-18f6Q"/>
-  <RobotML:Transition xmi:id="_tU9GEGLwEeGQvv5wJEmGUQ" base_Transition="_tUNfMGLwEeGQvv5wJEmGUQ" guard="_M-5TQEK7EeGv-54Wm4mRWQ"/>
-  <RobotML:Transition xmi:id="_uRTZkGLwEeGQvv5wJEmGUQ" base_Transition="_uQtjsGLwEeGQvv5wJEmGUQ"/>
-  <RobotML:Transition xmi:id="_vPcc0GLwEeGQvv5wJEmGUQ" base_Transition="_vO1_4GLwEeGQvv5wJEmGUQ"/>
-  <RobotML:Transition xmi:id="_yPXxoGLwEeGQvv5wJEmGUQ" base_Transition="_yOoKwGLwEeGQvv5wJEmGUQ"/>
-  <RobotML:Transition xmi:id="_1YiiAGLwEeGQvv5wJEmGUQ" base_Transition="_1X8FEGLwEeGQvv5wJEmGUQ" guard="_6qJJgEK6EeGv-54Wm4mRWQ"/>
-  <RobotML:Transition xmi:id="_2w5cEGLwEeGQvv5wJEmGUQ" base_Transition="_2wTmMGLwEeGQvv5wJEmGUQ" guard="_MJ8oQEK7EeGv-54Wm4mRWQ"/>
-  <RobotML:OnPort xmi:id="__yeKQGLwEeGQvv5wJEmGUQ" port="_UfDKoEK-EeGv-54Wm4mRWQ" base_Parameter="_qXQiIELAEeGFx4iVEwo0kA"/>
-  <RobotML:OnPort xmi:id="_FF7A4GLxEeGQvv5wJEmGUQ" port="_cjWYQEK-EeGv-54Wm4mRWQ" base_Parameter="_g8eCsELAEeGFx4iVEwo0kA"/>
-  <RobotML:OnPort xmi:id="_I_qSkGLxEeGQvv5wJEmGUQ" port="_iL8YcEK-EeGv-54Wm4mRWQ" base_Parameter="_dybvoELAEeGFx4iVEwo0kA"/>
-  <RobotML:OnPort xmi:id="_QKxOYGLxEeGQvv5wJEmGUQ" port="_HrQvEEK-EeGv-54Wm4mRWQ" base_Parameter="_1kIR8EK6EeGv-54Wm4mRWQ"/>
-  <RobotML:OnPort xmi:id="_UcpTQGLxEeGQvv5wJEmGUQ" port="_HrQvEEK-EeGv-54Wm4mRWQ" base_Parameter="_yB1acEK7EeGv-54Wm4mRWQ"/>
-  <RobotML:OnPort xmi:id="_eRobYGLxEeGQvv5wJEmGUQ" port="_HrQvEEK-EeGv-54Wm4mRWQ" base_Parameter="_7mEw0EK7EeGv-54Wm4mRWQ"/>
-  <RobotML:Platform xmi:id="_5EKkQGbXEeGjxc8c7ZBkPQ" base_Class="_v8CiIGbXEeGjxc8c7ZBkPQ"/>
-  <RobotML:RoboticMiddleware xmi:id="_jdZlQGbZEeGTV_735pzUXQ" base_Class="_jcp-YGbZEeGTV_735pzUXQ"/>
-  <RobotML:CycabTK xmi:id="_hNIBwGwpEeGmceXllYzFRQ" base_Class="_Oj3xoGbZEeGTV_735pzUXQ"/>
-  <RobotML:Transition xmi:id="_0SMFwG6oEeGqrd__B0yUNA" base_Transition="_0QZ9EG6oEeGqrd__B0yUNA"/>
-  <RobotML:Algorithm xmi:id="_7AGIMG6oEeGqrd__B0yUNA" base_Operation="_5lDGgG6oEeGqrd__B0yUNA"/>
-  <RobotML:Transition xmi:id="_b1LH0G6pEeGqrd__B0yUNA" base_Transition="_bziJEG6pEeGqrd__B0yUNA"/>
-  <RobotML:Algorithm xmi:id="_8gaO8G6pEeGqrd__B0yUNA" base_Operation="_5FqmYG6pEeGqrd__B0yUNA"/>
-  <RobotML:Transition xmi:id="_REWNEG6qEeGqrd__B0yUNA" base_Transition="_RCtOUG6qEeGqrd__B0yUNA"/>
-  <RobotML:Algorithm xmi:id="_dkZNQG6qEeGqrd__B0yUNA" base_Operation="_cWKfkG6qEeGqrd__B0yUNA"/>
-  <RobotML:Algorithm xmi:id="_Vx8SsG6sEeGqrd__B0yUNA" base_Operation="_1FtigG6qEeGqrd__B0yUNA"/>
-  <RobotML:Transition xmi:id="_iXznAG6sEeGqrd__B0yUNA" base_Transition="_iWLPUG6sEeGqrd__B0yUNA"/>
-  <RobotML:DeploymentPlan xmi:id="_487qAKD7EeKNa6EfGASSWw" base_Package="_k6lcUGbWEeGGNuX1IHg1zg" mainInstance="_k7L5QGbWEeGGNuX1IHg1zg"/>
-  <RobotML:Environment xmi:id="_--MjuKENEeKLUqX9IJq2Gg" base_Class="_-9mt0KENEeKLUqX9IJq2Gg"/>
-  <RobotML:DeploymentPlan xmi:id="_nlUjUaEOEeKLUqX9IJq2Gg" base_Package="_nlUjUKEOEeKLUqX9IJq2Gg" mainInstance="_nlneQKEOEeKLUqX9IJq2Gg"/>
-  <RobotML:Allocate xmi:id="_ra4foaEOEeKLUqX9IJq2Gg" base_Abstraction="_ra4foKEOEeKLUqX9IJq2Gg"/>
-  <RobotML:Allocate xmi:id="_tdHdIaEOEeKLUqX9IJq2Gg" base_Abstraction="_tdHdIKEOEeKLUqX9IJq2Gg"/>
-  <RobotML:Allocate xmi:id="_t1GfUaEOEeKLUqX9IJq2Gg" base_Abstraction="_t1GfUKEOEeKLUqX9IJq2Gg"/>
-  <RobotML:Allocate xmi:id="_uUP5caEOEeKLUqX9IJq2Gg" base_Abstraction="_uUP5cKEOEeKLUqX9IJq2Gg"/>
-  <RobotML:Allocate xmi:id="_uqTB8aEOEeKLUqX9IJq2Gg" base_Abstraction="_uqTB8KEOEeKLUqX9IJq2Gg"/>
-  <RobotML:Allocate xmi:id="_vMuZkaEOEeKLUqX9IJq2Gg" base_Abstraction="_vMuZkKEOEeKLUqX9IJq2Gg"/>
-  <RobotML:Allocate xmi:id="_vvSUEaEOEeKLUqX9IJq2Gg" base_Abstraction="_vvSUEKEOEeKLUqX9IJq2Gg"/>
-  <RobotML:Allocate xmi:id="_wEcrwKEOEeKLUqX9IJq2Gg" base_Abstraction="_wD__0KEOEeKLUqX9IJq2Gg"/>
-  <RobotML:Allocate xmi:id="_wgnDUaEOEeKLUqX9IJq2Gg" base_Abstraction="_wgnDUKEOEeKLUqX9IJq2Gg"/>
-  <RobotML:Allocate xmi:id="_w2OG8aEOEeKLUqX9IJq2Gg" base_Abstraction="_w2OG8KEOEeKLUqX9IJq2Gg"/>
-  <RobotML:Allocate xmi:id="_xNA2UaEOEeKLUqX9IJq2Gg" base_Abstraction="_xNA2UKEOEeKLUqX9IJq2Gg"/>
-  <RobotML:Allocate xmi:id="_xfyoYaEOEeKLUqX9IJq2Gg" base_Abstraction="_xfyoYKEOEeKLUqX9IJq2Gg"/>
-</xmi:XMI>
+<?xml version="1.0" encoding="UTF-8"?>
+<xmi:XMI xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:RobotML="http://Papyrus/RobotML/1" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML">
+  <uml:Model xmi:id="_fdzI0Kk_EeCXqcRV-18f6Q" name="RoboCab">
+    <packageImport xmi:type="uml:PackageImport" xmi:id="__Xbz4Kk_EeCYaYi0hzq5kg">
+      <importedPackage xmi:type="uml:Package" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_dt_y4AHtEeCQQOKrhO_fIQ"/>
+    </packageImport>
+    <packagedElement xmi:type="uml:Model" xmi:id="_fdzI0ak_EeCXqcRV-18f6Q" name="CoreModel">
+      <packagedElement xmi:type="uml:Class" xmi:id="_fdzI0qk_EeCXqcRV-18f6Q" name="RoboCab">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzI16k_EeCXqcRV-18f6Q" name="landis" visibility="public" type="_fdzJZ6k_EeCXqcRV-18f6Q" aggregation="composite">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzI2ak_EeCXqcRV-18f6Q" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzI2Kk_EeCXqcRV-18f6Q" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzI2qk_EeCXqcRV-18f6Q">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_BE-egKlmEeCLku4RFrI7uw" name="missionGenerator" type="_aG5SkKlgEeCYfbnxVSyZ9g"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_bsDDwKlmEeCLku4RFrI7uw" name="organizeSpace" type="_fdzJyKk_EeCXqcRV-18f6Q"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_kbbj0BwnEeGa5bH_RJFzBQ" name="challengerSpace" type="_fdzLHak_EeCXqcRV-18f6Q">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_kbfOMBwnEeGa5bH_RJFzBQ" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_kbgcUBwnEeGa5bH_RJFzBQ" value="1"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_7PWh8B8kEeG4gPCEznVNOA" name="stereoPair" type="_fdzJgak_EeCXqcRV-18f6Q"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_NJdXEB8lEeG4gPCEznVNOA" name="frontCamera" type="_ef5gsKlAEeCYaYi0hzq5kg"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_OENvIB8lEeG4gPCEznVNOA" name="rearCamera" type="_lHqboDUpEeG5pL_fpN2DgQ"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_94cOoB8lEeG4gPCEznVNOA" name="wideCam" type="_ypiFMDUpEeG5pL_fpN2DgQ"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_KdDxgB9BEeGetOLfkLNwfg" name="ublox" type="_fdzJdKk_EeCXqcRV-18f6Q"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_YLTDIB9BEeGetOLfkLNwfg" name="odometry" type="_5rrL4B8oEeG4gPCEznVNOA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_A68QIB9DEeGetOLfkLNwfg" name="lms" type="_fdzJWqk_EeCXqcRV-18f6Q"/>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k82NkB9CEeGetOLfkLNwfg" name="Connector1">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k82NkR9CEeGetOLfkLNwfg" partWithPort="_BE-egKlmEeCLku4RFrI7uw" role="_cPiaEKlgEeCYfbnxVSyZ9g">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k82Nkx9CEeGetOLfkLNwfg" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k82Nkh9CEeGetOLfkLNwfg" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k820oB9CEeGetOLfkLNwfg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_fdzLNqk_EeCXqcRV-18f6Q">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k820oh9CEeGetOLfkLNwfg" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k820oR9CEeGetOLfkLNwfg" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_myDbsB9CEeGetOLfkLNwfg" name="Connector2">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_myDbsR9CEeGetOLfkLNwfg" partWithPort="_BE-egKlmEeCLku4RFrI7uw" role="_cPiaEKlgEeCYfbnxVSyZ9g">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_myDbsx9CEeGetOLfkLNwfg" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_myDbsh9CEeGetOLfkLNwfg" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_myECwB9CEeGetOLfkLNwfg" partWithPort="_bsDDwKlmEeCLku4RFrI7uw" role="_00caYB8sEeG4gPCEznVNOA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_myECwh9CEeGetOLfkLNwfg" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_myECwR9CEeGetOLfkLNwfg" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_qQmmMB9CEeGetOLfkLNwfg" name="Connector3">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_qQmmMR9CEeGetOLfkLNwfg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_ImFDAKlnEeCLku4RFrI7uw">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_qQmmMx9CEeGetOLfkLNwfg" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_qQmmMh9CEeGetOLfkLNwfg" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_qQnNQB9CEeGetOLfkLNwfg" partWithPort="_bsDDwKlmEeCLku4RFrI7uw" role="_tRMrYB8sEeG4gPCEznVNOA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_qQnNQh9CEeGetOLfkLNwfg" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_qQnNQR9CEeGetOLfkLNwfg" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_1ODLMB9CEeGetOLfkLNwfg" name="Connector6">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_1ODLMR9CEeGetOLfkLNwfg" partWithPort="_NJdXEB8lEeG4gPCEznVNOA" role="_lpqYsKlAEeCYaYi0hzq5kg">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_1ODLMx9CEeGetOLfkLNwfg" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_1ODLMh9CEeGetOLfkLNwfg" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_1ODyQB9CEeGetOLfkLNwfg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_x9oBcB8wEeGetOLfkLNwfg">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_1ODyQh9CEeGetOLfkLNwfg" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_1ODyQR9CEeGetOLfkLNwfg" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_Qq3ssB9DEeGetOLfkLNwfg" name="Connector8">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_Qq4TwB9DEeGetOLfkLNwfg" partWithPort="_A68QIB9DEeGetOLfkLNwfg" role="_fdzJY6k_EeCXqcRV-18f6Q">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_Qq4Twh9DEeGetOLfkLNwfg" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_Qq4TwR9DEeGetOLfkLNwfg" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_Qq4Twx9DEeGetOLfkLNwfg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_FgbvMB8wEeGetOLfkLNwfg">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_Qq4TxR9DEeGetOLfkLNwfg" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_Qq4TxB9DEeGetOLfkLNwfg" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_RpgfMB9DEeGetOLfkLNwfg" name="Connector9">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_RpgfMR9DEeGetOLfkLNwfg" partWithPort="_YLTDIB9BEeGetOLfkLNwfg" role="_9cOsYB8oEeG4gPCEznVNOA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_RpgfMx9DEeGetOLfkLNwfg" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_RpgfMh9DEeGetOLfkLNwfg" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_RphGQB9DEeGetOLfkLNwfg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_egSUcB8vEeG4gPCEznVNOA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_RphGQh9DEeGetOLfkLNwfg" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_RphGQR9DEeGetOLfkLNwfg" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_WrKbMB9DEeGetOLfkLNwfg" name="Connector10">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_WrKbMR9DEeGetOLfkLNwfg" partWithPort="_KdDxgB9BEeGetOLfkLNwfg" role="_fdzJfak_EeCXqcRV-18f6Q">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_WrKbMx9DEeGetOLfkLNwfg" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_WrKbMh9DEeGetOLfkLNwfg" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_WrKbNB9DEeGetOLfkLNwfg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_NkEOcB8wEeGetOLfkLNwfg">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_WrKbNh9DEeGetOLfkLNwfg" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_WrKbNR9DEeGetOLfkLNwfg" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_balXsB9DEeGetOLfkLNwfg" name="Connector11">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_balXsR9DEeGetOLfkLNwfg" partWithPort="_KdDxgB9BEeGetOLfkLNwfg" role="_4xF7kKlLEeCYfbnxVSyZ9g">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_balXsx9DEeGetOLfkLNwfg" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_balXsh9DEeGetOLfkLNwfg" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_balXtB9DEeGetOLfkLNwfg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_LA8qUKlkEeCLku4RFrI7uw">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_balXth9DEeGetOLfkLNwfg" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_balXtR9DEeGetOLfkLNwfg" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_V2bPwDU1EeG5pL_fpN2DgQ" name="Connector12">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_V2b20DU1EeG5pL_fpN2DgQ" partWithPort="_7PWh8B8kEeG4gPCEznVNOA" role="_zEf_YDUoEeG5pL_fpN2DgQ">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_V2b20jU1EeG5pL_fpN2DgQ" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_V2b20TU1EeG5pL_fpN2DgQ" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_V2b20zU1EeG5pL_fpN2DgQ" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_WZjocB8wEeGetOLfkLNwfg">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_V2b21TU1EeG5pL_fpN2DgQ" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_V2b21DU1EeG5pL_fpN2DgQ" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_WjUK8DU1EeG5pL_fpN2DgQ" name="Connector13">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_WjUyADU1EeG5pL_fpN2DgQ" partWithPort="_7PWh8B8kEeG4gPCEznVNOA" role="_2hQaIDUoEeG5pL_fpN2DgQ">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_WjUyAjU1EeG5pL_fpN2DgQ" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_WjUyATU1EeG5pL_fpN2DgQ" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_WjUyAzU1EeG5pL_fpN2DgQ" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_qPrSwDUzEeG5pL_fpN2DgQ">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_WjUyBTU1EeG5pL_fpN2DgQ" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_WjUyBDU1EeG5pL_fpN2DgQ" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_cXizYDU1EeG5pL_fpN2DgQ" name="Connector14">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_cXizYTU1EeG5pL_fpN2DgQ" partWithPort="_fdzI16k_EeCXqcRV-18f6Q" role="_fdzJcKk_EeCXqcRV-18f6Q">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_cXizYzU1EeG5pL_fpN2DgQ" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_cXizYjU1EeG5pL_fpN2DgQ" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_cXizZDU1EeG5pL_fpN2DgQ" partWithPort="_bsDDwKlmEeCLku4RFrI7uw" role="_vP_roDUrEeG5pL_fpN2DgQ">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_cXizZjU1EeG5pL_fpN2DgQ" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_cXizZTU1EeG5pL_fpN2DgQ" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_dpY1wDU1EeG5pL_fpN2DgQ" name="Connector15">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_dpZc0DU1EeG5pL_fpN2DgQ" partWithPort="_fdzI16k_EeCXqcRV-18f6Q" role="_UMascKlFEeCgdMhwEBuWIg">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_dpZc0jU1EeG5pL_fpN2DgQ" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_dpZc0TU1EeG5pL_fpN2DgQ" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_dpZc0zU1EeG5pL_fpN2DgQ" partWithPort="_bsDDwKlmEeCLku4RFrI7uw" role="__vhZIDUrEeG5pL_fpN2DgQ">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_dpZc1TU1EeG5pL_fpN2DgQ" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_dpZc1DU1EeG5pL_fpN2DgQ" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_fRxI0DU1EeG5pL_fpN2DgQ" name="Connector16">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_fRxI0TU1EeG5pL_fpN2DgQ" partWithPort="_fdzI16k_EeCXqcRV-18f6Q" role="_nCjE8KlFEeCniaMk5QUBRg">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fRxI0zU1EeG5pL_fpN2DgQ" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fRxI0jU1EeG5pL_fpN2DgQ" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_fRxI1DU1EeG5pL_fpN2DgQ" partWithPort="_bsDDwKlmEeCLku4RFrI7uw" role="__UwIsDUrEeG5pL_fpN2DgQ">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fRxI1jU1EeG5pL_fpN2DgQ" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fRxI1TU1EeG5pL_fpN2DgQ" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_m3ZdcDU1EeG5pL_fpN2DgQ" name="Connector17">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_m3ZdcTU1EeG5pL_fpN2DgQ" partWithPort="_fdzI16k_EeCXqcRV-18f6Q" role="_fdzJcKk_EeCXqcRV-18f6Q">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_m3ZdczU1EeG5pL_fpN2DgQ" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_m3ZdcjU1EeG5pL_fpN2DgQ" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_m3ZddDU1EeG5pL_fpN2DgQ" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_0-eXwDUzEeG5pL_fpN2DgQ">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_m3ZddjU1EeG5pL_fpN2DgQ" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_m3ZddTU1EeG5pL_fpN2DgQ" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_nraUUDU1EeG5pL_fpN2DgQ" name="Connector18">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_nra7YDU1EeG5pL_fpN2DgQ" partWithPort="_fdzI16k_EeCXqcRV-18f6Q" role="_UMascKlFEeCgdMhwEBuWIg">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_nra7YjU1EeG5pL_fpN2DgQ" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_nra7YTU1EeG5pL_fpN2DgQ" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_nra7YzU1EeG5pL_fpN2DgQ" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_2izRQDUzEeG5pL_fpN2DgQ">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_nra7ZTU1EeG5pL_fpN2DgQ" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_nra7ZDU1EeG5pL_fpN2DgQ" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_ovKQUDU1EeG5pL_fpN2DgQ" name="Connector19">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_ovKQUTU1EeG5pL_fpN2DgQ" partWithPort="_fdzI16k_EeCXqcRV-18f6Q" role="_nCjE8KlFEeCniaMk5QUBRg">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_ovKQUzU1EeG5pL_fpN2DgQ" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_ovKQUjU1EeG5pL_fpN2DgQ" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_ovKQVDU1EeG5pL_fpN2DgQ" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_3wKcQDUzEeG5pL_fpN2DgQ">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_ovKQVjU1EeG5pL_fpN2DgQ" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_ovKQVTU1EeG5pL_fpN2DgQ" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_1kW5UEHnEeGGXpGscpkjdg" name="Connector20">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_1kXgYEHnEeGGXpGscpkjdg" partWithPort="_OENvIB8lEeG4gPCEznVNOA" role="_lpqYsKlAEeCYaYi0hzq5kg">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_1kXgYkHnEeGGXpGscpkjdg" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_1kXgYUHnEeGGXpGscpkjdg" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_1kYHcEHnEeGGXpGscpkjdg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_WC5TkB8-EeGetOLfkLNwfg">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_1kYHckHnEeGGXpGscpkjdg" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_1kYHcUHnEeGGXpGscpkjdg" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_3mcF0EHnEeGGXpGscpkjdg" name="Connector21">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_3mcs4EHnEeGGXpGscpkjdg" partWithPort="_94cOoB8lEeG4gPCEznVNOA" role="_lpqYsKlAEeCYaYi0hzq5kg">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_3mcs4kHnEeGGXpGscpkjdg" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_3mcs4UHnEeGGXpGscpkjdg" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_3mcs40HnEeGGXpGscpkjdg" partWithPort="_kbbj0BwnEeGa5bH_RJFzBQ" role="_a8AXkB8-EeGetOLfkLNwfg">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_3mcs5UHnEeGGXpGscpkjdg" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_3mcs5EHnEeGGXpGscpkjdg" value="1"/>
+          </end>
+        </ownedConnector>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Model" xmi:id="_fdzJQak_EeCXqcRV-18f6Q" name="RoboCab Datatypes">
+        <packagedElement xmi:type="uml:DataType" xmi:id="_pf4OwKlgEeCYfbnxVSyZ9g" name="Goal">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_rg65cKlgEeCYfbnxVSyZ9g" name="position">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_lZ5bYKlhEeC0sZu-_Vgeyw"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_YvxcsKliEeCLku4RFrI7uw" name="position_err">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_lZ5bYKlhEeC0sZu-_Vgeyw"/>
+          </ownedAttribute>
+        </packagedElement>
+        <packagedElement xmi:type="uml:DataType" xmi:id="_0y-5sKlrEeCLku4RFrI7uw" name="PathDeviation">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_36grUKlrEeCLku4RFrI7uw" name="lateral">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_8L9SYKlrEeCLku4RFrI7uw" name="angular">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+          </ownedAttribute>
+        </packagedElement>
+        <packagedElement xmi:type="uml:DataType" xmi:id="_m-wp8KltEeCLku4RFrI7uw" name="PathDefinition">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_uMjGUKltEeCLku4RFrI7uw" name="origine">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_lZ5bYKlhEeC0sZu-_Vgeyw"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_5CNBQKltEeCLku4RFrI7uw" name="curvature">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+          </ownedAttribute>
+        </packagedElement>
+        <packagedElement xmi:type="uml:DataType" xmi:id="_rye5YB8mEeG4gPCEznVNOA" name="CarLikeOdometry">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_9y7AAB8mEeG4gPCEznVNOA" name="rearLeftWheel">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_9zBtsB8mEeG4gPCEznVNOA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_9zDi4B8mEeG4gPCEznVNOA" value="1"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_LR0OEB8nEeG4gPCEznVNOA" name="rearRightWheel">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_LR2DQB8nEeG4gPCEznVNOA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_LR34cB8nEeG4gPCEznVNOA" value="1"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_QKiQgB8nEeG4gPCEznVNOA" name="motorSpeed">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_QKkswB8nEeG4gPCEznVNOA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_QKl64B8nEeG4gPCEznVNOA" value="1"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_V1xVAB8nEeG4gPCEznVNOA" name="steeringAngle">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_V1zxQB8nEeG4gPCEznVNOA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_V11mcB8nEeG4gPCEznVNOA" value="1"/>
+          </ownedAttribute>
+        </packagedElement>
+        <packagedElement xmi:type="uml:DataType" xmi:id="_n122UB8nEeG4gPCEznVNOA" name="CarLikeCommand">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_uKPlgB8nEeG4gPCEznVNOA" name="velocity">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_uKSBwB8nEeG4gPCEznVNOA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_uKT28B8nEeG4gPCEznVNOA" value="1"/>
+            <defaultValue xmi:type="uml:LiteralInteger" xmi:id="_CpreIB8oEeG4gPCEznVNOA" name="defaultSpeed"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_u0I3EB8nEeG4gPCEznVNOA" name="steeringAngle">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_u0KsQB8nEeG4gPCEznVNOA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_u0MhcB8nEeG4gPCEznVNOA" value="1"/>
+            <defaultValue xmi:type="uml:LiteralInteger" xmi:id="_6SphwB8nEeG4gPCEznVNOA" name="defaultSteering"/>
+          </ownedAttribute>
+        </packagedElement>
+        <packagedElement xmi:type="uml:DataType" xmi:id="_TKz3sDUtEeG5pL_fpN2DgQ" name="MultiLayerLidarScan">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_xUCqMDUvEeG5pL_fpN2DgQ" name="layers" type="_G0xAsDUwEeG5pL_fpN2DgQ"/>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_Ku_6QDUzEeG5pL_fpN2DgQ" name="nbLayer">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_6NJfkAKnEeCQReIOIWJ0nA"/>
+          </ownedAttribute>
+        </packagedElement>
+        <packagedElement xmi:type="uml:DataType" xmi:id="_G0xAsDUwEeG5pL_fpN2DgQ" name="ExtentedLidarScan">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_K0p9sDUwEeG5pL_fpN2DgQ" name="scan">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_zdwdIAKsEeCQReIOIWJ0nA"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_PcJGMDUwEeG5pL_fpN2DgQ" name="layerId">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_6NJfkAKnEeCQReIOIWJ0nA"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_YIP6sDUwEeG5pL_fpN2DgQ" name="layerAngle">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_quXmAAH6EeC_ZLzLQhW-TQ"/>
+          </ownedAttribute>
+        </packagedElement>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Model" xmi:id="_fdzJTKk_EeCXqcRV-18f6Q" name="RoboCab Internal Interfaces">
+        <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_uh_Z4EHTEeGzzenJt5yQtw">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_uiz5QEHTEeGzzenJt5yQtw" source="http://www.eclipse.org/uml2/2.0.0/UML">
+            <references xmi:type="ecore:EPackage" href="http://Papyrus/RobotML/1#/"/>
+          </eAnnotations>
+          <appliedProfile xmi:type="uml:Profile" href="pathmap://Robotml_PROFILES/RobotMLProfile.profile.uml#_3QOHEPcEEd-J06U5HM_o-Q"/>
+        </profileApplication>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Model" xmi:id="_fdzJWak_EeCXqcRV-18f6Q" name="RoboCab Sensors">
+        <packagedElement xmi:type="uml:Class" xmi:id="_fdzJWqk_EeCXqcRV-18f6Q" name="LIDAR3D">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJW6k_EeCXqcRV-18f6Q" name="frequency" visibility="public">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJXak_EeCXqcRV-18f6Q" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJXKk_EeCXqcRV-18f6Q" value="1"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzJXqk_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJX6k_EeCXqcRV-18f6Q" name="accuracy" visibility="public">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJYak_EeCXqcRV-18f6Q" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJYKk_EeCXqcRV-18f6Q" value="1"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzJYqk_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzJY6k_EeCXqcRV-18f6Q" name="LidarOut" visibility="public" type="_TKz3sDUtEeG5pL_fpN2DgQ" aggregation="composite">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJZak_EeCXqcRV-18f6Q" value="4"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJZKk_EeCXqcRV-18f6Q" value="4"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzJZqk_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+        </packagedElement>
+        <packagedElement xmi:type="uml:Class" xmi:id="_fdzJZ6k_EeCXqcRV-18f6Q" name="RTK_GPS_IMU">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJaKk_EeCXqcRV-18f6Q" name="accuracy" visibility="public">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJaqk_EeCXqcRV-18f6Q" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJaak_EeCXqcRV-18f6Q" value="1"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzJa6k_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJbKk_EeCXqcRV-18f6Q" name="frequency" visibility="public">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJbqk_EeCXqcRV-18f6Q" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJbak_EeCXqcRV-18f6Q" value="1"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzJb6k_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzJcKk_EeCXqcRV-18f6Q" name="Pos3D" visibility="public" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJcqk_EeCXqcRV-18f6Q" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJcak_EeCXqcRV-18f6Q" value="1"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzJc6k_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_UMascKlFEeCgdMhwEBuWIg" name="Velocity3D" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_nCjE8KlFEeCniaMk5QUBRg" name="Acc3D" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
+          </ownedAttribute>
+        </packagedElement>
+        <packagedElement xmi:type="uml:Class" xmi:id="_fdzJdKk_EeCXqcRV-18f6Q" name="MetricGPS">
+          <ownedComment xmi:type="uml:Comment" xmi:id="_ZM4u8KlAEeCYaYi0hzq5kg">
+            <body>Low Cost GPS</body>
+          </ownedComment>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJdak_EeCXqcRV-18f6Q" name="frequency" visibility="public">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJd6k_EeCXqcRV-18f6Q" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJdqk_EeCXqcRV-18f6Q" value="1"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzJeKk_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJeak_EeCXqcRV-18f6Q" name="accuracy" visibility="public">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJe6k_EeCXqcRV-18f6Q" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJeqk_EeCXqcRV-18f6Q" value="1"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzJfKk_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzJfak_EeCXqcRV-18f6Q" name="Pos3D" visibility="public" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJf6k_EeCXqcRV-18f6Q" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJfqk_EeCXqcRV-18f6Q" value="1"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzJgKk_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_4xF7kKlLEeCYfbnxVSyZ9g" name="Velocity3D" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Nes3wAIDEeC_ZLzLQhW-TQ"/>
+          </ownedAttribute>
+        </packagedElement>
+        <packagedElement xmi:type="uml:Class" xmi:id="_fdzJgak_EeCXqcRV-18f6Q" name="StereoVision">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJgqk_EeCXqcRV-18f6Q" name="resolution" visibility="public">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJhKk_EeCXqcRV-18f6Q" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJg6k_EeCXqcRV-18f6Q" value="1"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzJhak_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJhqk_EeCXqcRV-18f6Q" name="frequencyMax" visibility="public">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJiKk_EeCXqcRV-18f6Q" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJh6k_EeCXqcRV-18f6Q" value="1"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzJiak_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJiqk_EeCXqcRV-18f6Q" name="focal" visibility="public">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://UML_METAMODELS/Ecore.metamodel.uml#EDouble"/>
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJjKk_EeCXqcRV-18f6Q" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJi6k_EeCXqcRV-18f6Q" value="1"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzJjak_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_ZBvoIDUoEeG5pL_fpN2DgQ" name="leftCam" type="_ef5gsKlAEeCYaYi0hzq5kg"/>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_Zo_1YDUoEeG5pL_fpN2DgQ" name="rightCam" type="_ef5gsKlAEeCYaYi0hzq5kg"/>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_zEf_YDUoEeG5pL_fpN2DgQ" name="rightFrame" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_2hQaIDUoEeG5pL_fpN2DgQ" name="leftFrame" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+          </ownedAttribute>
+          <nestedClassifier xmi:type="uml:Class" xmi:id="_RiF_sDUoEeG5pL_fpN2DgQ" name="LeftCamera" visibility="private"/>
+        </packagedElement>
+        <packagedElement xmi:type="uml:Class" xmi:id="_ef5gsKlAEeCYaYi0hzq5kg" name="FrontCamera">
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_lpqYsKlAEeCYaYi0hzq5kg" name="frameOut" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+          </ownedAttribute>
+        </packagedElement>
+        <packagedElement xmi:type="uml:Class" xmi:id="_5rrL4B8oEeG4gPCEznVNOA" name="VipalabOdometry">
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_9cOsYB8oEeG4gPCEznVNOA" name="odometryOutput" type="_rye5YB8mEeG4gPCEznVNOA" aggregation="composite"/>
+        </packagedElement>
+        <packagedElement xmi:type="uml:Class" xmi:id="_lHqboDUpEeG5pL_fpN2DgQ" name="RearCamera">
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_n_2JsDUpEeG5pL_fpN2DgQ" name="frameOut" visibility="public" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+          </ownedAttribute>
+        </packagedElement>
+        <packagedElement xmi:type="uml:Class" xmi:id="_ypiFMDUpEeG5pL_fpN2DgQ" name="WideAngleCamera">
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_4Jd4oDUpEeG5pL_fpN2DgQ" name="frameOut" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+          </ownedAttribute>
+        </packagedElement>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Model" xmi:id="_fdzJn6k_EeCXqcRV-18f6Q" name="RoboCab Actuators">
+        <packagedElement xmi:type="uml:Class" xmi:id="_fdzJoKk_EeCXqcRV-18f6Q" name="Brake">
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_wAakkKlVEeCYfbnxVSyZ9g" name="BrakeIn" aggregation="composite">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+          </ownedAttribute>
+        </packagedElement>
+        <packagedElement xmi:type="uml:Class" xmi:id="_fdzJrak_EeCXqcRV-18f6Q" name="Steering">
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_shbfwKlWEeCYfbnxVSyZ9g" name="SteeringIn" aggregation="composite">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+          </ownedAttribute>
+        </packagedElement>
+        <packagedElement xmi:type="uml:Class" xmi:id="_fdzJuqk_EeCXqcRV-18f6Q" name="Motor">
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_ZAGOIKlWEeCYfbnxVSyZ9g" name="MotorIn" aggregation="composite">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+          </ownedAttribute>
+        </packagedElement>
+        <packagedElement xmi:type="uml:Class" xmi:id="_KqA8UB8pEeG4gPCEznVNOA" name="HighLevelController">
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_PhiE4B8pEeG4gPCEznVNOA" name="input" type="_n122UB8nEeG4gPCEznVNOA" aggregation="composite"/>
+        </packagedElement>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Model" xmi:id="_fdzJx6k_EeCXqcRV-18f6Q" name="RoboCab Subsystems">
+        <packagedElement xmi:type="uml:Class" xmi:id="_fdzJyKk_EeCXqcRV-18f6Q" name="OrganizerSystem">
+          <ownedComment xmi:type="uml:Comment" xmi:id="_UJCjIKlXEeCYfbnxVSyZ9g">
+            <body></body>
+          </ownedComment>
+          <ownedComment xmi:type="uml:Comment" xmi:id="_WVHZIKlXEeCYfbnxVSyZ9g">
+            <body></body>
+          </ownedComment>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzJzak_EeCXqcRV-18f6Q" name="navigationSafety" visibility="public" type="_fdzKoKk_EeCXqcRV-18f6Q" aggregation="composite">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzJz6k_EeCXqcRV-18f6Q" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzJzqk_EeCXqcRV-18f6Q" value="1"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzJ0Kk_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_Gde_kB8rEeG4gPCEznVNOA" name="controller" type="_KqA8UB8pEeG4gPCEznVNOA"/>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_qKrmYB8sEeG4gPCEznVNOA" name="challengerEvaluation" type="_kdlWIB8rEeG4gPCEznVNOA"/>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_tRMrYB8sEeG4gPCEznVNOA" name="ChallengerInput" type="_n122UB8nEeG4gPCEznVNOA" aggregation="composite"/>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_00caYB8sEeG4gPCEznVNOA" name="mission" type="_pf4OwKlgEeCYfbnxVSyZ9g" aggregation="composite"/>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_vP_roDUrEeG5pL_fpN2DgQ" name="rtk_pos" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="__UwIsDUrEeG5pL_fpN2DgQ" name="rtk_acc" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="__vhZIDUrEeG5pL_fpN2DgQ" name="rtk_vel" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
+          </ownedAttribute>
+          <ownedConnector xmi:type="uml:Connector" xmi:id="_cbA78B8tEeG4gPCEznVNOA" name="Connector11">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_cbA78R8tEeG4gPCEznVNOA" role="_00caYB8sEeG4gPCEznVNOA">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_cbA78x8tEeG4gPCEznVNOA" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_cbA78h8tEeG4gPCEznVNOA" value="1"/>
+            </end>
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_cbA79B8tEeG4gPCEznVNOA" partWithPort="_qKrmYB8sEeG4gPCEznVNOA" role="_01c8cB8rEeG4gPCEznVNOA">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_cbA79h8tEeG4gPCEznVNOA" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_cbA79R8tEeG4gPCEznVNOA" value="1"/>
+            </end>
+          </ownedConnector>
+          <ownedConnector xmi:type="uml:Connector" xmi:id="_UOGS8B8vEeG4gPCEznVNOA" name="Connector14">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_UOGS8R8vEeG4gPCEznVNOA" role="_00caYB8sEeG4gPCEznVNOA">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_UOG6AR8vEeG4gPCEznVNOA" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_UOG6AB8vEeG4gPCEznVNOA" value="1"/>
+            </end>
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_UOG6Ah8vEeG4gPCEznVNOA" partWithPort="_fdzJzak_EeCXqcRV-18f6Q" role="_fdzK36k_EeCXqcRV-18f6Q">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_UOG6BB8vEeG4gPCEznVNOA" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_UOG6Ax8vEeG4gPCEznVNOA" value="1"/>
+            </end>
+          </ownedConnector>
+          <ownedConnector xmi:type="uml:Connector" xmi:id="_VcOS8B8vEeG4gPCEznVNOA" name="Connector15">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_VcOS8R8vEeG4gPCEznVNOA" role="_tRMrYB8sEeG4gPCEznVNOA">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_VcOS8x8vEeG4gPCEznVNOA" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_VcOS8h8vEeG4gPCEznVNOA" value="1"/>
+            </end>
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_VcO6AB8vEeG4gPCEznVNOA" partWithPort="_fdzJzak_EeCXqcRV-18f6Q" role="_6oOzYB8rEeG4gPCEznVNOA">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_VcO6Ah8vEeG4gPCEznVNOA" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_VcO6AR8vEeG4gPCEznVNOA" value="1"/>
+            </end>
+          </ownedConnector>
+          <ownedConnector xmi:type="uml:Connector" xmi:id="_XoXaYB8vEeG4gPCEznVNOA" name="Connector18">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_XoXaYR8vEeG4gPCEznVNOA" partWithPort="_fdzJzak_EeCXqcRV-18f6Q" role="_6VYv4B8rEeG4gPCEznVNOA">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_XoXaYx8vEeG4gPCEznVNOA" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_XoXaYh8vEeG4gPCEznVNOA" value="1"/>
+            </end>
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_XoXaZB8vEeG4gPCEznVNOA" partWithPort="_Gde_kB8rEeG4gPCEznVNOA" role="_PhiE4B8pEeG4gPCEznVNOA">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_XoXaZh8vEeG4gPCEznVNOA" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_XoXaZR8vEeG4gPCEznVNOA" value="1"/>
+            </end>
+          </ownedConnector>
+          <ownedConnector xmi:type="uml:Connector" xmi:id="_LtN6MDUsEeG5pL_fpN2DgQ" name="Connector19">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_LtOhQDUsEeG5pL_fpN2DgQ" role="__UwIsDUrEeG5pL_fpN2DgQ">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_LtOhQjUsEeG5pL_fpN2DgQ" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_LtOhQTUsEeG5pL_fpN2DgQ" value="1"/>
+            </end>
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_LtOhQzUsEeG5pL_fpN2DgQ" partWithPort="_qKrmYB8sEeG4gPCEznVNOA" role="_xHBi4B8rEeG4gPCEznVNOA">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_LtOhRTUsEeG5pL_fpN2DgQ" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_LtOhRDUsEeG5pL_fpN2DgQ" value="1"/>
+            </end>
+          </ownedConnector>
+          <ownedConnector xmi:type="uml:Connector" xmi:id="_RCtYMDUsEeG5pL_fpN2DgQ" name="Connector20">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_RCtYMTUsEeG5pL_fpN2DgQ" partWithPort="_qKrmYB8sEeG4gPCEznVNOA" role="_vQPAYB8rEeG4gPCEznVNOA">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_RCtYMzUsEeG5pL_fpN2DgQ" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_RCtYMjUsEeG5pL_fpN2DgQ" value="1"/>
+            </end>
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_RCtYNDUsEeG5pL_fpN2DgQ" role="_vP_roDUrEeG5pL_fpN2DgQ">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_RCtYNjUsEeG5pL_fpN2DgQ" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_RCtYNTUsEeG5pL_fpN2DgQ" value="1"/>
+            </end>
+          </ownedConnector>
+          <ownedConnector xmi:type="uml:Connector" xmi:id="_RxvBYDUsEeG5pL_fpN2DgQ" name="Connector21">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_RxvocDUsEeG5pL_fpN2DgQ" role="__vhZIDUrEeG5pL_fpN2DgQ">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_RxvocjUsEeG5pL_fpN2DgQ" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_RxvocTUsEeG5pL_fpN2DgQ" value="1"/>
+            </end>
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_RxvoczUsEeG5pL_fpN2DgQ" partWithPort="_fdzJzak_EeCXqcRV-18f6Q" role="_GJzrUKlbEeCYfbnxVSyZ9g">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_RxvodTUsEeG5pL_fpN2DgQ" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_RxvodDUsEeG5pL_fpN2DgQ" value="1"/>
+            </end>
+          </ownedConnector>
+          <ownedConnector xmi:type="uml:Connector" xmi:id="_SZiBMDUsEeG5pL_fpN2DgQ" name="Connector22">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_SZioQDUsEeG5pL_fpN2DgQ" role="_vP_roDUrEeG5pL_fpN2DgQ">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_SZioQjUsEeG5pL_fpN2DgQ" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_SZioQTUsEeG5pL_fpN2DgQ" value="1"/>
+            </end>
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_SZioQzUsEeG5pL_fpN2DgQ" partWithPort="_fdzJzak_EeCXqcRV-18f6Q" role="_fdzK06k_EeCXqcRV-18f6Q">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_SZioRTUsEeG5pL_fpN2DgQ" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_SZioRDUsEeG5pL_fpN2DgQ" value="1"/>
+            </end>
+          </ownedConnector>
+        </packagedElement>
+        <packagedElement xmi:type="uml:Class" xmi:id="_fdzKIqk_EeCXqcRV-18f6Q" name="PathPlannerModule">
+          <ownedComment xmi:type="uml:Comment" xmi:id="_X4PBoKlrEeCLku4RFrI7uw">
+            <body>Le pathplanner genere un chemin et une vitesse de consigne </body>
+          </ownedComment>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzKI6k_EeCXqcRV-18f6Q" name="mission" visibility="public" type="_pf4OwKlgEeCYfbnxVSyZ9g" aggregation="composite">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzKJak_EeCXqcRV-18f6Q" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzKJKk_EeCXqcRV-18f6Q" value="1"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzKJqk_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzKJ6k_EeCXqcRV-18f6Q" name="pos3D" visibility="public" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzKKak_EeCXqcRV-18f6Q" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzKKKk_EeCXqcRV-18f6Q" value="1"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzKKqk_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzKK6k_EeCXqcRV-18f6Q" name="pathDef" visibility="public" type="_m-wp8KltEeCLku4RFrI7uw" aggregation="composite">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzKLak_EeCXqcRV-18f6Q" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzKLKk_EeCXqcRV-18f6Q" value="1"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzKLqk_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzKL6k_EeCXqcRV-18f6Q" name="velocity" visibility="public" aggregation="composite">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzKMak_EeCXqcRV-18f6Q" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzKMKk_EeCXqcRV-18f6Q" value="1"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzKMqk_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+        </packagedElement>
+        <packagedElement xmi:type="uml:Class" xmi:id="_fdzKVKk_EeCXqcRV-18f6Q" name="ServoingModule">
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzKZak_EeCXqcRV-18f6Q" name="inPathDeviation" visibility="public" type="_0y-5sKlrEeCLku4RFrI7uw" aggregation="composite">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzKZ6k_EeCXqcRV-18f6Q" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzKZqk_EeCXqcRV-18f6Q" value="1"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzKaKk_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzKaak_EeCXqcRV-18f6Q" name="pathDef" visibility="public" type="_m-wp8KltEeCLku4RFrI7uw" aggregation="composite">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzKa6k_EeCXqcRV-18f6Q" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzKaqk_EeCXqcRV-18f6Q" value="1"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzKbKk_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzKcak_EeCXqcRV-18f6Q" name="control" visibility="public" type="_n122UB8nEeG4gPCEznVNOA" aggregation="composite">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzKc6k_EeCXqcRV-18f6Q" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzKcqk_EeCXqcRV-18f6Q" value="1"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzKdKk_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_gFYxYB8sEeG4gPCEznVNOA" name="velocity" aggregation="composite">
+            <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+          </ownedAttribute>
+        </packagedElement>
+        <packagedElement xmi:type="uml:Class" xmi:id="_fdzKoKk_EeCXqcRV-18f6Q" name="MonitoringAndIntegrityModule">
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzK06k_EeCXqcRV-18f6Q" name="rtk_pos" visibility="public" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzK1ak_EeCXqcRV-18f6Q" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzK1Kk_EeCXqcRV-18f6Q" value="1"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzK1qk_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzK36k_EeCXqcRV-18f6Q" name="missionDefIn" visibility="public" type="_pf4OwKlgEeCYfbnxVSyZ9g" aggregation="composite">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzK4ak_EeCXqcRV-18f6Q" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzK4Kk_EeCXqcRV-18f6Q" value="1"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzK4qk_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_GJzrUKlbEeCYfbnxVSyZ9g" name="rtk_vel" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_6VYv4B8rEeG4gPCEznVNOA" name="output" type="_n122UB8nEeG4gPCEznVNOA" aggregation="composite"/>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_6oOzYB8rEeG4gPCEznVNOA" name="input" type="_n122UB8nEeG4gPCEznVNOA" aggregation="composite"/>
+        </packagedElement>
+        <packagedElement xmi:type="uml:Class" xmi:id="_fdzK5Kk_EeCXqcRV-18f6Q" name="LocalisationModule" classifierBehavior="_P2-PUEHZEeG8nvjGjD0Mrg">
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzK6ak_EeCXqcRV-18f6Q" name="pos3D" visibility="public" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzK66k_EeCXqcRV-18f6Q" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzK6qk_EeCXqcRV-18f6Q" value="1"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzK7Kk_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzK9ak_EeCXqcRV-18f6Q" name="pathDefIn" visibility="public" type="_m-wp8KltEeCLku4RFrI7uw" aggregation="composite">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzK96k_EeCXqcRV-18f6Q" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzK9qk_EeCXqcRV-18f6Q" value="1"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzK-Kk_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzK-ak_EeCXqcRV-18f6Q" name="pathDeviation" visibility="public" type="_0y-5sKlrEeCLku4RFrI7uw" aggregation="composite">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzK-6k_EeCXqcRV-18f6Q" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzK-qk_EeCXqcRV-18f6Q" value="1"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzK_Kk_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_UIObEKloEeCLku4RFrI7uw" name="velocity3D" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Nes3wAIDEeC_ZLzLQhW-TQ"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_UegmIDUrEeG5pL_fpN2DgQ" name="odometry" type="_rye5YB8mEeG4gPCEznVNOA" aggregation="composite"/>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_beSbsDUrEeG5pL_fpN2DgQ" name="frontFrame" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+          </ownedAttribute>
+          <ownedBehavior xmi:type="uml:StateMachine" xmi:id="_P2-PUEHZEeG8nvjGjD0Mrg" name="LocalisationFSM">
+            <connectionPoint xmi:type="uml:Pseudostate" xmi:id="_QFIKoEHaEeG8nvjGjD0Mrg" name="EstimatedState" kind="exitPoint"/>
+            <connectionPoint xmi:type="uml:Pseudostate" xmi:id="_YlaJoEHaEeG8nvjGjD0Mrg" name="Input" kind="entryPoint"/>
+            <connectionPoint xmi:type="uml:Pseudostate" xmi:id="_a-YMIEHaEeG8nvjGjD0Mrg" name="Measurements" kind="entryPoint"/>
+            <region xmi:type="uml:Region" xmi:id="_Qv-68EHZEeG8nvjGjD0Mrg" name="Region1">
+              <transition xmi:type="uml:Transition" xmi:id="_3JM4kEHZEeG8nvjGjD0Mrg" name="StateUpdate" source="_lC9E4EHZEeG8nvjGjD0Mrg" target="_thXboEHZEeG8nvjGjD0Mrg"/>
+              <transition xmi:type="uml:Transition" xmi:id="_ecobsEHaEeG8nvjGjD0Mrg" name="Transition0" source="_M4zYkEHaEeG8nvjGjD0Mrg" target="_lC9E4EHZEeG8nvjGjD0Mrg"/>
+              <transition xmi:type="uml:Transition" xmi:id="_ihyTMEHaEeG8nvjGjD0Mrg" name="Transition1" source="_lC9E4EHZEeG8nvjGjD0Mrg" target="_YlaJoEHaEeG8nvjGjD0Mrg"/>
+              <transition xmi:type="uml:Transition" xmi:id="_mejDsEHaEeG8nvjGjD0Mrg" name="Transition2" source="_thXboEHZEeG8nvjGjD0Mrg" target="_QFIKoEHaEeG8nvjGjD0Mrg"/>
+              <transition xmi:type="uml:Transition" xmi:id="_0QZ9EG6oEeGqrd__B0yUNA" name="Transition4" source="_todYsG6oEeGqrd__B0yUNA" target="_lC9E4EHZEeG8nvjGjD0Mrg"/>
+              <transition xmi:type="uml:Transition" xmi:id="_bziJEG6pEeGqrd__B0yUNA" name="Transition5" source="_lC9E4EHZEeG8nvjGjD0Mrg" target="_lC9E4EHZEeG8nvjGjD0Mrg"/>
+              <transition xmi:type="uml:Transition" xmi:id="_RCtOUG6qEeGqrd__B0yUNA" name="Transition6" source="_thXboEHZEeG8nvjGjD0Mrg" target="_ubR8wG6oEeGqrd__B0yUNA"/>
+              <transition xmi:type="uml:Transition" xmi:id="_iWLPUG6sEeGqrd__B0yUNA" name="Transition7" source="_lC9E4EHZEeG8nvjGjD0Mrg" target="_ubR8wG6oEeGqrd__B0yUNA"/>
+              <subvertex xmi:type="uml:State" xmi:id="_lC9E4EHZEeG8nvjGjD0Mrg" name="KalmanFilter"/>
+              <subvertex xmi:type="uml:State" xmi:id="_thXboEHZEeG8nvjGjD0Mrg" name="ComputePathDeviation"/>
+              <subvertex xmi:type="uml:Pseudostate" xmi:id="_M4zYkEHaEeG8nvjGjD0Mrg" name="Initial0"/>
+              <subvertex xmi:type="uml:Pseudostate" xmi:id="_todYsG6oEeGqrd__B0yUNA" name="intialState"/>
+              <subvertex xmi:type="uml:FinalState" xmi:id="_ubR8wG6oEeGqrd__B0yUNA" name="FinalState"/>
+            </region>
+          </ownedBehavior>
+          <ownedOperation xmi:type="uml:Operation" xmi:id="_5lDGgG6oEeGqrd__B0yUNA" name="allSensorsDataReceived">
+            <ownedParameter xmi:type="uml:Parameter" xmi:id="_KbAXAG6pEeGqrd__B0yUNA" direction="out">
+              <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
+            </ownedParameter>
+          </ownedOperation>
+          <ownedOperation xmi:type="uml:Operation" xmi:id="_5FqmYG6pEeGqrd__B0yUNA" name="positionChanged">
+            <ownedParameter xmi:type="uml:Parameter" xmi:id="_AxZjAG6qEeGqrd__B0yUNA" direction="out">
+              <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
+            </ownedParameter>
+          </ownedOperation>
+          <ownedOperation xmi:type="uml:Operation" xmi:id="_cWKfkG6qEeGqrd__B0yUNA" name="sensorDataReceived">
+            <ownedParameter xmi:type="uml:Parameter" xmi:id="_iyBvwG6qEeGqrd__B0yUNA" direction="out">
+              <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
+            </ownedParameter>
+          </ownedOperation>
+          <ownedOperation xmi:type="uml:Operation" xmi:id="_1FtigG6qEeGqrd__B0yUNA" name="shutDownSignalReceived">
+            <ownedParameter xmi:type="uml:Parameter" xmi:id="_ZuvfcG6sEeGqrd__B0yUNA" direction="out">
+              <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_NZnTsAIUEeCVrLEBH5ejnQ"/>
+            </ownedParameter>
+          </ownedOperation>
+        </packagedElement>
+        <packagedElement xmi:type="uml:Class" xmi:id="_fdzLHak_EeCXqcRV-18f6Q" name="ChallengerSystem">
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzLIqk_EeCXqcRV-18f6Q" name="mappingSystem" type="_07AcABwkEeGa5bH_RJFzBQ"/>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzLJ6k_EeCXqcRV-18f6Q" name="oDSystem" visibility="public" type="_MaVUkBwiEeGa5bH_RJFzBQ">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzLKak_EeCXqcRV-18f6Q" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzLKKk_EeCXqcRV-18f6Q" value="1"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzLKqk_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_fdzLNqk_EeCXqcRV-18f6Q" name="missionDef" visibility="public" type="_pf4OwKlgEeCYfbnxVSyZ9g" aggregation="composite">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzLOKk_EeCXqcRV-18f6Q" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzLN6k_EeCXqcRV-18f6Q" value="1"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzLOak_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzLQqk_EeCXqcRV-18f6Q" name="pathPlanner" visibility="public" type="_fdzKIqk_EeCXqcRV-18f6Q" aggregation="composite">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzLRKk_EeCXqcRV-18f6Q" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzLQ6k_EeCXqcRV-18f6Q" value="1"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzLRak_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzLRqk_EeCXqcRV-18f6Q" name="control" visibility="public" type="_fdzKVKk_EeCXqcRV-18f6Q" aggregation="composite">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzLSKk_EeCXqcRV-18f6Q" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzLR6k_EeCXqcRV-18f6Q" value="1"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzLSak_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Property" xmi:id="_fdzLSqk_EeCXqcRV-18f6Q" name="localisation" visibility="public" type="_fdzK5Kk_EeCXqcRV-18f6Q" aggregation="composite">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_fdzLTKk_EeCXqcRV-18f6Q" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_fdzLS6k_EeCXqcRV-18f6Q" value="1"/>
+            <defaultValue xmi:type="uml:LiteralString" xmi:id="_fdzLTak_EeCXqcRV-18f6Q">
+              <value xsi:nil="true"/>
+            </defaultValue>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_LA8qUKlkEeCLku4RFrI7uw" name="velocity3D" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Nes3wAIDEeC_ZLzLQhW-TQ"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_ImFDAKlnEeCLku4RFrI7uw" name="cmdMessage" type="_n122UB8nEeG4gPCEznVNOA" aggregation="composite"/>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_egSUcB8vEeG4gPCEznVNOA" name="odometry" type="_rye5YB8mEeG4gPCEznVNOA" aggregation="composite"/>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_FgbvMB8wEeGetOLfkLNwfg" name="lidarScan" type="_TKz3sDUtEeG5pL_fpN2DgQ" aggregation="composite">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_JYJAkB8wEeGetOLfkLNwfg" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_JYLc0B8wEeGetOLfkLNwfg" value="1"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_NkEOcB8wEeGetOLfkLNwfg" name="gps" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_WZjocB8wEeGetOLfkLNwfg" name="stereoRight" visibility="public" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_wEZ2AB8wEeGetOLfkLNwfg" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_wEmqUB8wEeGetOLfkLNwfg" value="1"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_x9oBcB8wEeGetOLfkLNwfg" name="frontFrame" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_WC5TkB8-EeGetOLfkLNwfg" name="rearFrame" visibility="public" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_a8AXkB8-EeGetOLfkLNwfg" name="wideFrame" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_qPrSwDUzEeG5pL_fpN2DgQ" name="stereoLeft" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_0-eXwDUzEeG5pL_fpN2DgQ" name="rtk_pos" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_2izRQDUzEeG5pL_fpN2DgQ" name="rtk_vel" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_3wKcQDUzEeG5pL_fpN2DgQ" name="rtk_acc" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
+          </ownedAttribute>
+          <ownedConnector xmi:type="uml:Connector" xmi:id="_fdzLVqk_EeCXqcRV-18f6Q" name="Connector2">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_fdzLV6k_EeCXqcRV-18f6Q" partWithPort="_fdzLQqk_EeCXqcRV-18f6Q" role="_fdzKK6k_EeCXqcRV-18f6Q"/>
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_fdzLWKk_EeCXqcRV-18f6Q" partWithPort="_fdzLSqk_EeCXqcRV-18f6Q" role="_fdzK9ak_EeCXqcRV-18f6Q"/>
+          </ownedConnector>
+          <ownedConnector xmi:type="uml:Connector" xmi:id="_fdzLWak_EeCXqcRV-18f6Q" name="Connector7">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_fdzLWqk_EeCXqcRV-18f6Q" partWithPort="_fdzLRqk_EeCXqcRV-18f6Q" role="_fdzKZak_EeCXqcRV-18f6Q"/>
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_fdzLW6k_EeCXqcRV-18f6Q" partWithPort="_fdzLSqk_EeCXqcRV-18f6Q" role="_fdzK-ak_EeCXqcRV-18f6Q"/>
+          </ownedConnector>
+          <ownedConnector xmi:type="uml:Connector" xmi:id="_fdzLfak_EeCXqcRV-18f6Q" name="Connector1">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_fdzLfqk_EeCXqcRV-18f6Q" role="_fdzLNqk_EeCXqcRV-18f6Q"/>
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_fdzLf6k_EeCXqcRV-18f6Q" partWithPort="_fdzLQqk_EeCXqcRV-18f6Q" role="_fdzKI6k_EeCXqcRV-18f6Q"/>
+          </ownedConnector>
+          <ownedConnector xmi:type="uml:Connector" xmi:id="_R3I6gKluEeCLku4RFrI7uw" name="Connector11">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_R3I6galuEeCLku4RFrI7uw" partWithPort="_fdzLRqk_EeCXqcRV-18f6Q" role="_fdzKcak_EeCXqcRV-18f6Q">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_R3I6g6luEeCLku4RFrI7uw" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_R3I6gqluEeCLku4RFrI7uw" value="1"/>
+            </end>
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_R3I6hKluEeCLku4RFrI7uw" role="_ImFDAKlnEeCLku4RFrI7uw">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_R3I6hqluEeCLku4RFrI7uw" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_R3I6haluEeCLku4RFrI7uw" value="1"/>
+            </end>
+          </ownedConnector>
+          <ownedConnector xmi:type="uml:Connector" xmi:id="_6VbfMGbUEeGGNuX1IHg1zg" name="Connector12">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_6VbfMWbUEeGGNuX1IHg1zg" partWithPort="_fdzLQqk_EeCXqcRV-18f6Q" role="_fdzKL6k_EeCXqcRV-18f6Q">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_6VbfM2bUEeGGNuX1IHg1zg" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_6VbfMmbUEeGGNuX1IHg1zg" value="1"/>
+            </end>
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_6VbfNGbUEeGGNuX1IHg1zg" partWithPort="_fdzLRqk_EeCXqcRV-18f6Q" role="_gFYxYB8sEeG4gPCEznVNOA">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_6VbfNmbUEeGGNuX1IHg1zg" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_6VbfNWbUEeGGNuX1IHg1zg" value="1"/>
+            </end>
+          </ownedConnector>
+          <ownedConnector xmi:type="uml:Connector" xmi:id="_YKRoAGbVEeGGNuX1IHg1zg" name="Connector13">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_YKRoAWbVEeGGNuX1IHg1zg" role="_0-eXwDUzEeG5pL_fpN2DgQ">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_YKRoA2bVEeGGNuX1IHg1zg" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_YKRoAmbVEeGGNuX1IHg1zg" value="1"/>
+            </end>
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_YKRoBGbVEeGGNuX1IHg1zg" partWithPort="_fdzLQqk_EeCXqcRV-18f6Q" role="_fdzKJ6k_EeCXqcRV-18f6Q">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_YKRoBmbVEeGGNuX1IHg1zg" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_YKRoBWbVEeGGNuX1IHg1zg" value="1"/>
+            </end>
+          </ownedConnector>
+          <ownedConnector xmi:type="uml:Connector" xmi:id="_39LY8GbVEeGGNuX1IHg1zg" name="Connector14">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_39LY8WbVEeGGNuX1IHg1zg" role="_LA8qUKlkEeCLku4RFrI7uw">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_39LY82bVEeGGNuX1IHg1zg" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_39LY8mbVEeGGNuX1IHg1zg" value="1"/>
+            </end>
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_39LY9GbVEeGGNuX1IHg1zg" partWithPort="_fdzLSqk_EeCXqcRV-18f6Q" role="_UIObEKloEeCLku4RFrI7uw">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_39LY9mbVEeGGNuX1IHg1zg" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_39LY9WbVEeGGNuX1IHg1zg" value="1"/>
+            </end>
+          </ownedConnector>
+          <ownedConnector xmi:type="uml:Connector" xmi:id="_56pLMGbVEeGGNuX1IHg1zg" name="Connector15">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_56pLMWbVEeGGNuX1IHg1zg" role="_0-eXwDUzEeG5pL_fpN2DgQ">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_56pLM2bVEeGGNuX1IHg1zg" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_56pLMmbVEeGGNuX1IHg1zg" value="1"/>
+            </end>
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_56pLNGbVEeGGNuX1IHg1zg" partWithPort="_fdzLSqk_EeCXqcRV-18f6Q" role="_fdzK6ak_EeCXqcRV-18f6Q">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_56pLNmbVEeGGNuX1IHg1zg" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_56pLNWbVEeGGNuX1IHg1zg" value="1"/>
+            </end>
+          </ownedConnector>
+          <ownedConnector xmi:type="uml:Connector" xmi:id="_70r2AGbVEeGGNuX1IHg1zg" name="Connector16">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_70r2AWbVEeGGNuX1IHg1zg" role="_egSUcB8vEeG4gPCEznVNOA">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_70r2A2bVEeGGNuX1IHg1zg" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_70r2AmbVEeGGNuX1IHg1zg" value="1"/>
+            </end>
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_70r2BGbVEeGGNuX1IHg1zg" partWithPort="_fdzLSqk_EeCXqcRV-18f6Q" role="_UegmIDUrEeG5pL_fpN2DgQ">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_70r2BmbVEeGGNuX1IHg1zg" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_70r2BWbVEeGGNuX1IHg1zg" value="1"/>
+            </end>
+          </ownedConnector>
+          <ownedConnector xmi:type="uml:Connector" xmi:id="_9A-qAGbVEeGGNuX1IHg1zg" name="Connector17">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_9A-qAWbVEeGGNuX1IHg1zg" role="_x9oBcB8wEeGetOLfkLNwfg">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_9A-qA2bVEeGGNuX1IHg1zg" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_9A-qAmbVEeGGNuX1IHg1zg" value="1"/>
+            </end>
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_9A-qBGbVEeGGNuX1IHg1zg" partWithPort="_fdzLSqk_EeCXqcRV-18f6Q" role="_beSbsDUrEeG5pL_fpN2DgQ">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_9A-qBmbVEeGGNuX1IHg1zg" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_9A-qBWbVEeGGNuX1IHg1zg" value="1"/>
+            </end>
+          </ownedConnector>
+          <ownedConnector xmi:type="uml:Connector" xmi:id="_OCQZsGbWEeGGNuX1IHg1zg" name="Connector18">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_OCQZsWbWEeGGNuX1IHg1zg" partWithPort="_fdzLJ6k_EeCXqcRV-18f6Q" role="_f6a-IBwkEeGa5bH_RJFzBQ">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_OCQZs2bWEeGGNuX1IHg1zg" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_OCQZsmbWEeGGNuX1IHg1zg" value="1"/>
+            </end>
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_OCQZtGbWEeGGNuX1IHg1zg" partWithPort="_fdzLRqk_EeCXqcRV-18f6Q" role="_fdzKaak_EeCXqcRV-18f6Q">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_OCQZtmbWEeGGNuX1IHg1zg" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_OCQZtWbWEeGGNuX1IHg1zg" value="1"/>
+            </end>
+          </ownedConnector>
+          <ownedConnector xmi:type="uml:Connector" xmi:id="_VhLCUGbWEeGGNuX1IHg1zg" name="Connector19">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_VhLCUWbWEeGGNuX1IHg1zg" role="_FgbvMB8wEeGetOLfkLNwfg">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_VhLCU2bWEeGGNuX1IHg1zg" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_VhLCUmbWEeGGNuX1IHg1zg" value="1"/>
+            </end>
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_VhLCVGbWEeGGNuX1IHg1zg" partWithPort="_fdzLJ6k_EeCXqcRV-18f6Q" role="_Rsb1cBwkEeGa5bH_RJFzBQ">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_VhLCVmbWEeGGNuX1IHg1zg" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_VhLCVWbWEeGGNuX1IHg1zg" value="1"/>
+            </end>
+          </ownedConnector>
+          <ownedConnector xmi:type="uml:Connector" xmi:id="_aJQnwGbWEeGGNuX1IHg1zg" name="Connector20">
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_aJQnwWbWEeGGNuX1IHg1zg" partWithPort="_fdzLQqk_EeCXqcRV-18f6Q" role="_fdzKK6k_EeCXqcRV-18f6Q">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_aJQnw2bWEeGGNuX1IHg1zg" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_aJQnwmbWEeGGNuX1IHg1zg" value="1"/>
+            </end>
+            <end xmi:type="uml:ConnectorEnd" xmi:id="_aJQnxGbWEeGGNuX1IHg1zg" partWithPort="_fdzLJ6k_EeCXqcRV-18f6Q" role="_W2W8oBwkEeGa5bH_RJFzBQ">
+              <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_aJQnxmbWEeGGNuX1IHg1zg" value="1"/>
+              <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_aJQnxWbWEeGGNuX1IHg1zg" value="1"/>
+            </end>
+          </ownedConnector>
+        </packagedElement>
+        <packagedElement xmi:type="uml:Class" xmi:id="_aG5SkKlgEeCYfbnxVSyZ9g" name="MissionGeneratorModule">
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_cPiaEKlgEeCYfbnxVSyZ9g" name="mission" type="_pf4OwKlgEeCYfbnxVSyZ9g" aggregation="composite"/>
+        </packagedElement>
+        <packagedElement xmi:type="uml:Class" xmi:id="_MaVUkBwiEeGa5bH_RJFzBQ" name="ObstacleDetectionModule">
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_Rsb1cBwkEeGa5bH_RJFzBQ" name="Lidar" visibility="public" type="_TKz3sDUtEeG5pL_fpN2DgQ" aggregation="composite">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_bfjVUBwkEeGa5bH_RJFzBQ" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_bfpb8BwkEeGa5bH_RJFzBQ" value="1"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_W2W8oBwkEeGa5bH_RJFzBQ" name="path" visibility="public" type="_m-wp8KltEeCLku4RFrI7uw" aggregation="composite"/>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_f6a-IBwkEeGa5bH_RJFzBQ" name="pathOut" type="_m-wp8KltEeCLku4RFrI7uw" aggregation="composite"/>
+        </packagedElement>
+        <packagedElement xmi:type="uml:Class" xmi:id="_07AcABwkEeGa5bH_RJFzBQ" name="MappingModule"/>
+        <packagedElement xmi:type="uml:Class" xmi:id="_kdlWIB8rEeG4gPCEznVNOA" name="EvaluationModule">
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_vQPAYB8rEeG4gPCEznVNOA" name="pos" visibility="public" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_xHBi4B8rEeG4gPCEznVNOA" name="acc" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qJmK4KlEEeCDX-R4upxIpg"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_01c8cB8rEeG4gPCEznVNOA" name="mission" type="_pf4OwKlgEeCYfbnxVSyZ9g" aggregation="composite"/>
+        </packagedElement>
+        <packagedElement xmi:type="uml:Class" xmi:id="_4R8VYEHxEeGGXpGscpkjdg" name="FsmTestModule" classifierBehavior="_De5ZIEK6EeGv-54Wm4mRWQ">
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_FpXIwEK-EeGv-54Wm4mRWQ" name="InVipalabOdometry" visibility="public" type="_rye5YB8mEeG4gPCEznVNOA" aggregation="composite">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_FpbaMEK-EeGv-54Wm4mRWQ" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_FpdPYEK-EeGv-54Wm4mRWQ" value="1"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_TVYM0EK-EeGv-54Wm4mRWQ" name="InLeftImage" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_TVapEEK-EeGv-54Wm4mRWQ" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_TVdFUEK-EeGv-54Wm4mRWQ" value="1"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_aL1HQEK-EeGv-54Wm4mRWQ" name="InRightImage" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_aL3jgEK-EeGv-54Wm4mRWQ" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_aL5YsEK-EeGv-54Wm4mRWQ" value="1"/>
+          </ownedAttribute>
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_d9wgwEK-EeGv-54Wm4mRWQ" name="InFrontImage" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_d9y9AEK-EeGv-54Wm4mRWQ" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_d90yMEK-EeGv-54Wm4mRWQ" value="1"/>
+          </ownedAttribute>
+          <ownedBehavior xmi:type="uml:StateMachine" xmi:id="_De5ZIEK6EeGv-54Wm4mRWQ" name="StateMachine1">
+            <region xmi:type="uml:Region" xmi:id="_EKPcMEK6EeGv-54Wm4mRWQ" name="Region1">
+              <transition xmi:type="uml:Transition" xmi:id="_4nd1MEK8EeGv-54Wm4mRWQ" name="Trans_LM" source="_M9id0EK6EeGv-54Wm4mRWQ" target="_Ar40EEK8EeGv-54Wm4mRWQ"/>
+              <transition xmi:type="uml:Transition" xmi:id="_6CGnMEK8EeGv-54Wm4mRWQ" name="Trans_ML" source="_Ar40EEK8EeGv-54Wm4mRWQ" target="_M9id0EK6EeGv-54Wm4mRWQ"/>
+              <transition xmi:type="uml:Transition" xmi:id="_69reoEK8EeGv-54Wm4mRWQ" name="Trans_MR" source="_Ar40EEK8EeGv-54Wm4mRWQ" target="_PvjnkEK8EeGv-54Wm4mRWQ">
+                <effect xmi:type="uml:Interaction" xmi:id="_Q34FEEK9EeGv-54Wm4mRWQ"/>
+              </transition>
+              <transition xmi:type="uml:Transition" xmi:id="_7irpIEK8EeGv-54Wm4mRWQ" name="Trans_RM" source="_PvjnkEK8EeGv-54Wm4mRWQ" target="_Ar40EEK8EeGv-54Wm4mRWQ"/>
+              <transition xmi:type="uml:Transition" xmi:id="_tUNfMGLwEeGQvv5wJEmGUQ" name="Transition1" source="_exCJoGLwEeGQvv5wJEmGUQ" target="_Ar40EEK8EeGv-54Wm4mRWQ"/>
+              <transition xmi:type="uml:Transition" xmi:id="_uQtjsGLwEeGQvv5wJEmGUQ" name="Transition2" source="_Ar40EEK8EeGv-54Wm4mRWQ" target="_g7UP4GLwEeGQvv5wJEmGUQ"/>
+              <transition xmi:type="uml:Transition" xmi:id="_vO1_4GLwEeGQvv5wJEmGUQ" name="Transition3" source="_PvjnkEK8EeGv-54Wm4mRWQ" target="_g7UP4GLwEeGQvv5wJEmGUQ"/>
+              <transition xmi:type="uml:Transition" xmi:id="_yOoKwGLwEeGQvv5wJEmGUQ" name="Transition4" source="_M9id0EK6EeGv-54Wm4mRWQ" target="_g7UP4GLwEeGQvv5wJEmGUQ"/>
+              <transition xmi:type="uml:Transition" xmi:id="_1X8FEGLwEeGQvv5wJEmGUQ" name="Transition5" source="_exCJoGLwEeGQvv5wJEmGUQ" target="_M9id0EK6EeGv-54Wm4mRWQ"/>
+              <transition xmi:type="uml:Transition" xmi:id="_2wTmMGLwEeGQvv5wJEmGUQ" name="Transition6" source="_exCJoGLwEeGQvv5wJEmGUQ" target="_PvjnkEK8EeGv-54Wm4mRWQ"/>
+              <subvertex xmi:type="uml:State" xmi:id="_M9id0EK6EeGv-54Wm4mRWQ" name="Left"/>
+              <subvertex xmi:type="uml:State" xmi:id="_Ar40EEK8EeGv-54Wm4mRWQ" name="Middle"/>
+              <subvertex xmi:type="uml:State" xmi:id="_PvjnkEK8EeGv-54Wm4mRWQ" name="Right"/>
+              <subvertex xmi:type="uml:Pseudostate" xmi:id="_exCJoGLwEeGQvv5wJEmGUQ" name="State1"/>
+              <subvertex xmi:type="uml:FinalState" xmi:id="_g7UP4GLwEeGQvv5wJEmGUQ" name="State2"/>
+            </region>
+          </ownedBehavior>
+          <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_6qJJgEK6EeGv-54Wm4mRWQ" name="isSteeredLeft" specification="_sD-KUEK6EeGv-54Wm4mRWQ">
+            <language>C++</language>
+            <body>(odometryMsg.steeringAngle > 5) ? return true : return false ;&#xD;
+return (odometryMsg.steeringAngle > 5) ? true: false;&#xD;
+</body>
+          </ownedBehavior>
+          <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_MJ8oQEK7EeGv-54Wm4mRWQ" name="isSteeredRight" specification="_rnfNMEK7EeGv-54Wm4mRWQ">
+            <language>C++</language>
+            <body>(odometryMsg.steeringAngle &lt; -5 ) return true : return false ;&#xD;
+return (odometryMsg.steeringAngle &lt; -5 ) ? true :false;&#xD;
+</body>
+          </ownedBehavior>
+          <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_M-5TQEK7EeGv-54Wm4mRWQ" name="isSteeredFront" specification="_zsmTIEK7EeGv-54Wm4mRWQ">
+            <language>C++</language>
+            <body>( -5 &lt;= odometryMsg.steeringAngle &amp;&amp; odometryMsg.steeringAngle &lt;= 5 ) ? return true : return false ;&#xD;
+return ( -5 &lt;= odometryMsg.steeringAngle &amp;&amp; odometryMsg.steeringAngle &lt;= 5 ) ? true:false;&#xD;
+</body>
+          </ownedBehavior>
+          <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_IgJOgBFxEeOl1IrgVMUxOA" name="showLeftCamera"/>
+          <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_ZmSQEBFxEeOl1IrgVMUxOA" name="showRightCamera"/>
+          <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_eBwV0BFxEeOl1IrgVMUxOA" name="showMiddleCamera"/>
+          <ownedOperation xmi:type="uml:Operation" xmi:id="_LJ25sEK6EeGv-54Wm4mRWQ" name="ShowLeftCamera">
+            <ownedParameter xmi:type="uml:Parameter" xmi:id="_qXQiIELAEeGFx4iVEwo0kA" name="frame">
+              <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+            </ownedParameter>
+          </ownedOperation>
+          <ownedOperation xmi:type="uml:Operation" xmi:id="_co9N0EK6EeGv-54Wm4mRWQ" name="ShowRightCamera">
+            <ownedParameter xmi:type="uml:Parameter" xmi:id="_g8eCsELAEeGFx4iVEwo0kA" name="frame">
+              <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+            </ownedParameter>
+          </ownedOperation>
+          <ownedOperation xmi:type="uml:Operation" xmi:id="_lxCzsEK6EeGv-54Wm4mRWQ" name="ShowMiddleCamera">
+            <ownedParameter xmi:type="uml:Parameter" xmi:id="_dybvoELAEeGFx4iVEwo0kA" name="frame">
+              <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+            </ownedParameter>
+          </ownedOperation>
+          <ownedOperation xmi:type="uml:Operation" xmi:id="_sD-KUEK6EeGv-54Wm4mRWQ" name="LeftSteering" method="_6qJJgEK6EeGv-54Wm4mRWQ">
+            <ownedParameter xmi:type="uml:Parameter" xmi:id="_1kIR8EK6EeGv-54Wm4mRWQ" name="odometryMsg" type="_rye5YB8mEeG4gPCEznVNOA"/>
+          </ownedOperation>
+          <ownedOperation xmi:type="uml:Operation" xmi:id="_rnfNMEK7EeGv-54Wm4mRWQ" name="RightSteering" method="_MJ8oQEK7EeGv-54Wm4mRWQ">
+            <ownedParameter xmi:type="uml:Parameter" xmi:id="_yB1acEK7EeGv-54Wm4mRWQ" name="odometryMsg" type="_rye5YB8mEeG4gPCEznVNOA"/>
+          </ownedOperation>
+          <ownedOperation xmi:type="uml:Operation" xmi:id="_zsmTIEK7EeGv-54Wm4mRWQ" name="FrontSteering" method="_M-5TQEK7EeGv-54Wm4mRWQ">
+            <ownedParameter xmi:type="uml:Parameter" xmi:id="_7mEw0EK7EeGv-54Wm4mRWQ" name="odometryMsg" type="_rye5YB8mEeG4gPCEznVNOA"/>
+          </ownedOperation>
+        </packagedElement>
+        <packagedElement xmi:type="uml:Class" xmi:id="_irmXsEH0EeGwG_JKFhyhxw" name="ExternalAlgorithmTestModule">
+          <ownedAttribute xmi:type="uml:Port" xmi:id="_mJzj8EH0EeGwG_JKFhyhxw" name="inFrame" aggregation="composite">
+            <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+          </ownedAttribute>
+          <ownedOperation xmi:type="uml:Operation" xmi:id="_gDWe0EK_EeGFx4iVEwo0kA" name="opencv_imshow" visibility="public"/>
+          <ownedOperation xmi:type="uml:Operation" xmi:id="_4gEZAENGEeGaAsRpegEgPg" name="opencv_imread"/>
+        </packagedElement>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Class" xmi:id="_-9mt0KENEeKLUqX9IJq2Gg" name="Environment">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_K9lG0KEOEeKLUqX9IJq2Gg" name="roboCab" type="_fdzI0qk_EeCXqcRV-18f6Q"/>
+      </packagedElement>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Package" xmi:id="_k5GOkGbWEeGGNuX1IHg1zg" name="DeploymentPlans">
+      <packagedElement xmi:type="uml:Package" xmi:id="_k6lcUGbWEeGGNuX1IHg1zg" name="RoboCabDepPlan">
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k7L5QGbWEeGGNuX1IHg1zg" name="mainInstance" classifier="_fdzI0qk_EeCXqcRV-18f6Q">
+          <slot xmi:type="uml:Slot" xmi:id="_k8YMEGbWEeGGNuX1IHg1zg" definingFeature="_fdzI16k_EeCXqcRV-18f6Q">
+            <value xmi:type="uml:InstanceValue" xmi:id="_k8h9EGbWEeGGNuX1IHg1zg" instance="_k8ObEGbWEeGGNuX1IHg1zg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_k804AGbWEeGGNuX1IHg1zg" definingFeature="_BE-egKlmEeCLku4RFrI7uw">
+            <value xmi:type="uml:InstanceValue" xmi:id="_k804AWbWEeGGNuX1IHg1zg" instance="_k8rHAGbWEeGGNuX1IHg1zg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_k-UFwGbWEeGGNuX1IHg1zg" definingFeature="_bsDDwKlmEeCLku4RFrI7uw">
+            <value xmi:type="uml:InstanceValue" xmi:id="_k-UFwWbWEeGGNuX1IHg1zg" instance="_k8-B8GbWEeGGNuX1IHg1zg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_lAZwcGbWEeGGNuX1IHg1zg" definingFeature="_kbbj0BwnEeGa5bH_RJFzBQ">
+            <value xmi:type="uml:InstanceValue" xmi:id="_lAZwcWbWEeGGNuX1IHg1zg" instance="_k-UFwmbWEeGGNuX1IHg1zg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_lBcSQGbWEeGGNuX1IHg1zg" definingFeature="_7PWh8B8kEeG4gPCEznVNOA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_lBmDQGbWEeGGNuX1IHg1zg" instance="_lAZwcmbWEeGGNuX1IHg1zg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_lBvNMGbWEeGGNuX1IHg1zg" definingFeature="_NJdXEB8lEeG4gPCEznVNOA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_lB4-MGbWEeGGNuX1IHg1zg" instance="_lBmDQWbWEeGGNuX1IHg1zg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_lCCvMGbWEeGGNuX1IHg1zg" definingFeature="_OENvIB8lEeG4gPCEznVNOA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_lCCvMWbWEeGGNuX1IHg1zg" instance="_lB4-MWbWEeGGNuX1IHg1zg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_lCL5IWbWEeGGNuX1IHg1zg" definingFeature="_94cOoB8lEeG4gPCEznVNOA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_lCL5ImbWEeGGNuX1IHg1zg" instance="_lCL5IGbWEeGGNuX1IHg1zg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_lCVqIWbWEeGGNuX1IHg1zg" definingFeature="_KdDxgB9BEeGetOLfkLNwfg">
+            <value xmi:type="uml:InstanceValue" xmi:id="_lCfbIGbWEeGGNuX1IHg1zg" instance="_lCVqIGbWEeGGNuX1IHg1zg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_lCfbImbWEeGGNuX1IHg1zg" definingFeature="_YLTDIB9BEeGetOLfkLNwfg">
+            <value xmi:type="uml:InstanceValue" xmi:id="_lColEGbWEeGGNuX1IHg1zg" instance="_lCfbIWbWEeGGNuX1IHg1zg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_lCyWEGbWEeGGNuX1IHg1zg" definingFeature="_A68QIB9DEeGetOLfkLNwfg">
+            <value xmi:type="uml:InstanceValue" xmi:id="_lCyWEWbWEeGGNuX1IHg1zg" instance="_lColEWbWEeGGNuX1IHg1zg"/>
+          </slot>
+        </packagedElement>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k8ObEGbWEeGGNuX1IHg1zg" name="mainInstance.landis" classifier="_fdzJZ6k_EeCXqcRV-18f6Q"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k8rHAGbWEeGGNuX1IHg1zg" name="mainInstance.missionGenerator" classifier="_aG5SkKlgEeCYfbnxVSyZ9g"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k8-B8GbWEeGGNuX1IHg1zg" name="mainInstance.organizeSpace" classifier="_fdzJyKk_EeCXqcRV-18f6Q">
+          <slot xmi:type="uml:Slot" xmi:id="_k9Rj8GbWEeGGNuX1IHg1zg" definingFeature="_fdzJzak_EeCXqcRV-18f6Q">
+            <value xmi:type="uml:InstanceValue" xmi:id="_k9at4GbWEeGGNuX1IHg1zg" instance="_k9Hy8GbWEeGGNuX1IHg1zg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_k9uP4GbWEeGGNuX1IHg1zg" definingFeature="_Gde_kB8rEeG4gPCEznVNOA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_k9uP4WbWEeGGNuX1IHg1zg" instance="_k9ke4GbWEeGGNuX1IHg1zg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_k-BK0GbWEeGGNuX1IHg1zg" definingFeature="_qKrmYB8sEeG4gPCEznVNOA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_k-KUwGbWEeGGNuX1IHg1zg" instance="_k93Z0GbWEeGGNuX1IHg1zg"/>
+          </slot>
+        </packagedElement>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k9Hy8GbWEeGGNuX1IHg1zg" name="mainInstance.organizeSpace.navigationSafety" classifier="_fdzKoKk_EeCXqcRV-18f6Q"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k9ke4GbWEeGGNuX1IHg1zg" name="mainInstance.organizeSpace.controller" classifier="_KqA8UB8pEeG4gPCEznVNOA"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k93Z0GbWEeGGNuX1IHg1zg" name="mainInstance.organizeSpace.challengerEvaluation" classifier="_kdlWIB8rEeG4gPCEznVNOA"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k-UFwmbWEeGGNuX1IHg1zg" name="mainInstance.challengerSpace" classifier="_fdzLHak_EeCXqcRV-18f6Q">
+          <slot xmi:type="uml:Slot" xmi:id="_k-nAsGbWEeGGNuX1IHg1zg" definingFeature="_fdzLIqk_EeCXqcRV-18f6Q">
+            <value xmi:type="uml:InstanceValue" xmi:id="_k-wxsGbWEeGGNuX1IHg1zg" instance="_k-d2wGbWEeGGNuX1IHg1zg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_k-wxsmbWEeGGNuX1IHg1zg" definingFeature="_fdzLJ6k_EeCXqcRV-18f6Q">
+            <value xmi:type="uml:InstanceValue" xmi:id="_k-6isGbWEeGGNuX1IHg1zg" instance="_k-wxsWbWEeGGNuX1IHg1zg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_k_DsoGbWEeGGNuX1IHg1zg" definingFeature="_fdzLQqk_EeCXqcRV-18f6Q">
+            <value xmi:type="uml:InstanceValue" xmi:id="_k_DsoWbWEeGGNuX1IHg1zg" instance="_k-6isWbWEeGGNuX1IHg1zg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_k_zTgGbWEeGGNuX1IHg1zg" definingFeature="_fdzLRqk_EeCXqcRV-18f6Q">
+            <value xmi:type="uml:InstanceValue" xmi:id="_k_9EgGbWEeGGNuX1IHg1zg" instance="_k_qJkGbWEeGGNuX1IHg1zg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_lAG1gGbWEeGGNuX1IHg1zg" definingFeature="_fdzLSqk_EeCXqcRV-18f6Q">
+            <value xmi:type="uml:InstanceValue" xmi:id="_lAP_cGbWEeGGNuX1IHg1zg" instance="_k_9EgWbWEeGGNuX1IHg1zg"/>
+          </slot>
+        </packagedElement>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k-d2wGbWEeGGNuX1IHg1zg" name="mainInstance.challengerSpace.mappingSystem" classifier="_07AcABwkEeGa5bH_RJFzBQ"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k-wxsWbWEeGGNuX1IHg1zg" name="mainInstance.challengerSpace.oDSystem" classifier="_MaVUkBwiEeGa5bH_RJFzBQ"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k-6isWbWEeGGNuX1IHg1zg" name="mainInstance.challengerSpace.pathPlanner" classifier="_fdzKIqk_EeCXqcRV-18f6Q"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k_qJkGbWEeGGNuX1IHg1zg" name="mainInstance.challengerSpace.control" classifier="_fdzKVKk_EeCXqcRV-18f6Q"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_k_9EgWbWEeGGNuX1IHg1zg" name="mainInstance.challengerSpace.localisation" classifier="_fdzK5Kk_EeCXqcRV-18f6Q"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_lAZwcmbWEeGGNuX1IHg1zg" name="mainInstance.stereoPair" classifier="_fdzJgak_EeCXqcRV-18f6Q">
+          <slot xmi:type="uml:Slot" xmi:id="_lAsrYGbWEeGGNuX1IHg1zg" definingFeature="_ZBvoIDUoEeG5pL_fpN2DgQ">
+            <value xmi:type="uml:InstanceValue" xmi:id="_lA2cYGbWEeGGNuX1IHg1zg" instance="_lAi6YGbWEeGGNuX1IHg1zg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_lBJXUWbWEeGGNuX1IHg1zg" definingFeature="_Zo_1YDUoEeG5pL_fpN2DgQ">
+            <value xmi:type="uml:InstanceValue" xmi:id="_lBTIUGbWEeGGNuX1IHg1zg" instance="_lBJXUGbWEeGGNuX1IHg1zg"/>
+          </slot>
+        </packagedElement>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_lAi6YGbWEeGGNuX1IHg1zg" name="mainInstance.stereoPair.leftCam" classifier="_ef5gsKlAEeCYaYi0hzq5kg"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_lBJXUGbWEeGGNuX1IHg1zg" name="mainInstance.stereoPair.rightCam" classifier="_ef5gsKlAEeCYaYi0hzq5kg"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_lBmDQWbWEeGGNuX1IHg1zg" name="mainInstance.frontCamera" classifier="_ef5gsKlAEeCYaYi0hzq5kg"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_lB4-MWbWEeGGNuX1IHg1zg" name="mainInstance.rearCamera" classifier="_lHqboDUpEeG5pL_fpN2DgQ"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_lCL5IGbWEeGGNuX1IHg1zg" name="mainInstance.wideCam" classifier="_ypiFMDUpEeG5pL_fpN2DgQ"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_lCVqIGbWEeGGNuX1IHg1zg" name="mainInstance.ublox" classifier="_fdzJdKk_EeCXqcRV-18f6Q"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_lCfbIWbWEeGGNuX1IHg1zg" name="mainInstance.odometry" classifier="_5rrL4B8oEeG4gPCEznVNOA"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_lColEWbWEeGGNuX1IHg1zg" name="mainInstance.lms" classifier="_fdzJWqk_EeCXqcRV-18f6Q"/>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Package" xmi:id="_nlUjUKEOEeKLUqX9IJq2Gg" name="EnvironmentDepPlan">
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nlneQKEOEeKLUqX9IJq2Gg" name="mainInstance" classifier="_-9mt0KENEeKLUqX9IJq2Gg">
+          <slot xmi:type="uml:Slot" xmi:id="_nmXFNKEOEeKLUqX9IJq2Gg" definingFeature="_K9lG0KEOEeKLUqX9IJq2Gg">
+            <value xmi:type="uml:InstanceValue" xmi:id="_nmg2IKEOEeKLUqX9IJq2Gg" instance="_nl6ZMKEOEeKLUqX9IJq2Gg"/>
+          </slot>
+        </packagedElement>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nl6ZMKEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab" classifier="_fdzI0qk_EeCXqcRV-18f6Q">
+          <slot xmi:type="uml:Slot" xmi:id="_nl6ZMqEOEeKLUqX9IJq2Gg" definingFeature="_fdzI16k_EeCXqcRV-18f6Q">
+            <value xmi:type="uml:InstanceValue" xmi:id="_nl6ZM6EOEeKLUqX9IJq2Gg" instance="_nl6ZMaEOEeKLUqX9IJq2Gg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_nmEKMaEOEeKLUqX9IJq2Gg" definingFeature="_BE-egKlmEeCLku4RFrI7uw">
+            <value xmi:type="uml:InstanceValue" xmi:id="_nmEKMqEOEeKLUqX9IJq2Gg" instance="_nmEKMKEOEeKLUqX9IJq2Gg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_nmEKPaEOEeKLUqX9IJq2Gg" definingFeature="_bsDDwKlmEeCLku4RFrI7uw">
+            <value xmi:type="uml:InstanceValue" xmi:id="_nmEKPqEOEeKLUqX9IJq2Gg" instance="_nmEKM6EOEeKLUqX9IJq2Gg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_nmN7O6EOEeKLUqX9IJq2Gg" definingFeature="_kbbj0BwnEeGa5bH_RJFzBQ">
+            <value xmi:type="uml:InstanceValue" xmi:id="_nmN7PKEOEeKLUqX9IJq2Gg" instance="_nmEKP6EOEeKLUqX9IJq2Gg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_nmXFIKEOEeKLUqX9IJq2Gg" definingFeature="_7PWh8B8kEeG4gPCEznVNOA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_nmXFIaEOEeKLUqX9IJq2Gg" instance="_nmN7PaEOEeKLUqX9IJq2Gg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_nmXFI6EOEeKLUqX9IJq2Gg" definingFeature="_NJdXEB8lEeG4gPCEznVNOA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_nmXFJKEOEeKLUqX9IJq2Gg" instance="_nmXFIqEOEeKLUqX9IJq2Gg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_nmXFJqEOEeKLUqX9IJq2Gg" definingFeature="_OENvIB8lEeG4gPCEznVNOA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_nmXFJ6EOEeKLUqX9IJq2Gg" instance="_nmXFJaEOEeKLUqX9IJq2Gg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_nmXFKaEOEeKLUqX9IJq2Gg" definingFeature="_94cOoB8lEeG4gPCEznVNOA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_nmXFKqEOEeKLUqX9IJq2Gg" instance="_nmXFKKEOEeKLUqX9IJq2Gg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_nmXFLKEOEeKLUqX9IJq2Gg" definingFeature="_KdDxgB9BEeGetOLfkLNwfg">
+            <value xmi:type="uml:InstanceValue" xmi:id="_nmXFLaEOEeKLUqX9IJq2Gg" instance="_nmXFK6EOEeKLUqX9IJq2Gg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_nmXFL6EOEeKLUqX9IJq2Gg" definingFeature="_YLTDIB9BEeGetOLfkLNwfg">
+            <value xmi:type="uml:InstanceValue" xmi:id="_nmXFMKEOEeKLUqX9IJq2Gg" instance="_nmXFLqEOEeKLUqX9IJq2Gg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_nmXFMqEOEeKLUqX9IJq2Gg" definingFeature="_A68QIB9DEeGetOLfkLNwfg">
+            <value xmi:type="uml:InstanceValue" xmi:id="_nmXFM6EOEeKLUqX9IJq2Gg" instance="_nmXFMaEOEeKLUqX9IJq2Gg"/>
+          </slot>
+        </packagedElement>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nl6ZMaEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.landis" classifier="_fdzJZ6k_EeCXqcRV-18f6Q"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmEKMKEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.missionGenerator" classifier="_aG5SkKlgEeCYfbnxVSyZ9g"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmEKM6EOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.organizeSpace" classifier="_fdzJyKk_EeCXqcRV-18f6Q">
+          <slot xmi:type="uml:Slot" xmi:id="_nmEKNaEOEeKLUqX9IJq2Gg" definingFeature="_fdzJzak_EeCXqcRV-18f6Q">
+            <value xmi:type="uml:InstanceValue" xmi:id="_nmEKNqEOEeKLUqX9IJq2Gg" instance="_nmEKNKEOEeKLUqX9IJq2Gg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_nmEKOKEOEeKLUqX9IJq2Gg" definingFeature="_Gde_kB8rEeG4gPCEznVNOA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_nmEKOaEOEeKLUqX9IJq2Gg" instance="_nmEKN6EOEeKLUqX9IJq2Gg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_nmEKO6EOEeKLUqX9IJq2Gg" definingFeature="_qKrmYB8sEeG4gPCEznVNOA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_nmEKPKEOEeKLUqX9IJq2Gg" instance="_nmEKOqEOEeKLUqX9IJq2Gg"/>
+          </slot>
+        </packagedElement>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmEKNKEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.organizeSpace.navigationSafety" classifier="_fdzKoKk_EeCXqcRV-18f6Q"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmEKN6EOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.organizeSpace.controller" classifier="_KqA8UB8pEeG4gPCEznVNOA"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmEKOqEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.organizeSpace.challengerEvaluation" classifier="_kdlWIB8rEeG4gPCEznVNOA"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmEKP6EOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.challengerSpace" classifier="_fdzLHak_EeCXqcRV-18f6Q">
+          <slot xmi:type="uml:Slot" xmi:id="_nmEKQaEOEeKLUqX9IJq2Gg" definingFeature="_fdzLIqk_EeCXqcRV-18f6Q">
+            <value xmi:type="uml:InstanceValue" xmi:id="_nmEKQqEOEeKLUqX9IJq2Gg" instance="_nmEKQKEOEeKLUqX9IJq2Gg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_nmN7MKEOEeKLUqX9IJq2Gg" definingFeature="_fdzLJ6k_EeCXqcRV-18f6Q">
+            <value xmi:type="uml:InstanceValue" xmi:id="_nmN7MaEOEeKLUqX9IJq2Gg" instance="_nmEKQ6EOEeKLUqX9IJq2Gg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_nmN7M6EOEeKLUqX9IJq2Gg" definingFeature="_fdzLQqk_EeCXqcRV-18f6Q">
+            <value xmi:type="uml:InstanceValue" xmi:id="_nmN7NKEOEeKLUqX9IJq2Gg" instance="_nmN7MqEOEeKLUqX9IJq2Gg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_nmN7NqEOEeKLUqX9IJq2Gg" definingFeature="_fdzLRqk_EeCXqcRV-18f6Q">
+            <value xmi:type="uml:InstanceValue" xmi:id="_nmN7N6EOEeKLUqX9IJq2Gg" instance="_nmN7NaEOEeKLUqX9IJq2Gg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_nmN7OaEOEeKLUqX9IJq2Gg" definingFeature="_fdzLSqk_EeCXqcRV-18f6Q">
+            <value xmi:type="uml:InstanceValue" xmi:id="_nmN7OqEOEeKLUqX9IJq2Gg" instance="_nmN7OKEOEeKLUqX9IJq2Gg"/>
+          </slot>
+        </packagedElement>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmEKQKEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.challengerSpace.mappingSystem" classifier="_07AcABwkEeGa5bH_RJFzBQ"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmEKQ6EOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.challengerSpace.oDSystem" classifier="_MaVUkBwiEeGa5bH_RJFzBQ"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmN7MqEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.challengerSpace.pathPlanner" classifier="_fdzKIqk_EeCXqcRV-18f6Q"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmN7NaEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.challengerSpace.control" classifier="_fdzKVKk_EeCXqcRV-18f6Q"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmN7OKEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.challengerSpace.localisation" classifier="_fdzK5Kk_EeCXqcRV-18f6Q"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmN7PaEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.stereoPair" classifier="_fdzJgak_EeCXqcRV-18f6Q">
+          <slot xmi:type="uml:Slot" xmi:id="_nmN7P6EOEeKLUqX9IJq2Gg" definingFeature="_ZBvoIDUoEeG5pL_fpN2DgQ">
+            <value xmi:type="uml:InstanceValue" xmi:id="_nmN7QKEOEeKLUqX9IJq2Gg" instance="_nmN7PqEOEeKLUqX9IJq2Gg"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_nmN7QqEOEeKLUqX9IJq2Gg" definingFeature="_Zo_1YDUoEeG5pL_fpN2DgQ">
+            <value xmi:type="uml:InstanceValue" xmi:id="_nmN7Q6EOEeKLUqX9IJq2Gg" instance="_nmN7QaEOEeKLUqX9IJq2Gg"/>
+          </slot>
+        </packagedElement>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmN7PqEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.stereoPair.leftCam" classifier="_ef5gsKlAEeCYaYi0hzq5kg"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmN7QaEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.stereoPair.rightCam" classifier="_ef5gsKlAEeCYaYi0hzq5kg"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmXFIqEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.frontCamera" classifier="_ef5gsKlAEeCYaYi0hzq5kg"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmXFJaEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.rearCamera" classifier="_lHqboDUpEeG5pL_fpN2DgQ"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmXFKKEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.wideCam" classifier="_ypiFMDUpEeG5pL_fpN2DgQ"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmXFK6EOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.ublox" classifier="_fdzJdKk_EeCXqcRV-18f6Q"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmXFLqEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.odometry" classifier="_5rrL4B8oEeG4gPCEznVNOA"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_nmXFMaEOEeKLUqX9IJq2Gg" name="mainInstance.roboCab.lms" classifier="_fdzJWqk_EeCXqcRV-18f6Q"/>
+        <packagedElement xmi:type="uml:Abstraction" xmi:id="_ra4foKEOEeKLUqX9IJq2Gg" name="allocate to platform" client="_nl6ZMKEOEeKLUqX9IJq2Gg" supplier="_-PhHcGbaEeGTV_735pzUXQ"/>
+        <packagedElement xmi:type="uml:Abstraction" xmi:id="_tdHdIKEOEeKLUqX9IJq2Gg" name="allocate to platform.cycabTK" client="_nl6ZMaEOEeKLUqX9IJq2Gg" supplier="_vZa14GbaEeGTV_735pzUXQ"/>
+        <packagedElement xmi:type="uml:Abstraction" xmi:id="_t1GfUKEOEeKLUqX9IJq2Gg" name="allocate to platform.rtmaps" client="_nmEKMKEOEeKLUqX9IJq2Gg" supplier="_vZj_0GbaEeGTV_735pzUXQ"/>
+        <packagedElement xmi:type="uml:Abstraction" xmi:id="_uUP5cKEOEeKLUqX9IJq2Gg" name="allocate to platform.rtmaps" client="_nmEKM6EOEeKLUqX9IJq2Gg" supplier="_vZj_0GbaEeGTV_735pzUXQ"/>
+        <packagedElement xmi:type="uml:Abstraction" xmi:id="_uqTB8KEOEeKLUqX9IJq2Gg" name="allocate to platform.rtmaps" client="_nmEKP6EOEeKLUqX9IJq2Gg" supplier="_vZj_0GbaEeGTV_735pzUXQ"/>
+        <packagedElement xmi:type="uml:Abstraction" xmi:id="_vMuZkKEOEeKLUqX9IJq2Gg" name="allocate to platform.cycabTK" client="_nmN7PaEOEeKLUqX9IJq2Gg" supplier="_vZa14GbaEeGTV_735pzUXQ"/>
+        <packagedElement xmi:type="uml:Abstraction" xmi:id="_vvSUEKEOEeKLUqX9IJq2Gg" name="allocate to platform.cycabTK" client="_nmXFIqEOEeKLUqX9IJq2Gg" supplier="_vZa14GbaEeGTV_735pzUXQ"/>
+        <packagedElement xmi:type="uml:Abstraction" xmi:id="_wD__0KEOEeKLUqX9IJq2Gg" name="allocate to platform.cycabTK" client="_nmXFJaEOEeKLUqX9IJq2Gg" supplier="_vZa14GbaEeGTV_735pzUXQ"/>
+        <packagedElement xmi:type="uml:Abstraction" xmi:id="_wgnDUKEOEeKLUqX9IJq2Gg" name="allocate to platform.cycabTK" client="_nmXFKKEOEeKLUqX9IJq2Gg" supplier="_vZa14GbaEeGTV_735pzUXQ"/>
+        <packagedElement xmi:type="uml:Abstraction" xmi:id="_w2OG8KEOEeKLUqX9IJq2Gg" name="allocate to platform.cycabTK" client="_nmXFK6EOEeKLUqX9IJq2Gg" supplier="_vZa14GbaEeGTV_735pzUXQ"/>
+        <packagedElement xmi:type="uml:Abstraction" xmi:id="_xNA2UKEOEeKLUqX9IJq2Gg" name="allocate to platform.cycabTK" client="_nmXFLqEOEeKLUqX9IJq2Gg" supplier="_vZa14GbaEeGTV_735pzUXQ"/>
+        <packagedElement xmi:type="uml:Abstraction" xmi:id="_xfyoYKEOEeKLUqX9IJq2Gg" name="allocate to platform.cycabTK" client="_nmXFMaEOEeKLUqX9IJq2Gg" supplier="_vZa14GbaEeGTV_735pzUXQ"/>
+      </packagedElement>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Package" xmi:id="_tR1bIGbWEeGGNuX1IHg1zg" name="PlatformModel">
+      <packagedElement xmi:type="uml:Class" xmi:id="_v8CiIGbXEeGjxc8c7ZBkPQ" name="Platform">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_El_WwGbaEeGTV_735pzUXQ" name="cycabTK" type="_Oj3xoGbZEeGTV_735pzUXQ"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_MaXSAGbaEeGTV_735pzUXQ" name="rtmaps" type="_jcp-YGbZEeGTV_735pzUXQ"/>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Class" xmi:id="_Oj3xoGbZEeGTV_735pzUXQ" name="CyCabTK"/>
+      <packagedElement xmi:type="uml:Class" xmi:id="_jcp-YGbZEeGTV_735pzUXQ" name="RTMaps"/>
+      <packagedElement xmi:type="uml:Package" xmi:id="_vZRE4GbaEeGTV_735pzUXQ" name="PlatformPlatform">
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_vZa14GbaEeGTV_735pzUXQ" name="platform.cycabTK" classifier="_Oj3xoGbZEeGTV_735pzUXQ"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_vZj_0GbaEeGTV_735pzUXQ" name="platform.rtmaps" classifier="_jcp-YGbZEeGTV_735pzUXQ"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_-PhHcGbaEeGTV_735pzUXQ" name="platform" classifier="_v8CiIGbXEeGjxc8c7ZBkPQ">
+          <slot xmi:type="uml:Slot" xmi:id="_HLRhgGbbEeGTV_735pzUXQ" definingFeature="_El_WwGbaEeGTV_735pzUXQ">
+            <value xmi:type="uml:InstanceValue" xmi:id="_iAD9MGbcEeGTV_735pzUXQ" name="platform.cycabtk" instance="_vZa14GbaEeGTV_735pzUXQ"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_eSgi0GbbEeGTV_735pzUXQ" definingFeature="_MaXSAGbaEeGTV_735pzUXQ">
+            <value xmi:type="uml:InstanceValue" xmi:id="_mVhhkGbcEeGTV_735pzUXQ" name="platform.rtmaps" instance="_vZj_0GbaEeGTV_735pzUXQ"/>
+          </slot>
+        </packagedElement>
+      </packagedElement>
+    </packagedElement>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_fdzLgKk_EeCXqcRV-18f6Q">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_fdzLgak_EeCXqcRV-18f6Q" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://Papyrus/RobotML/1#/"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://Robotml_PROFILES/RobotMLProfile.profile.uml#_3QOHEPcEEd-J06U5HM_o-Q"/>
+    </profileApplication>
+  </uml:Model>
+  <RobotML:SensorSystem xmi:id="_feGDzqk_EeCXqcRV-18f6Q" base_Class="_fdzJZ6k_EeCXqcRV-18f6Q"/>
+  <RobotML:ActuatorSystem xmi:id="_feGD0qk_EeCXqcRV-18f6Q" base_Class="_fdzJoKk_EeCXqcRV-18f6Q"/>
+  <RobotML:ActuatorSystem xmi:id="_feGD06k_EeCXqcRV-18f6Q" base_Class="_fdzJrak_EeCXqcRV-18f6Q"/>
+  <RobotML:DataFlowPort xmi:id="_feGD16k_EeCXqcRV-18f6Q" base_Port="_fdzK6ak_EeCXqcRV-18f6Q"/>
+  <RobotML:System xmi:id="_feGD3Kk_EeCXqcRV-18f6Q" base_Class="_fdzJyKk_EeCXqcRV-18f6Q"/>
+  <RobotML:DataFlowPort xmi:id="_feGD36k_EeCXqcRV-18f6Q" base_Port="_fdzJcKk_EeCXqcRV-18f6Q" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_feGD4ak_EeCXqcRV-18f6Q" base_Port="_fdzLNqk_EeCXqcRV-18f6Q"/>
+  <RobotML:DataFlowPort xmi:id="_feGD5qk_EeCXqcRV-18f6Q" base_Port="_fdzK9ak_EeCXqcRV-18f6Q"/>
+  <RobotML:DataFlowPort xmi:id="_feGD56k_EeCXqcRV-18f6Q" base_Port="_fdzK-ak_EeCXqcRV-18f6Q" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_feGD6qk_EeCXqcRV-18f6Q" base_Port="_fdzK06k_EeCXqcRV-18f6Q"/>
+  <RobotML:DataFlowPort xmi:id="_feGD66k_EeCXqcRV-18f6Q" base_Port="_fdzKaak_EeCXqcRV-18f6Q"/>
+  <RobotML:DataFlowPort xmi:id="_feGD7ak_EeCXqcRV-18f6Q" base_Port="_fdzKL6k_EeCXqcRV-18f6Q" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_feGD-ak_EeCXqcRV-18f6Q" base_Port="_fdzKcak_EeCXqcRV-18f6Q" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_feGD-qk_EeCXqcRV-18f6Q" base_Port="_fdzKZak_EeCXqcRV-18f6Q"/>
+  <RobotML:DataFlowPort xmi:id="_feGD-6k_EeCXqcRV-18f6Q" base_Port="_fdzKK6k_EeCXqcRV-18f6Q" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_feGD_Kk_EeCXqcRV-18f6Q" base_Port="_fdzKJ6k_EeCXqcRV-18f6Q"/>
+  <RobotML:DataFlowPort xmi:id="_feGD_ak_EeCXqcRV-18f6Q" base_Port="_fdzKI6k_EeCXqcRV-18f6Q"/>
+  <RobotML:DataFlowPort xmi:id="_feGD_6k_EeCXqcRV-18f6Q" base_Port="_fdzK36k_EeCXqcRV-18f6Q"/>
+  <RobotML:DataFlowPort xmi:id="_feGEDak_EeCXqcRV-18f6Q" base_Port="_fdzJY6k_EeCXqcRV-18f6Q" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_feGEDqk_EeCXqcRV-18f6Q" base_Port="_fdzJfak_EeCXqcRV-18f6Q" direction="out"/>
+  <RobotML:Software xmi:id="_feGEEqk_EeCXqcRV-18f6Q" base_Class="_fdzKoKk_EeCXqcRV-18f6Q"/>
+  <RobotML:Software xmi:id="_feGEE6k_EeCXqcRV-18f6Q" base_Class="_fdzK5Kk_EeCXqcRV-18f6Q"/>
+  <RobotML:Software xmi:id="_feGEFak_EeCXqcRV-18f6Q" base_Class="_fdzKIqk_EeCXqcRV-18f6Q" isPeriodic="true" period="5.0"/>
+  <RobotML:Software xmi:id="_feGEFqk_EeCXqcRV-18f6Q" base_Class="_fdzKVKk_EeCXqcRV-18f6Q" period="5.0"/>
+  <RobotML:DataFlowPort xmi:id="_lrAcjKlAEeCYaYi0hzq5kg" base_Port="_lpqYsKlAEeCYaYi0hzq5kg" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_UOgXIKlFEeCgdMhwEBuWIg" base_Port="_UMascKlFEeCgdMhwEBuWIg" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_nDmN0KlFEeCniaMk5QUBRg" base_Port="_nCjE8KlFEeCniaMk5QUBRg" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_4x_TcKlLEeCYfbnxVSyZ9g" base_Port="_4xF7kKlLEeCYfbnxVSyZ9g" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_wBwoYKlVEeCYfbnxVSyZ9g" base_Port="_wAakkKlVEeCYfbnxVSyZ9g"/>
+  <RobotML:DataFlowPort xmi:id="_ZBcR8KlWEeCYfbnxVSyZ9g" base_Port="_ZAGOIKlWEeCYfbnxVSyZ9g"/>
+  <RobotML:DataFlowPort xmi:id="_siw8gKlWEeCYfbnxVSyZ9g" base_Port="_shbfwKlWEeCYfbnxVSyZ9g"/>
+  <RobotML:DataFlowPort xmi:id="_GNOywKlbEeCYfbnxVSyZ9g" base_Port="_GJzrUKlbEeCYfbnxVSyZ9g"/>
+  <RobotML:DataFlowPort xmi:id="_cS-IkKlgEeCYfbnxVSyZ9g" base_Port="_cPiaEKlgEeCYfbnxVSyZ9g" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_LCI9IKlkEeCLku4RFrI7uw" base_Port="_LA8qUKlkEeCLku4RFrI7uw"/>
+  <RobotML:DataFlowPort xmi:id="_IqGnaqlnEeCLku4RFrI7uw" base_Port="_ImFDAKlnEeCLku4RFrI7uw" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_UMGOfKloEeCLku4RFrI7uw" base_Port="_UIObEKloEeCLku4RFrI7uw"/>
+  <RobotML:DataFlowPort xmi:id="_Rsqe8BwkEeGa5bH_RJFzBQ" base_Port="_Rsb1cBwkEeGa5bH_RJFzBQ"/>
+  <RobotML:DataFlowPort xmi:id="_W2oCYBwkEeGa5bH_RJFzBQ" base_Port="_W2W8oBwkEeGa5bH_RJFzBQ"/>
+  <RobotML:DataFlowPort xmi:id="_f6tSABwkEeGa5bH_RJFzBQ" base_Port="_f6a-IBwkEeGa5bH_RJFzBQ" direction="out"/>
+  <RobotML:Software xmi:id="_Kvp5AB8jEeGSYcCs5KgO3A" base_Class="_aG5SkKlgEeCYfbnxVSyZ9g"/>
+  <RobotML:Software xmi:id="_ORRloB8jEeGSYcCs5KgO3A" base_Class="_MaVUkBwiEeGa5bH_RJFzBQ"/>
+  <RobotML:Software xmi:id="_TXKhYB8jEeGSYcCs5KgO3A" base_Class="_07AcABwkEeGa5bH_RJFzBQ"/>
+  <RobotML:DataFlowPort xmi:id="_9cl4wB8oEeG4gPCEznVNOA" base_Port="_9cOsYB8oEeG4gPCEznVNOA" direction="out"/>
+  <RobotML:ActuatorSystem xmi:id="_Kqe2YB8pEeG4gPCEznVNOA" base_Class="_KqA8UB8pEeG4gPCEznVNOA"/>
+  <RobotML:DataFlowPort xmi:id="_Ph0_0B8pEeG4gPCEznVNOA" base_Port="_PhiE4B8pEeG4gPCEznVNOA"/>
+  <RobotML:Software xmi:id="_rTk9kB8rEeG4gPCEznVNOA" base_Class="_kdlWIB8rEeG4gPCEznVNOA"/>
+  <RobotML:DataFlowPort xmi:id="_vQjJcB8rEeG4gPCEznVNOA" base_Port="_vQPAYB8rEeG4gPCEznVNOA"/>
+  <RobotML:DataFlowPort xmi:id="_xHWTAB8rEeG4gPCEznVNOA" base_Port="_xHBi4B8rEeG4gPCEznVNOA"/>
+  <RobotML:DataFlowPort xmi:id="_01y6sB8rEeG4gPCEznVNOA" base_Port="_01c8cB8rEeG4gPCEznVNOA"/>
+  <RobotML:DataFlowPort xmi:id="_6VtgAB8rEeG4gPCEznVNOA" base_Port="_6VYv4B8rEeG4gPCEznVNOA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_6okKkB8rEeG4gPCEznVNOA" base_Port="_6oOzYB8rEeG4gPCEznVNOA"/>
+  <RobotML:DataFlowPort xmi:id="_gFs6cB8sEeG4gPCEznVNOA" base_Port="_gFYxYB8sEeG4gPCEznVNOA"/>
+  <RobotML:DataFlowPort xmi:id="_tRhbgB8sEeG4gPCEznVNOA" base_Port="_tRMrYB8sEeG4gPCEznVNOA"/>
+  <RobotML:DataFlowPort xmi:id="_00v8YB8sEeG4gPCEznVNOA" base_Port="_00caYB8sEeG4gPCEznVNOA"/>
+  <RobotML:DataFlowPort xmi:id="_egxcoB8vEeG4gPCEznVNOA" base_Port="_egSUcB8vEeG4gPCEznVNOA"/>
+  <RobotML:DataFlowPort xmi:id="_Fg_I0B8wEeGetOLfkLNwfg" base_Port="_FgbvMB8wEeGetOLfkLNwfg"/>
+  <RobotML:DataFlowPort xmi:id="_NkcB4B8wEeGetOLfkLNwfg" base_Port="_NkEOcB8wEeGetOLfkLNwfg"/>
+  <RobotML:DataFlowPort xmi:id="_WZ8C8B8wEeGetOLfkLNwfg" base_Port="_WZjocB8wEeGetOLfkLNwfg"/>
+  <RobotML:DataFlowPort xmi:id="_x-C4MB8wEeGetOLfkLNwfg" base_Port="_x9oBcB8wEeGetOLfkLNwfg"/>
+  <RobotML:DataFlowPort xmi:id="_WDTjQB8-EeGetOLfkLNwfg" base_Port="_WC5TkB8-EeGetOLfkLNwfg"/>
+  <RobotML:DataFlowPort xmi:id="_a8anQB8-EeGetOLfkLNwfg" base_Port="_a8AXkB8-EeGetOLfkLNwfg"/>
+  <RobotML:DataFlowPort xmi:id="_zFJfoDUoEeG5pL_fpN2DgQ" base_Port="_zEf_YDUoEeG5pL_fpN2DgQ" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_2ho0oDUoEeG5pL_fpN2DgQ" base_Port="_2hQaIDUoEeG5pL_fpN2DgQ" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_oAN9IDUpEeG5pL_fpN2DgQ" base_Port="_n_2JsDUpEeG5pL_fpN2DgQ" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_4J2TIDUpEeG5pL_fpN2DgQ" base_Port="_4Jd4oDUpEeG5pL_fpN2DgQ" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_UezhEDUrEeG5pL_fpN2DgQ" base_Port="_UegmIDUrEeG5pL_fpN2DgQ"/>
+  <RobotML:DataFlowPort xmi:id="_bel9sDUrEeG5pL_fpN2DgQ" base_Port="_beSbsDUrEeG5pL_fpN2DgQ"/>
+  <RobotML:DataFlowPort xmi:id="_vQT0sDUrEeG5pL_fpN2DgQ" base_Port="_vP_roDUrEeG5pL_fpN2DgQ"/>
+  <RobotML:DataFlowPort xmi:id="__VDqsDUrEeG5pL_fpN2DgQ" base_Port="__UwIsDUrEeG5pL_fpN2DgQ"/>
+  <RobotML:DataFlowPort xmi:id="__v07IDUrEeG5pL_fpN2DgQ" base_Port="__vhZIDUrEeG5pL_fpN2DgQ"/>
+  <RobotML:DataFlowPort xmi:id="_qQAC4DUzEeG5pL_fpN2DgQ" base_Port="_qPrSwDUzEeG5pL_fpN2DgQ"/>
+  <RobotML:DataFlowPort xmi:id="_0-yg0DUzEeG5pL_fpN2DgQ" base_Port="_0-eXwDUzEeG5pL_fpN2DgQ"/>
+  <RobotML:DataFlowPort xmi:id="_2jIocDUzEeG5pL_fpN2DgQ" base_Port="_2izRQDUzEeG5pL_fpN2DgQ"/>
+  <RobotML:DataFlowPort xmi:id="_3wfMYDUzEeG5pL_fpN2DgQ" base_Port="_3wKcQDUzEeG5pL_fpN2DgQ"/>
+  <RobotML:Transition xmi:id="_3J41EEHZEeG8nvjGjD0Mrg" base_Transition="_3JM4kEHZEeG8nvjGjD0Mrg"/>
+  <RobotML:System xmi:id="_eYr5YEHmEeGGXpGscpkjdg" base_Class="_fdzLHak_EeCXqcRV-18f6Q"/>
+  <RobotML:DataFlowPort xmi:id="_mKL-cEH0EeGwG_JKFhyhxw" base_Port="_mJzj8EH0EeGwG_JKFhyhxw"/>
+  <RobotML:Software xmi:id="_MkTegEH2EeGwG_JKFhyhxw" base_Class="_irmXsEH0EeGwG_JKFhyhxw"/>
+  <RobotML:Software xmi:id="_OzYlMEH2EeGwG_JKFhyhxw" base_Class="_4R8VYEHxEeGGXpGscpkjdg" period="5.0"/>
+  <RobotML:State xmi:id="_M-CNEEK6EeGv-54Wm4mRWQ" base_State="_M9id0EK6EeGv-54Wm4mRWQ" behavior="_IgJOgBFxEeOl1IrgVMUxOA" operation="_YsuBwEK6EeGv-54Wm4mRWQ"/>
+  <RobotML:Algorithm xmi:id="_YsuBwEK6EeGv-54Wm4mRWQ" base_Operation="_LJ25sEK6EeGv-54Wm4mRWQ"/>
+  <RobotML:Algorithm xmi:id="_g2wD8EK6EeGv-54Wm4mRWQ" base_Operation="_co9N0EK6EeGv-54Wm4mRWQ"/>
+  <RobotML:Algorithm xmi:id="_mvhOIEK6EeGv-54Wm4mRWQ" base_Operation="_lxCzsEK6EeGv-54Wm4mRWQ"/>
+  <RobotML:Algorithm xmi:id="_5nYsAEK6EeGv-54Wm4mRWQ" base_Operation="_sD-KUEK6EeGv-54Wm4mRWQ"/>
+  <RobotML:Algorithm xmi:id="_zI1ewEK7EeGv-54Wm4mRWQ" base_Operation="_rnfNMEK7EeGv-54Wm4mRWQ"/>
+  <RobotML:Algorithm xmi:id="_0Yl2cEK7EeGv-54Wm4mRWQ" base_Operation="_zsmTIEK7EeGv-54Wm4mRWQ"/>
+  <RobotML:State xmi:id="_AsLvAEK8EeGv-54Wm4mRWQ" base_State="_Ar40EEK8EeGv-54Wm4mRWQ" behavior="_eBwV0BFxEeOl1IrgVMUxOA" operation="_mvhOIEK6EeGv-54Wm4mRWQ"/>
+  <RobotML:State xmi:id="_Pv3JkEK8EeGv-54Wm4mRWQ" base_State="_PvjnkEK8EeGv-54Wm4mRWQ" behavior="_ZmSQEBFxEeOl1IrgVMUxOA" operation="_g2wD8EK6EeGv-54Wm4mRWQ"/>
+  <RobotML:Transition xmi:id="_4pOvwEK8EeGv-54Wm4mRWQ" base_Transition="_4nd1MEK8EeGv-54Wm4mRWQ" guard="_M-5TQEK7EeGv-54Wm4mRWQ"/>
+  <RobotML:Transition xmi:id="_6CnkkEK8EeGv-54Wm4mRWQ" base_Transition="_6CGnMEK8EeGv-54Wm4mRWQ" guard="_6qJJgEK6EeGv-54Wm4mRWQ"/>
+  <RobotML:Transition xmi:id="_6-L08EK8EeGv-54Wm4mRWQ" base_Transition="_69reoEK8EeGv-54Wm4mRWQ" guard="_MJ8oQEK7EeGv-54Wm4mRWQ"/>
+  <RobotML:Transition xmi:id="_7jObsEK8EeGv-54Wm4mRWQ" base_Transition="_7irpIEK8EeGv-54Wm4mRWQ" guard="_M-5TQEK7EeGv-54Wm4mRWQ"/>
+  <RobotML:DataFlowPort xmi:id="_HrQvEEK-EeGv-54Wm4mRWQ" base_Port="_FpXIwEK-EeGv-54Wm4mRWQ"/>
+  <RobotML:DataFlowPort xmi:id="_UfDKoEK-EeGv-54Wm4mRWQ" base_Port="_TVYM0EK-EeGv-54Wm4mRWQ"/>
+  <RobotML:DataFlowPort xmi:id="_cjWYQEK-EeGv-54Wm4mRWQ" base_Port="_aL1HQEK-EeGv-54Wm4mRWQ"/>
+  <RobotML:DataFlowPort xmi:id="_iL8YcEK-EeGv-54Wm4mRWQ" base_Port="_d9wgwEK-EeGv-54Wm4mRWQ"/>
+  <RobotML:Algorithm xmi:id="_k5w0IEK_EeGFx4iVEwo0kA" base_Operation="_gDWe0EK_EeGFx4iVEwo0kA" isExternal="true" extFunctionName="imshow" path="/usr/lib/libopencv_highgui.so"/>
+  <RobotML:Algorithm xmi:id="_7NN7wENGEeGaAsRpegEgPg" base_Operation="_4gEZAENGEeGaAsRpegEgPg" isExternal="true" extFunctionName="imread" path="/usr/lib/libopencv_highgui.so"/>
+  <RobotML:GPSSystem xmi:id="_-n1mQEZsEeGo2rLT49hsRw" base_Class="_fdzJdKk_EeCXqcRV-18f6Q"/>
+  <RobotML:SensorSystem xmi:id="_1f-NYEZtEeGo2rLT49hsRw" base_Class="_5rrL4B8oEeG4gPCEznVNOA"/>
+  <RobotML:CameraSystem xmi:id="_4vfdYEZtEeGo2rLT49hsRw" base_Class="_lHqboDUpEeG5pL_fpN2DgQ"/>
+  <RobotML:CameraSystem xmi:id="_IsYX4EZuEeGo2rLT49hsRw" base_Class="_ypiFMDUpEeG5pL_fpN2DgQ"/>
+  <RobotML:CameraSystem xmi:id="_KhgGcEZuEeGo2rLT49hsRw" base_Class="_ef5gsKlAEeCYaYi0hzq5kg"/>
+  <RobotML:LidarSystem xmi:id="_OVsCYEZxEeGo2rLT49hsRw" base_Class="_fdzJWqk_EeCXqcRV-18f6Q"/>
+  <RobotML:Robot xmi:id="_HZt_wF4gEeGua5Z-VEhs4w" base_Class="_fdzI0qk_EeCXqcRV-18f6Q"/>
+  <RobotML:CameraSystem xmi:id="_KlbGwF4gEeGua5Z-VEhs4w" base_Class="_fdzJgak_EeCXqcRV-18f6Q"/>
+  <RobotML:EngineSystem xmi:id="_RVtHwF4gEeGua5Z-VEhs4w" base_Class="_fdzJuqk_EeCXqcRV-18f6Q"/>
+  <RobotML:Transition xmi:id="_tU9GEGLwEeGQvv5wJEmGUQ" base_Transition="_tUNfMGLwEeGQvv5wJEmGUQ" guard="_M-5TQEK7EeGv-54Wm4mRWQ"/>
+  <RobotML:Transition xmi:id="_uRTZkGLwEeGQvv5wJEmGUQ" base_Transition="_uQtjsGLwEeGQvv5wJEmGUQ"/>
+  <RobotML:Transition xmi:id="_vPcc0GLwEeGQvv5wJEmGUQ" base_Transition="_vO1_4GLwEeGQvv5wJEmGUQ"/>
+  <RobotML:Transition xmi:id="_yPXxoGLwEeGQvv5wJEmGUQ" base_Transition="_yOoKwGLwEeGQvv5wJEmGUQ"/>
+  <RobotML:Transition xmi:id="_1YiiAGLwEeGQvv5wJEmGUQ" base_Transition="_1X8FEGLwEeGQvv5wJEmGUQ" guard="_6qJJgEK6EeGv-54Wm4mRWQ"/>
+  <RobotML:Transition xmi:id="_2w5cEGLwEeGQvv5wJEmGUQ" base_Transition="_2wTmMGLwEeGQvv5wJEmGUQ" guard="_MJ8oQEK7EeGv-54Wm4mRWQ"/>
+  <RobotML:OnPort xmi:id="__yeKQGLwEeGQvv5wJEmGUQ" port="_UfDKoEK-EeGv-54Wm4mRWQ" base_Parameter="_qXQiIELAEeGFx4iVEwo0kA"/>
+  <RobotML:OnPort xmi:id="_FF7A4GLxEeGQvv5wJEmGUQ" port="_cjWYQEK-EeGv-54Wm4mRWQ" base_Parameter="_g8eCsELAEeGFx4iVEwo0kA"/>
+  <RobotML:OnPort xmi:id="_I_qSkGLxEeGQvv5wJEmGUQ" port="_iL8YcEK-EeGv-54Wm4mRWQ" base_Parameter="_dybvoELAEeGFx4iVEwo0kA"/>
+  <RobotML:OnPort xmi:id="_QKxOYGLxEeGQvv5wJEmGUQ" port="_HrQvEEK-EeGv-54Wm4mRWQ" base_Parameter="_1kIR8EK6EeGv-54Wm4mRWQ"/>
+  <RobotML:OnPort xmi:id="_UcpTQGLxEeGQvv5wJEmGUQ" port="_HrQvEEK-EeGv-54Wm4mRWQ" base_Parameter="_yB1acEK7EeGv-54Wm4mRWQ"/>
+  <RobotML:OnPort xmi:id="_eRobYGLxEeGQvv5wJEmGUQ" port="_HrQvEEK-EeGv-54Wm4mRWQ" base_Parameter="_7mEw0EK7EeGv-54Wm4mRWQ"/>
+  <RobotML:Platform xmi:id="_5EKkQGbXEeGjxc8c7ZBkPQ" base_Class="_v8CiIGbXEeGjxc8c7ZBkPQ"/>
+  <RobotML:RoboticMiddleware xmi:id="_jdZlQGbZEeGTV_735pzUXQ" base_Class="_jcp-YGbZEeGTV_735pzUXQ"/>
+  <RobotML:CycabTK xmi:id="_hNIBwGwpEeGmceXllYzFRQ" base_Class="_Oj3xoGbZEeGTV_735pzUXQ"/>
+  <RobotML:Transition xmi:id="_0SMFwG6oEeGqrd__B0yUNA" base_Transition="_0QZ9EG6oEeGqrd__B0yUNA"/>
+  <RobotML:Algorithm xmi:id="_7AGIMG6oEeGqrd__B0yUNA" base_Operation="_5lDGgG6oEeGqrd__B0yUNA"/>
+  <RobotML:Transition xmi:id="_b1LH0G6pEeGqrd__B0yUNA" base_Transition="_bziJEG6pEeGqrd__B0yUNA"/>
+  <RobotML:Algorithm xmi:id="_8gaO8G6pEeGqrd__B0yUNA" base_Operation="_5FqmYG6pEeGqrd__B0yUNA"/>
+  <RobotML:Transition xmi:id="_REWNEG6qEeGqrd__B0yUNA" base_Transition="_RCtOUG6qEeGqrd__B0yUNA"/>
+  <RobotML:Algorithm xmi:id="_dkZNQG6qEeGqrd__B0yUNA" base_Operation="_cWKfkG6qEeGqrd__B0yUNA"/>
+  <RobotML:Algorithm xmi:id="_Vx8SsG6sEeGqrd__B0yUNA" base_Operation="_1FtigG6qEeGqrd__B0yUNA"/>
+  <RobotML:Transition xmi:id="_iXznAG6sEeGqrd__B0yUNA" base_Transition="_iWLPUG6sEeGqrd__B0yUNA"/>
+  <RobotML:DeploymentPlan xmi:id="_487qAKD7EeKNa6EfGASSWw" base_Package="_k6lcUGbWEeGGNuX1IHg1zg" mainInstance="_k7L5QGbWEeGGNuX1IHg1zg"/>
+  <RobotML:Environment xmi:id="_--MjuKENEeKLUqX9IJq2Gg" base_Class="_-9mt0KENEeKLUqX9IJq2Gg"/>
+  <RobotML:DeploymentPlan xmi:id="_nlUjUaEOEeKLUqX9IJq2Gg" base_Package="_nlUjUKEOEeKLUqX9IJq2Gg" mainInstance="_nlneQKEOEeKLUqX9IJq2Gg"/>
+  <RobotML:Allocate xmi:id="_ra4foaEOEeKLUqX9IJq2Gg" base_Abstraction="_ra4foKEOEeKLUqX9IJq2Gg"/>
+  <RobotML:Allocate xmi:id="_tdHdIaEOEeKLUqX9IJq2Gg" base_Abstraction="_tdHdIKEOEeKLUqX9IJq2Gg"/>
+  <RobotML:Allocate xmi:id="_t1GfUaEOEeKLUqX9IJq2Gg" base_Abstraction="_t1GfUKEOEeKLUqX9IJq2Gg"/>
+  <RobotML:Allocate xmi:id="_uUP5caEOEeKLUqX9IJq2Gg" base_Abstraction="_uUP5cKEOEeKLUqX9IJq2Gg"/>
+  <RobotML:Allocate xmi:id="_uqTB8aEOEeKLUqX9IJq2Gg" base_Abstraction="_uqTB8KEOEeKLUqX9IJq2Gg"/>
+  <RobotML:Allocate xmi:id="_vMuZkaEOEeKLUqX9IJq2Gg" base_Abstraction="_vMuZkKEOEeKLUqX9IJq2Gg"/>
+  <RobotML:Allocate xmi:id="_vvSUEaEOEeKLUqX9IJq2Gg" base_Abstraction="_vvSUEKEOEeKLUqX9IJq2Gg"/>
+  <RobotML:Allocate xmi:id="_wEcrwKEOEeKLUqX9IJq2Gg" base_Abstraction="_wD__0KEOEeKLUqX9IJq2Gg"/>
+  <RobotML:Allocate xmi:id="_wgnDUaEOEeKLUqX9IJq2Gg" base_Abstraction="_wgnDUKEOEeKLUqX9IJq2Gg"/>
+  <RobotML:Allocate xmi:id="_w2OG8aEOEeKLUqX9IJq2Gg" base_Abstraction="_w2OG8KEOEeKLUqX9IJq2Gg"/>
+  <RobotML:Allocate xmi:id="_xNA2UaEOEeKLUqX9IJq2Gg" base_Abstraction="_xNA2UKEOEeKLUqX9IJq2Gg"/>
+  <RobotML:Allocate xmi:id="_xfyoYaEOEeKLUqX9IJq2Gg" base_Abstraction="_xfyoYKEOEeKLUqX9IJq2Gg"/>
+</xmi:XMI>
diff --git a/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.notation b/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.notation
index 3a6e374..3cd54e3 100644
--- a/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.notation
+++ b/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.notation
@@ -1,8768 +1,8891 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<xmi:XMI xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:RobotML="http://Papyrus/RobotML/1" xmlns:configuration="http://www.eclipse.org/papyrus/infra/viewpoints/configuration" xmlns:css="http://www.eclipse.org/papyrus/infra/gmfdiag/css" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:notation="http://www.eclipse.org/gmf/runtime/1.0.2/notation" xmlns:style="http://www.eclipse.org/papyrus/infra/viewpoints/policy/style" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML">
-  <notation:Diagram xmi:id="_k0VVHjiAEeKDAMEjnOLmPA" type="PapyrusUMLClassDiagram" name="DataTypesDiagram" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_k0VVHziAEeKDAMEjnOLmPA" type="2006" fontHeight="8" fillColor="8905185" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVIDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVITiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVIjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVIziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVJDiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVJTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VVJjiAEeKDAMEjnOLmPA" type="5023"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VVJziAEeKDAMEjnOLmPA" type="7015">
-        <children xmi:type="notation:Shape" xmi:id="_k0VVKDiAEeKDAMEjnOLmPA" type="3017" fontHeight="8" lineColor="0">
-          <element xmi:type="uml:EnumerationLiteral" href="YouthChallenge.uml#_k0Lj5DiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVKTiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VVKjiAEeKDAMEjnOLmPA" type="3017" fontHeight="8" lineColor="0">
-          <element xmi:type="uml:EnumerationLiteral" href="YouthChallenge.uml#_k0Lj5TiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVKziAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VVLDiAEeKDAMEjnOLmPA" type="3017" fontHeight="8" lineColor="0">
-          <element xmi:type="uml:EnumerationLiteral" href="YouthChallenge.uml#_k0Lj5jiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVLTiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VVLjiAEeKDAMEjnOLmPA" type="3017" fontHeight="8" lineColor="0">
-          <element xmi:type="uml:EnumerationLiteral" href="YouthChallenge.uml#_k0Lj5ziAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVLziAEeKDAMEjnOLmPA"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VVMDiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VVMTiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VVMjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVMziAEeKDAMEjnOLmPA"/>
-      </children>
-      <element xmi:type="uml:Enumeration" href="YouthChallenge.uml#_k0Lj4ziAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVNDiAEeKDAMEjnOLmPA" x="45" y="-40"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0VVNTiAEeKDAMEjnOLmPA" type="2010" fontHeight="8" fillColor="8047085" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVNjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVNziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVODiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVOTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVOjiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVOziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VVPDiAEeKDAMEjnOLmPA" type="5035"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VVPTiAEeKDAMEjnOLmPA" type="7020">
-        <children xmi:type="notation:Shape" xmi:id="_k0VVPjiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lj6jiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVPziAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VVQDiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lj7jiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVQTiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VVQjiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lj8jiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVQziAEeKDAMEjnOLmPA"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VVRDiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VVRTiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VVRjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVRziAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VVSDiAEeKDAMEjnOLmPA" visible="false" type="7021">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VVSTiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VVSjiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VVSziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVTDiAEeKDAMEjnOLmPA"/>
-      </children>
-      <element xmi:type="uml:DataType" href="YouthChallenge.uml#_k0Lj6DiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVTTiAEeKDAMEjnOLmPA" x="325" y="320"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0VVTjiAEeKDAMEjnOLmPA" type="2010" fontHeight="8" fillColor="8047085" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVTziAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVUDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVUTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVUjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVUziAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVVDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VVVTiAEeKDAMEjnOLmPA" type="5035"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VVVjiAEeKDAMEjnOLmPA" type="7020">
-        <children xmi:type="notation:Shape" xmi:id="_k0VVVziAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lj-DiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVWDiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VVWTiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lj_DiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVWjiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VVWziAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkADiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVXDiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VVXTiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkBDiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVXjiAEeKDAMEjnOLmPA"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VVXziAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VVYDiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VVYTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVYjiAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VVYziAEeKDAMEjnOLmPA" visible="false" type="7021">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VVZDiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VVZTiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VVZjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVZziAEeKDAMEjnOLmPA"/>
-      </children>
-      <element xmi:type="uml:DataType" href="YouthChallenge.uml#_k0Lj9jiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVaDiAEeKDAMEjnOLmPA" x="520" y="315" width="201" height="111"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0VVaTiAEeKDAMEjnOLmPA" type="2010" fontHeight="8" fillColor="8047085" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVajiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVaziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVbDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVbTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVbjiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVbziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VVcDiAEeKDAMEjnOLmPA" type="5035"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VVcTiAEeKDAMEjnOLmPA" type="7020">
-        <children xmi:type="notation:Shape" xmi:id="_k0VVcjiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkCjiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVcziAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VVdDiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkDjiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVdTiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VVdjiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkEjiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVdziAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VVeDiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkFjiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVeTiAEeKDAMEjnOLmPA"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VVejiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VVeziAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VVfDiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVfTiAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VVfjiAEeKDAMEjnOLmPA" visible="false" type="7021">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VVfziAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VVgDiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VVgTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVgjiAEeKDAMEjnOLmPA"/>
-      </children>
-      <element xmi:type="uml:DataType" href="YouthChallenge.uml#_k0LkCTiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVgziAEeKDAMEjnOLmPA" x="535" y="440" width="171" height="129"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0VVhDiAEeKDAMEjnOLmPA" type="2010" fontHeight="8" fillColor="8047085" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVhTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVhjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVhziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VViDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VViTiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVijiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VViziAEeKDAMEjnOLmPA" type="5035"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VVjDiAEeKDAMEjnOLmPA" type="7020">
-        <children xmi:type="notation:Shape" xmi:id="_k0VVjTiAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkGziAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVjjiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VVjziAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkHziAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVkDiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VVkTiAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkIziAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVkjiAEeKDAMEjnOLmPA"/>
-        </children>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VVkziAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VVlDiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVlTiAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VVljiAEeKDAMEjnOLmPA" visible="false" type="7021">
-        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VVlziAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VVmDiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVmTiAEeKDAMEjnOLmPA"/>
-      </children>
-      <element xmi:type="uml:DataType" href="YouthChallenge.uml#_k0LkGjiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVmjiAEeKDAMEjnOLmPA" x="320" y="590"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0VVsDiAEeKDAMEjnOLmPA" type="2010" fontName="Segoe UI" fillColor="10265827" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVsTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVsjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVsziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVtDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVtTiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVtjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VVtziAEeKDAMEjnOLmPA" type="5035"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VVuDiAEeKDAMEjnOLmPA" type="7020">
-        <children xmi:type="notation:Shape" xmi:id="_k0VVuTiAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkLTiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVujiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VVuziAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkMTiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVvDiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VVvTiAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkNTiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVvjiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VVvziAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkOTiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVwDiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VVwTiAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkPTiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVwjiAEeKDAMEjnOLmPA"/>
-        </children>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VVwziAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VVxDiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVxTiAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VVxjiAEeKDAMEjnOLmPA" visible="false" type="7021">
-        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VVxziAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VVyDiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVyTiAEeKDAMEjnOLmPA"/>
-      </children>
-      <element xmi:type="uml:DataType" href="YouthChallenge.uml#_k0LkLDiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVyjiAEeKDAMEjnOLmPA" x="30" y="755" width="221" height="176"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0VV4DiAEeKDAMEjnOLmPA" type="2010" fontName="Segoe UI" fillColor="10265827" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VV4TiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VV4jiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VV4ziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VV5DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VV5TiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VV5jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VV5ziAEeKDAMEjnOLmPA" type="5035"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VV6DiAEeKDAMEjnOLmPA" type="7020">
-        <children xmi:type="notation:Shape" xmi:id="_k0VV6TiAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkSziAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VV6jiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VV6ziAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkTziAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VV7DiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VV7TiAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkUziAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VV7jiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VV7ziAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkVziAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VV8DiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VV8TiAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkWziAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VV8jiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VV8ziAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkXziAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VV9DiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VV9TiAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkYziAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VV9jiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VV9ziAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkZziAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VV-DiAEeKDAMEjnOLmPA"/>
-        </children>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VV-TiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VV-jiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VV-ziAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VV_DiAEeKDAMEjnOLmPA" type="7021">
-        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VV_TiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VV_jiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VV_ziAEeKDAMEjnOLmPA"/>
-      </children>
-      <element xmi:type="uml:DataType" href="YouthChallenge.uml#_k0LkSjiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VWADiAEeKDAMEjnOLmPA" x="35" y="310" width="231" height="246"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0VWPDiAEeKDAMEjnOLmPA" type="2006" fontHeight="8" fillColor="8905185" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VWPTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VWPjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VWPziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VWQDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VWQTiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VWQjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VWQziAEeKDAMEjnOLmPA" type="5023"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VWRDiAEeKDAMEjnOLmPA" type="7015">
-        <children xmi:type="notation:Shape" xmi:id="_k0VWRTiAEeKDAMEjnOLmPA" type="3017" fontHeight="8" lineColor="0">
-          <element xmi:type="uml:EnumerationLiteral" href="YouthChallenge.uml#_k0LkeziAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VWRjiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VWRziAEeKDAMEjnOLmPA" type="3017" fontHeight="8" lineColor="0">
-          <element xmi:type="uml:EnumerationLiteral" href="YouthChallenge.uml#_k0LkfDiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VWSDiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VWSTiAEeKDAMEjnOLmPA" type="3017" fontHeight="8" lineColor="0">
-          <element xmi:type="uml:EnumerationLiteral" href="YouthChallenge.uml#_k0LkfTiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VWSjiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VWSziAEeKDAMEjnOLmPA" type="3017" fontHeight="8" lineColor="0">
-          <element xmi:type="uml:EnumerationLiteral" href="YouthChallenge.uml#_k0LkfjiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VWTDiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VWTTiAEeKDAMEjnOLmPA" type="3017" fontName="Segoe UI" lineColor="0">
-          <element xmi:type="uml:EnumerationLiteral" href="YouthChallenge.uml#_k0LkfziAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VWTjiAEeKDAMEjnOLmPA"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VWTziAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VWUDiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VWUTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VWUjiAEeKDAMEjnOLmPA"/>
-      </children>
-      <element xmi:type="uml:Enumeration" href="YouthChallenge.uml#_k0LkejiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VWUziAEeKDAMEjnOLmPA" x="175" y="-40" height="106"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0VWVDiAEeKDAMEjnOLmPA" type="2006" fontName="Segoe UI" fillColor="8905185" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VWVTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VWVjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VWVziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VWWDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VWWTiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VWWjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VWWziAEeKDAMEjnOLmPA" type="5023"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VWXDiAEeKDAMEjnOLmPA" type="7015">
-        <children xmi:type="notation:Shape" xmi:id="_k0VWXTiAEeKDAMEjnOLmPA" type="3017" fontName="Segoe UI" lineColor="0">
-          <element xmi:type="uml:EnumerationLiteral" href="YouthChallenge.uml#_k0LkgTiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VWXjiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VWXziAEeKDAMEjnOLmPA" type="3017" fontName="Segoe UI" lineColor="0">
-          <element xmi:type="uml:EnumerationLiteral" href="YouthChallenge.uml#_k0LkgjiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VWYDiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VWYTiAEeKDAMEjnOLmPA" type="3017" fontName="Segoe UI" lineColor="0">
-          <element xmi:type="uml:EnumerationLiteral" href="YouthChallenge.uml#_k0LkgziAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VWYjiAEeKDAMEjnOLmPA"/>
-        </children>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VWYziAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VWZDiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VWZTiAEeKDAMEjnOLmPA"/>
-      </children>
-      <element xmi:type="uml:Enumeration" href="YouthChallenge.uml#_k0LkgDiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VWZjiAEeKDAMEjnOLmPA" x="300" y="-35"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0VWkTiAEeKDAMEjnOLmPA" type="2010" fontHeight="8" fillColor="8905185" transparency="0" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VWkjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VWkziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VWlDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VWlTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VWljiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VWlziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VWmDiAEeKDAMEjnOLmPA" source="layoutFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VWmTiAEeKDAMEjnOLmPA" key="layoutFigure_value" value="Manual_Layout"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VWmjiAEeKDAMEjnOLmPA" type="5035"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VWmziAEeKDAMEjnOLmPA" type="7020">
-        <children xmi:type="notation:Shape" xmi:id="_k0VWnDiAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkkziAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VWnTiAEeKDAMEjnOLmPA"/>
-        </children>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VWnjiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VWnziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VWoDiAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VWoTiAEeKDAMEjnOLmPA" visible="false" type="7021">
-        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VWojiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VWoziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VWpDiAEeKDAMEjnOLmPA"/>
-      </children>
-      <element xmi:type="uml:DataType" href="YouthChallenge.uml#_k0LkkjiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VWpTiAEeKDAMEjnOLmPA" x="205" y="95" width="135" height="66"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0VXFTiAEeKDAMEjnOLmPA" type="2010" fontHeight="8" fillColor="8905185" transparency="0" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VXFjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VXFziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VXGDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VXGTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VXGjiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VXGziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VXHDiAEeKDAMEjnOLmPA" source="layoutFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VXHTiAEeKDAMEjnOLmPA" key="layoutFigure_value" value="Manual_Layout"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VXHjiAEeKDAMEjnOLmPA" type="5035"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VXHziAEeKDAMEjnOLmPA" type="7020">
-        <children xmi:type="notation:Shape" xmi:id="_k0VXIDiAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkvTiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VXITiAEeKDAMEjnOLmPA"/>
-        </children>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VXIjiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VXIziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VXJDiAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VXJTiAEeKDAMEjnOLmPA" visible="false" type="7021">
-        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VXJjiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VXJziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VXKDiAEeKDAMEjnOLmPA"/>
-      </children>
-      <element xmi:type="uml:DataType" href="YouthChallenge.uml#_k0LkvDiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VXKTiAEeKDAMEjnOLmPA" x="375" y="95" width="135" height="66"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0VXhDiAEeKDAMEjnOLmPA" type="2010" fontHeight="8" fillColor="8047085" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VXhTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VXhjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VXhziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VXiDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VXiTiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VXijiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VXiziAEeKDAMEjnOLmPA" type="5035"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VXjDiAEeKDAMEjnOLmPA" type="7020">
-        <children xmi:type="notation:Shape" xmi:id="_k0VXjTiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lk5DiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VXjjiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VXjziAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lk6DiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VXkDiAEeKDAMEjnOLmPA"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VXkTiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VXkjiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VXkziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VXlDiAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VXlTiAEeKDAMEjnOLmPA" visible="false" type="7021">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VXljiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VXlziAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VXmDiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VXmTiAEeKDAMEjnOLmPA"/>
-      </children>
-      <element xmi:type="uml:DataType" href="YouthChallenge.uml#_k0Lk4jiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VXmjiAEeKDAMEjnOLmPA" x="745" y="455" width="246" height="96"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0VXmziAEeKDAMEjnOLmPA" type="2010" fontHeight="8" fillColor="8047085" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VXnDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VXnTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VXnjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VXnziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VXoDiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VXoTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VXojiAEeKDAMEjnOLmPA" type="5035"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VXoziAEeKDAMEjnOLmPA" type="7020">
-        <children xmi:type="notation:Shape" xmi:id="_k0VXpDiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lk7jiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VXpTiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VXpjiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lk8jiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VXpziAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VXqDiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lk9jiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VXqTiAEeKDAMEjnOLmPA"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VXqjiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VXqziAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VXrDiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VXrTiAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VXrjiAEeKDAMEjnOLmPA" visible="false" type="7021">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VXrziAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VXsDiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VXsTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VXsjiAEeKDAMEjnOLmPA"/>
-      </children>
-      <element xmi:type="uml:DataType" href="YouthChallenge.uml#_k0Lk7DiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VXsziAEeKDAMEjnOLmPA" x="300" y="450"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0VXtDiAEeKDAMEjnOLmPA" type="2010" fontHeight="8" fillColor="8047085" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VXtTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VXtjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VXtziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VXuDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VXuTiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VXujiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VXuziAEeKDAMEjnOLmPA" type="5035"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VXvDiAEeKDAMEjnOLmPA" type="7020">
-        <children xmi:type="notation:Shape" xmi:id="_k0VXvTiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lk_DiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VXvjiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VXvziAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlADiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VXwDiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VXwTiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlBDiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VXwjiAEeKDAMEjnOLmPA"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VXwziAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VXxDiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VXxTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VXxjiAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VXxziAEeKDAMEjnOLmPA" visible="false" type="7021">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VXyDiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VXyTiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VXyjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VXyziAEeKDAMEjnOLmPA"/>
-      </children>
-      <element xmi:type="uml:DataType" href="YouthChallenge.uml#_k0Lk-jiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VXzDiAEeKDAMEjnOLmPA" x="535" y="595" width="201" height="111"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0VXzTiAEeKDAMEjnOLmPA" type="2010" fontName="Ubuntu" fontHeight="11" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VXzjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VXzziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VX0DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VX0TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VX0jiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VX0ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VX1DiAEeKDAMEjnOLmPA" type="5035"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VX1TiAEeKDAMEjnOLmPA" type="7020">
-        <children xmi:type="notation:Shape" xmi:id="_k0VX1jiAEeKDAMEjnOLmPA" type="3018" fontName="Ubuntu" fontHeight="11" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlCTiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VX1ziAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VX2DiAEeKDAMEjnOLmPA" type="3018" fontName="Ubuntu" fontHeight="11" lineColor="0">
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlCjiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VX2TiAEeKDAMEjnOLmPA"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VX2jiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VX2ziAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VX3DiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VX3TiAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VX3jiAEeKDAMEjnOLmPA" type="7021">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VX3ziAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VX4DiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VX4TiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VX4jiAEeKDAMEjnOLmPA"/>
-      </children>
-      <element xmi:type="uml:DataType" href="YouthChallenge.uml#_k0LlCDiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VX4ziAEeKDAMEjnOLmPA" x="640" y="765"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0VX5DiAEeKDAMEjnOLmPA" type="2010" fontHeight="8" fillColor="12621752" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VX5TiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VX5jiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VX5ziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VX6DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VX6TiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VX6jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VX6ziAEeKDAMEjnOLmPA" type="5035"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VX7DiAEeKDAMEjnOLmPA" type="7020">
-        <children xmi:type="notation:Shape" xmi:id="_k0VX7TiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VX7jiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VX7ziAEeKDAMEjnOLmPA" key="CustomAppearance_MaskValue" value="124"/>
-          </eAnnotations>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlDDiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VX8DiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VX8TiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VX8jiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VX8ziAEeKDAMEjnOLmPA" key="CustomAppearance_MaskValue" value="124"/>
-          </eAnnotations>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlDjiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VX9DiAEeKDAMEjnOLmPA"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VX9TiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VX9jiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VX9ziAEeKDAMEjnOLmPA" key="CustomAppearance_MaskValue" value="124"/>
-          </eAnnotations>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlEDiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VX-DiAEeKDAMEjnOLmPA"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VX-TiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VX-jiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VX-ziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VX_DiAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VX_TiAEeKDAMEjnOLmPA" visible="false" type="7021">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VX_jiAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VX_ziAEeKDAMEjnOLmPA"/>
-        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VYADiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYATiAEeKDAMEjnOLmPA"/>
-      </children>
-      <element xmi:type="uml:DataType" href="YouthChallenge.uml#_k0LlCziAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYAjiAEeKDAMEjnOLmPA" x="35" y="195" height="82"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0VYAziAEeKDAMEjnOLmPA"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBITkH7bEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0Lj4jiAEeKDAMEjnOLmPA"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWCvL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0Lj4jiAEeKDAMEjnOLmPA"/>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_k0VYBDiAEeKDAMEjnOLmPA" type="PapyrusUMLClassDiagram" name="InterfacesDiagram" measurementUnit="Pixel">
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0VYBTiAEeKDAMEjnOLmPA"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBITkX7bEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0LlEjiAEeKDAMEjnOLmPA"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kz9EvL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0LlEjiAEeKDAMEjnOLmPA"/>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_k0VYBjiAEeKDAMEjnOLmPA" type="CompositeStructure" name="SubSystemsDiagram" measurementUnit="Pixel">
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0VYBziAEeKDAMEjnOLmPA"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBITkn7bEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0LlEziAEeKDAMEjnOLmPA"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0LlEziAEeKDAMEjnOLmPA"/>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_k0VYCDiAEeKDAMEjnOLmPA" type="CompositeStructure" name="P2-Proximetrie" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_k0VYCTiAEeKDAMEjnOLmPA" type="2073" fontName="Segoe UI" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYCjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYCziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYDDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYDTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYDjiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYDziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_mCL2QKEGEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0VaYjiAEeKDAMEjnOLmPA">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mCL2QaEGEeKNa6EfGASSWw" key="tooltip_text" value="WifiBot"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mCL2QqEGEeKNa6EfGASSWw" key="diagram_name" value="WifiBot"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mCL2Q6EGEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VYFDiAEeKDAMEjnOLmPA" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VYFTiAEeKDAMEjnOLmPA" type="7073">
-        <children xmi:type="notation:Shape" xmi:id="_k0VYFjiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYFziAEeKDAMEjnOLmPA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYGDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYGTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYGjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYGziAEeKDAMEjnOLmPA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYHDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_k0VYHTiAEeKDAMEjnOLmPA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VYHjiAEeKDAMEjnOLmPA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VYHziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYIDiAEeKDAMEjnOLmPA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VYITiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYIjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYIziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYJDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYJTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYJjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYJziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYKDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYKTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYKjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYKziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYLDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYLTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYLjiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYLziAEeKDAMEjnOLmPA" x="-121" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYMDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYMTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmkziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYMjiAEeKDAMEjnOLmPA" x="380" y="104" width="20" height="20"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VYMziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYNDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYNTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYNjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYNziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYODiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYOTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYOjiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYOziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYPDiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYPTiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYPjiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYPziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYQDiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYQTiAEeKDAMEjnOLmPA" x="-121"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYQjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYQziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmlziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYRDiAEeKDAMEjnOLmPA" x="380" y="144" width="20" height="20"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VYRTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYRjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYRziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYSDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYSTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYSjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYSziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYTDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYTTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYTjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYTziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYUDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYUTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYUjiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYUziAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYVDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYVTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmmziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYVjiAEeKDAMEjnOLmPA" x="-10" y="30"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VYVziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYWDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYWTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYWjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYWziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYXDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYXTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYXjiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYXziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYYDiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYYTiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYYjiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYYziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYZDiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYZTiAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYZjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYZziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmnziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYaDiAEeKDAMEjnOLmPA" x="-10" y="60"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VYaTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYajiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYaziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYbDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYbTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYbjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYbziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYcDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYcTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYcjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYcziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYdDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYdTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYdjiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYdziAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYeDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYeTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmoziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYejiAEeKDAMEjnOLmPA" x="-10" y="90"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VYeziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYfDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYfTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYfjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYfziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYgDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYgTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYgjiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYgziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYhDiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYhTiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYhjiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYhziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYiDiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYiTiAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYijiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYiziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmpziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYjDiAEeKDAMEjnOLmPA" x="-11" y="129" width="20" height="20"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lm2jiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYjTiAEeKDAMEjnOLmPA" x="320" y="30" width="391" height="196"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VYjjiAEeKDAMEjnOLmPA" type="3070" fontHeight="8" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYjziAEeKDAMEjnOLmPA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYkDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYkTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYkjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYkziAEeKDAMEjnOLmPA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYlDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_k0VYlTiAEeKDAMEjnOLmPA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VYljiAEeKDAMEjnOLmPA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VYlziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYmDiAEeKDAMEjnOLmPA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VYmTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYmjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYmziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYnDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYnTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYnjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYnziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYoDiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYoTiAEeKDAMEjnOLmPA" x="-103" y="7"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYojiAEeKDAMEjnOLmPA" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYoziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmsDiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYpDiAEeKDAMEjnOLmPA" x="283" y="45"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VYpTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYpjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYpziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYqDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYqTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYqjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYqziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYrDiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYrTiAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYrjiAEeKDAMEjnOLmPA" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYrziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmtDiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYsDiAEeKDAMEjnOLmPA" x="-11" y="27" width="20" height="20"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VYsTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYsjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYsziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYtDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYtTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYtjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYtziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYuDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYuTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYujiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYuziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYvDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYvTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYvjiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYvziAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYwDiAEeKDAMEjnOLmPA" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYwTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmuDiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYwjiAEeKDAMEjnOLmPA" x="-10" y="74" width="20" height="20"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lm2ziAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYwziAEeKDAMEjnOLmPA" x="320" y="345" width="293"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VYxDiAEeKDAMEjnOLmPA" type="3070" fontHeight="8" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYxTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYxjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYxziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYyDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYyTiAEeKDAMEjnOLmPA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYyjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_k0VYyziAEeKDAMEjnOLmPA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VYzDiAEeKDAMEjnOLmPA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VYzTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYzjiAEeKDAMEjnOLmPA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VYzziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VY0DiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VY0TiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VY0jiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VY0ziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VY1DiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VY1TiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VY1jiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VY1ziAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VY2DiAEeKDAMEjnOLmPA" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VY2TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmuziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VY2jiAEeKDAMEjnOLmPA" x="-11" y="34" width="20" height="20"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VY2ziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VY3DiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VY3TiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VY3jiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VY3ziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VY4DiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VY4TiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VY4jiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VY4ziAEeKDAMEjnOLmPA" x="-151" y="-15"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VY5DiAEeKDAMEjnOLmPA" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VY5TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmvziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VY5jiAEeKDAMEjnOLmPA" x="166" y="40"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VY5ziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VY6DiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VY6TiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VY6jiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VY6ziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VY7DiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VY7TiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VY7jiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VY7ziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VY8DiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VY8TiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VY8jiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VY8ziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VY9DiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VY9TiAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VY9jiAEeKDAMEjnOLmPA" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VY9ziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmwziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VY-DiAEeKDAMEjnOLmPA" x="-11" y="61" width="20" height="20"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lm3DiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VY-TiAEeKDAMEjnOLmPA" x="145" y="230" width="176"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VY-jiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VY-ziAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0VY_DiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VY_TiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VY_jiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VY_ziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZADiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZATiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZAjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZAziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZBDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZBTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZBjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZBziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZCDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZCTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZCjiAEeKDAMEjnOLmPA" x="15" y="-9"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZCziAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZDDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmxjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VZDTiAEeKDAMEjnOLmPA" x="-11" y="98" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0VZDjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZDziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZEDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZETiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZEjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZEziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZFDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZFTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZFjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZFziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZGDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZGTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZGjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZGziAEeKDAMEjnOLmPA" type="5125">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZHDiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZHTiAEeKDAMEjnOLmPA" key="CustomAppearance_MaskValue" value="44"/>
-          </eAnnotations>
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZHjiAEeKDAMEjnOLmPA" x="25" y="-4"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZHziAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZIDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmyjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VZITiAEeKDAMEjnOLmPA" x="-11" y="128" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0VZIjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZIziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZJDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZJTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZJjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZJziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZKDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZKTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZKjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZKziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZLDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZLTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZLjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZLziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZMDiAEeKDAMEjnOLmPA" x="25" y="-4"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZMTiAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZMjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmzjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VZMziAEeKDAMEjnOLmPA" x="-11" y="158" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0VZNDiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZNTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZNjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZNziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZODiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZOTiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZOjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZOziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZPDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZPTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZPjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZPziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZQDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZQTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZQjiAEeKDAMEjnOLmPA" x="25" y="-5"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZQziAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZRDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm0jiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VZRTiAEeKDAMEjnOLmPA" x="-11" y="197" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0VZRjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZRziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZSDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZSTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZSjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZSziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZTDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZTTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZTjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZTziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZUDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZUTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZUjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZUziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZVDiAEeKDAMEjnOLmPA" x="20" y="-5"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZVTiAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZVjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm1jiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VZVziAEeKDAMEjnOLmPA" x="-10" y="412" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0VZWDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZWTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZWjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZWziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZXDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZXTiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZXjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZXziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZYDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZYTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZYjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZYziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZZDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZZTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZZjiAEeKDAMEjnOLmPA" x="20" y="-4"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZZziAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZaDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm3TiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VZaTiAEeKDAMEjnOLmPA" x="-10" y="304" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0VZajiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZaziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZbDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZbTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZbjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZbziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZcDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZcTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZcjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZcziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZdDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZdTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZdjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZdziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZeDiAEeKDAMEjnOLmPA" x="20" y="-1"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZeTiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZejiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm3jiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VZeziAEeKDAMEjnOLmPA" x="-10" y="331" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0VZfDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZfTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZfjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZfziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZgDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZgTiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZgjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZgziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZhDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZhTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZhjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZhziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZiDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZiTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZijiAEeKDAMEjnOLmPA" x="-96" y="-9"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZiziAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZjDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm3ziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VZjTiAEeKDAMEjnOLmPA" x="826" y="174" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0VZjjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZjziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZkDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZkTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZkjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZkziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZlDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZlTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZljiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZlziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZmDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZmTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZmjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZmziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZnDiAEeKDAMEjnOLmPA" x="-96" y="-9"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZnTiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZnjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm4DiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VZnziAEeKDAMEjnOLmPA" x="826" y="214" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0VZoDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZoTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZojiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZoziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZpDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZpTiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZpjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZpziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZqDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZqTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZqjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZqziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZrDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZrTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZrjiAEeKDAMEjnOLmPA" x="-166" y="-12"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZrziAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZsDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm4TiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VZsTiAEeKDAMEjnOLmPA" x="825" y="308" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0VZsjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZsziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZtDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZtTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZtjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZtziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZuDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZuTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZujiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZuziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZvDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZvTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZvjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZvziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZwDiAEeKDAMEjnOLmPA" x="-103" y="-4"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZwTiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZwjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm4jiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VZwziAEeKDAMEjnOLmPA" x="825" y="428" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0VZxDiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZxTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZxjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZxziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZyDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZyTiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZyjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZyziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZzDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZzTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZzjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZzziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZ0DiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ0TiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ0jiAEeKDAMEjnOLmPA" x="19" y="-11"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ0ziAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ1DiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm4ziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VZ1TiAEeKDAMEjnOLmPA" x="-10" y="450" width="20" height="20"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LmxDiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VZ1jiAEeKDAMEjnOLmPA" x="110" y="-15" width="836" height="551"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0VZ1ziAEeKDAMEjnOLmPA"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBITk37bEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0LmkDiAEeKDAMEjnOLmPA"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0LmkDiAEeKDAMEjnOLmPA"/>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VZ2DiAEeKDAMEjnOLmPA" type="4013" source="_k0VZRjiAEeKDAMEjnOLmPA" target="_k0VYpTiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ2TiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ2jiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ2ziAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ3DiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ3TiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ3jiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ3ziAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ4DiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VZ4TiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Lm5DiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VZ4jiAEeKDAMEjnOLmPA"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VZ4ziAEeKDAMEjnOLmPA" id="(1.0,0.475)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VZ5DiAEeKDAMEjnOLmPA" id="(0.0,0.475)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VZ5TiAEeKDAMEjnOLmPA" type="4013" source="_k0VZNDiAEeKDAMEjnOLmPA" target="_k0VYeziAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ5jiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ5ziAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ6DiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ6TiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ6jiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ6ziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ7DiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ7TiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VZ7jiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Lm6ziAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VZ7ziAEeKDAMEjnOLmPA" points="[10, -1, -315, 0]$[325, -1, 0, 0]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VZ8DiAEeKDAMEjnOLmPA" type="4013" source="_k0VZIjiAEeKDAMEjnOLmPA" target="_k0VYaTiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ8TiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ8jiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ8ziAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ9DiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ9TiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ9jiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ9ziAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ-DiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VZ-TiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Lm8jiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VZ-jiAEeKDAMEjnOLmPA" points="[11, 7, -315, 0]$[316, 7, -10, 0]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VZ-ziAEeKDAMEjnOLmPA" id="(0.45,0.2)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VZ_DiAEeKDAMEjnOLmPA" type="4013" source="_k0VZDjiAEeKDAMEjnOLmPA" target="_k0VYVziAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ_TiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ_jiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ_ziAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaADiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaATiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaAjiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaAziAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaBDiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VaBTiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Lm-TiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VaBjiAEeKDAMEjnOLmPA" points="[10, -2, -315, -3]$[321, -9, -4, -10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VaBziAEeKDAMEjnOLmPA" type="4013" source="_k0VY_DiAEeKDAMEjnOLmPA" target="_k0VYRTiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaCDiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaCTiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaCjiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaCziAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaDDiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaDTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaDjiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaDziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VaEDiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnADiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VaETiAEeKDAMEjnOLmPA" points="[10, -1, -315, -2]$[322, -9, -3, -10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VaEjiAEeKDAMEjnOLmPA" type="4013" source="_k0VZWDiAEeKDAMEjnOLmPA" target="_k0VYzziAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaEziAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaFDiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaFTiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaFjiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaFziAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaGDiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaGTiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaGjiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VaGziAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnBziAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VaHDiAEeKDAMEjnOLmPA" points="[13, 7, -140, 0]$[163, 7, 10, 0]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VaHTiAEeKDAMEjnOLmPA" id="(0.35,0.2)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VaHjiAEeKDAMEjnOLmPA" type="4013" source="_k0VZajiAEeKDAMEjnOLmPA" target="_k0VY5ziAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaHziAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaIDiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaITiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaIjiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaIziAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaJDiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaJTiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaJjiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VaJziAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnDjiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VaKDiAEeKDAMEjnOLmPA" points="[10, 4, -140, 3]$[152, 11, 2, 10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VaKTiAEeKDAMEjnOLmPA" type="4013" source="_k0VYITiAEeKDAMEjnOLmPA" target="_k0VZfDiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaKjiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaKziAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaLDiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaLTiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaLjiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaLziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaMDiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaMTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VaMjiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnFTiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VaMziAEeKDAMEjnOLmPA" points="[10, 0, -85, 1]$[90, 9, -5, 10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VaNDiAEeKDAMEjnOLmPA" type="4013" source="_k0VYMziAEeKDAMEjnOLmPA" target="_k0VZjjiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaNTiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaNjiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaNziAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaODiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaOTiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaOjiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaOziAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaPDiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VaPTiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnHDiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VaPjiAEeKDAMEjnOLmPA" points="[10, -3, -85, -2]$[92, -11, -3, -10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VaPziAEeKDAMEjnOLmPA" type="4013" source="_k0VYmTiAEeKDAMEjnOLmPA" target="_k0VZsjiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaQDiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaQTiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaQjiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaQziAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaRDiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaRTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaRjiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaRziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VaSDiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnIziAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VaSTiAEeKDAMEjnOLmPA" points="[16, -3, -388, -1]$[402, -12, -2, -10]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VaSjiAEeKDAMEjnOLmPA" id="(0.2,0.55)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VaSziAEeKDAMEjnOLmPA" type="4013" source="_k0VY2ziAEeKDAMEjnOLmPA" target="_k0VZoDiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaTDiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaTTiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaTjiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaTziAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaUDiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaUTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaUjiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaUziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VaVDiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnKjiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VaVTiAEeKDAMEjnOLmPA" points="[10, 0, -506, -17]$[520, 17, 4, 0]"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VaVjiAEeKDAMEjnOLmPA" id="(0.8,0.5)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VaVziAEeKDAMEjnOLmPA" type="4013" source="_k0VZxDiAEeKDAMEjnOLmPA" target="_k0VYsTiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaWDiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaWTiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaWjiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaWziAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaXDiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaXTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaXjiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaXziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VaYDiAEeKDAMEjnOLmPA" fontName="Segoe UI"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnMTiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VaYTiAEeKDAMEjnOLmPA" points="[10, -1, -315, 0]$[39, -1, -286, 0]$[315, -1, -10, 0]"/>
-    </edges>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_k0VaYjiAEeKDAMEjnOLmPA" type="CompositeStructure" name="WifiBot" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_k0VaYziAEeKDAMEjnOLmPA" type="2073" fontName="Segoe UI" fontHeight="12" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VaZDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VaZTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VaZjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VaZziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VaaDiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VaaTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_F8hIEKELEeKLUqX9IJq2Gg" source="PapyrusHyperLink_Diagram" references="_rc51sKEKEeKLUqX9IJq2Gg">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_F8hIEaELEeKLUqX9IJq2Gg" key="tooltip_text" value="WifibotEnvironmentDiagram"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_F8hIEqELEeKLUqX9IJq2Gg" key="diagram_name" value="WifibotEnvironmentDiagram"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_F8hIE6ELEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaajiAEeKDAMEjnOLmPA" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VaaziAEeKDAMEjnOLmPA" type="7073">
-        <children xmi:type="notation:Shape" xmi:id="_k0VabDiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" fillColor="15053796" gradient="16777215, 16777215, 0" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VabTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VabjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VabziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VacDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VacTiAEeKDAMEjnOLmPA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VacjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VacziAEeKDAMEjnOLmPA" source="PapyrusHyperLink_Diagram" references="_k0ee0DiAEeKDAMEjnOLmPA">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VadDiAEeKDAMEjnOLmPA" key="tooltip_text" value="PathPlannerA4"/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VadTiAEeKDAMEjnOLmPA" key="diagram_name" value="PathPlannerA4"/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VadjiAEeKDAMEjnOLmPA" key="is_default_navigation" value="false"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_k0VadziAEeKDAMEjnOLmPA" type="5126">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_YkPf4KEFEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0ee0DiAEeKDAMEjnOLmPA">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_YkPf4aEFEeKNa6EfGASSWw" key="tooltip_text" value="A4-PathPlanner"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_YkPf4qEFEeKNa6EfGASSWw" key="diagram_name" value="A4-PathPlanner"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_YkPf46EFEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
-            </eAnnotations>
-          </children>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VaeDiAEeKDAMEjnOLmPA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VaeTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VaejiAEeKDAMEjnOLmPA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VaeziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VafDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VafTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VafjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VafziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VagDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VagTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VagjiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VagziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_P8yVYKBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VahTiAEeKDAMEjnOLmPA" x="25"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VahjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VahziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoFTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VaiDiAEeKDAMEjnOLmPA" x="-10" y="25"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VaiTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VaijiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VaiziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VajDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VajTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VajjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VajziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VakDiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VakTiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_RK3SEKBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VakziAEeKDAMEjnOLmPA" x="-56"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0ValDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ValTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoGTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ValjiAEeKDAMEjnOLmPA" x="196" y="110"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0ValziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VamDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VamTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VamjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VamziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VanDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VanTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VanjiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VanziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QYgBAKBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaoTiAEeKDAMEjnOLmPA" x="-86"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VaojiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaoziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoHTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VapDiAEeKDAMEjnOLmPA" x="196" y="55"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VapTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VapjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VapziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VaqDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VaqTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VaqjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VaqziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VarDiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VarTiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QzLK0KBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VarziAEeKDAMEjnOLmPA" x="-36" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VasDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VasTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoIjiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VasjiAEeKDAMEjnOLmPA" x="196" y="85"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlFTiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VasziAEeKDAMEjnOLmPA" x="1320" y="270" width="206" height="136"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VatDiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" fillColor="15053796" gradient="16777215, 16777215, 0" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VatTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VatjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VatziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VauDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VauTiAEeKDAMEjnOLmPA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VaujiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_bY1ucKEFEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0efoDiAEeKDAMEjnOLmPA">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_bY1ucaEFEeKNa6EfGASSWw" key="tooltip_text" value="A5-MissionGenerator"/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_bY1ucqEFEeKNa6EfGASSWw" key="diagram_name" value="A5-MissionGenerator"/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_bY1uc6EFEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_k0VauziAEeKDAMEjnOLmPA" type="5126">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_0qi4sKEEEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0efoDiAEeKDAMEjnOLmPA">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_0qi4saEEEeKNa6EfGASSWw" key="tooltip_text" value="A5-MissionGenerator"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_0qi4sqEEEeKNa6EfGASSWw" key="diagram_name" value="A5-MissionGenerator"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_0qi4s6EEEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
-            </eAnnotations>
-          </children>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VavDiAEeKDAMEjnOLmPA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VavTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VavjiAEeKDAMEjnOLmPA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VavziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VawDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VawTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VawjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VawziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VaxDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VaxTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VaxjiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VaxziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_RwH7QKBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VayTiAEeKDAMEjnOLmPA" x="25"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VayjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VayziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Ln-DiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VazDiAEeKDAMEjnOLmPA" x="-11" y="34" width="20" height="20"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlFjiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VazTiAEeKDAMEjnOLmPA" x="1620" y="290" width="211"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VazjiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" fillColor="15053796" gradient="16777215, 16777215, 0" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VazziAEeKDAMEjnOLmPA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Va0DiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Va0TiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Va0jiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Va0ziAEeKDAMEjnOLmPA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Va1DiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__W3G4KEDEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0VhEziAEeKDAMEjnOLmPA">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__W3G4aEDEeKNa6EfGASSWw" key="tooltip_text" value="NavigatorA3"/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__W3G4qEDEeKNa6EfGASSWw" key="diagram_name" value="A3-Navigator"/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__W3G46EDEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_k0Va2TiAEeKDAMEjnOLmPA" type="5126">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_-GZkkKEDEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0VhEziAEeKDAMEjnOLmPA">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_-GZkkaEDEeKNa6EfGASSWw" key="tooltip_text" value="A3-Navigator"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_-GZkkqEDEeKNa6EfGASSWw" key="diagram_name" value="A3-Navigator"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_-GZkk6EDEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
-            </eAnnotations>
-          </children>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_k0Va2jiAEeKDAMEjnOLmPA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_k0Va2ziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0Va3DiAEeKDAMEjnOLmPA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0Va3TiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Va3jiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Va3ziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Va4DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Va4TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Va4jiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Va4ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0Va5DiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Va5TiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OWRDgKBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Va5ziAEeKDAMEjnOLmPA" x="-41"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0Va6DiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Va6TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoVziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0Va6jiAEeKDAMEjnOLmPA" x="131" y="35"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0Va6ziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Va7DiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Va7TiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Va7jiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Va7ziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Va8DiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Va8TiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0Va8jiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Va8ziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NypZEKBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Va9TiAEeKDAMEjnOLmPA" x="20"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0Va9jiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Va9ziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoWziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0Va-DiAEeKDAMEjnOLmPA" x="-10" y="25" width="20" height="20"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0Va-TiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Va-jiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Va-ziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Va_DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Va_TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Va_jiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Va_ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbADiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbATiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Ox-vIKBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbAziAEeKDAMEjnOLmPA" x="-36" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbBDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbBTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoYDiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbBjiAEeKDAMEjnOLmPA" x="131" y="65"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VbBziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbCDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbCTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbCjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbCziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbDDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbDTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbDjiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbDziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_PJX7cKBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbETiAEeKDAMEjnOLmPA" x="-51" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbEjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbEziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoYTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbFDiAEeKDAMEjnOLmPA" x="131" y="90"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VbFTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbFjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbFziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbGDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbGTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbGjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbGziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbHDiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbHTiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Pf4W8KBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbHziAEeKDAMEjnOLmPA" x="-51" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbIDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbITiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoYjiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbIjiAEeKDAMEjnOLmPA" x="131" y="120"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlFziAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbIziAEeKDAMEjnOLmPA" x="1010" y="265" width="141" height="146"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VbJDiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" fillColor="15053796" gradient="16777215, 16777215, 0" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbJTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbJjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbJziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbKDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbKTiAEeKDAMEjnOLmPA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbKjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_clx2MKBWEeKY66-xYT6OCw" source="PapyrusHyperLink_Diagram" references="_k0VfojiAEeKDAMEjnOLmPA">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_clx2MaBWEeKY66-xYT6OCw" key="tooltip_text" value="PilotA2"/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_clx2MqBWEeKY66-xYT6OCw" key="diagram_name" value="A2-Pilot"/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_clx2M6BWEeKY66-xYT6OCw" key="is_default_navigation" value="true"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_k0VbLziAEeKDAMEjnOLmPA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VbMDiAEeKDAMEjnOLmPA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VbMTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbMjiAEeKDAMEjnOLmPA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VbMziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbNDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbNTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbNjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbNziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbODiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbOTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbOjiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbOziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NVSusKBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbPTiAEeKDAMEjnOLmPA" x="-66" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbPjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbPziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LorDiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbQDiAEeKDAMEjnOLmPA" x="196" y="40"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VbQTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbQjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbQziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbRDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbRTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbRjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbRziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbSDiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbSTiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_StqhkKBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbSziAEeKDAMEjnOLmPA" x="20" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbTDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbTTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LosDiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbTjiAEeKDAMEjnOLmPA" x="-10" y="235"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VbaziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbbDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbbTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbbjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbbziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbcDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbcTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbcjiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbcziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MlwvMKBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbdTiAEeKDAMEjnOLmPA" x="-51" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbdjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbdziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LouDiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbeDiAEeKDAMEjnOLmPA" x="196" y="140" width="20" height="20"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VbeTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbejiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbeziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbfDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbfTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbfjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbfziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbgDiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbgTiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MMkzIKBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbgziAEeKDAMEjnOLmPA" x="-36"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbhDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbhTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LouTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbhjiAEeKDAMEjnOLmPA" x="196" y="295"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlGDiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbhziAEeKDAMEjnOLmPA" x="505" y="200" width="206" height="341"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VbiDiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" fillColor="15053796" gradient="16777215, 16777215, 0" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbiTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbijiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbiziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbjDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbjTiAEeKDAMEjnOLmPA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbjjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_8k4AEKEGEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0VfGDiAEeKDAMEjnOLmPA">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8k4AEaEGEeKNa6EfGASSWw" key="tooltip_text" value="ServoingsA1"/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8k4AEqEGEeKNa6EfGASSWw" key="diagram_name" value="A1-Servoings"/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8k4AE6EGEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_k0VbkziAEeKDAMEjnOLmPA" type="5126">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7W8NUKEGEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0VfGDiAEeKDAMEjnOLmPA">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7W8NUaEGEeKNa6EfGASSWw" key="tooltip_text" value="A1-Servoings"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7W8NUqEGEeKNa6EfGASSWw" key="diagram_name" value="A1-Servoings"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7W8NU6EGEeKNa6EfGASSWw" key="is_default_navigation" value="false"/>
-            </eAnnotations>
-          </children>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VblDiAEeKDAMEjnOLmPA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VblTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbljiAEeKDAMEjnOLmPA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VblziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbmDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbmTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbmjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbmziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbnDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbnTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbnjiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbnziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_SV9zQKBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VboTiAEeKDAMEjnOLmPA" x="-176" y="-8"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbojiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VboziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lo-ziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbpDiAEeKDAMEjnOLmPA" x="151" y="28"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlGTiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbpTiAEeKDAMEjnOLmPA" x="80" y="410" width="161"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VbpjiAEeKDAMEjnOLmPA" type="3070" fontHeight="8" fillColor="8047085" gradient="16777215, 16777215, 0" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbpziAEeKDAMEjnOLmPA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbqDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbqTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbqjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbqziAEeKDAMEjnOLmPA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbrDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_pSV_cKEGEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0eicDiAEeKDAMEjnOLmPA">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pSV_caEGEeKNa6EfGASSWw" key="tooltip_text" value="P1Sensors"/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pSV_cqEGEeKNa6EfGASSWw" key="diagram_name" value="P1-Sensors"/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pSV_c6EGEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_k0VbsTiAEeKDAMEjnOLmPA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VbsjiAEeKDAMEjnOLmPA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VbsziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbtDiAEeKDAMEjnOLmPA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VbtTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbtjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbtziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbuDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbuTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbujiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbuziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbvDiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbvTiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vPR9YKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbvziAEeKDAMEjnOLmPA" x="-156" y="6"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbwDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbwTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LndjiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbwjiAEeKDAMEjnOLmPA" x="251" y="25"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VbwziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbxDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbxTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbxjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbxziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbyDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbyTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbyjiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbyziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_3hoOEKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbzTiAEeKDAMEjnOLmPA" x="-156" y="6"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbzjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbzziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnejiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0Vb0DiAEeKDAMEjnOLmPA" x="251" y="55"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0Vb0TiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vb0jiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vb0ziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vb1DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vb1TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vb1jiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vb1ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vb2DiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vb2TiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_1caOAKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vb2ziAEeKDAMEjnOLmPA" x="-81" y="6"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vb3DiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vb3TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnfjiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0Vb3jiAEeKDAMEjnOLmPA" x="251" y="270"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0Vb3ziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vb4DiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vb4TiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vb4jiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vb4ziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vb5DiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vb5TiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vb5jiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vb5ziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_1xtvoKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vb6TiAEeKDAMEjnOLmPA" x="-46" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vb6jiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vb6ziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LngjiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0Vb7DiAEeKDAMEjnOLmPA" x="251" y="220"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0Vb7TiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vb7jiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vb7ziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vb8DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vb8TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vb8jiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vb8ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vb9DiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vb9TiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_3KPBwKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vb9ziAEeKDAMEjnOLmPA" x="-71" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vb-DiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vb-TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnhjiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0Vb-jiAEeKDAMEjnOLmPA" x="251" y="87"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0Vb-ziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vb_DiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vb_TiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vb_jiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vb_ziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcADiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcATiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcAjiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcAziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2fA6gKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcBTiAEeKDAMEjnOLmPA" x="-76" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcBjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcBziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnkDiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcCDiAEeKDAMEjnOLmPA" x="251" y="155"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VcCTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcCjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcCziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcDDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcDTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcDjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcDziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcEDiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcETiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_20n-IKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcEziAEeKDAMEjnOLmPA" x="-51" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcFDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcFTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnkTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcFjiAEeKDAMEjnOLmPA" x="251" y="120"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VcFziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcGDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcGTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcGjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcGziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcHDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcHTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcHjiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcHziAEeKDAMEjnOLmPA" x="-136" y="6"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcIDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcITiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnkjiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcIjiAEeKDAMEjnOLmPA" x="251" y="390"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VcIziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcJDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcJTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcJjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcJziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcKDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcKTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcKjiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcKziAEeKDAMEjnOLmPA" x="-111" y="-2"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcLDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcLTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnkziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcLjiAEeKDAMEjnOLmPA" x="251" y="425"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VcLziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcMDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcMTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcMjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcMziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcNDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcNTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcNjiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcNziAEeKDAMEjnOLmPA" x="-141" y="4"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcODiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcOTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnlDiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcOjiAEeKDAMEjnOLmPA" x="251" y="455"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VcOziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcPDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcPTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcPjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcPziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcQDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcQTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcQjiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcQziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2I0BAKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcRTiAEeKDAMEjnOLmPA" x="-96" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcRjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcRziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnlTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcSDiAEeKDAMEjnOLmPA" x="251" y="190"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlGjiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcSTiAEeKDAMEjnOLmPA" x="10" y="595" width="261" height="491"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VcSjiAEeKDAMEjnOLmPA" type="3070" fontHeight="8" fillColor="8047085" gradient="16777215, 16777215, 0" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcSziAEeKDAMEjnOLmPA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcTDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcTTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcTjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcTziAEeKDAMEjnOLmPA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcUDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_YwFuEKEGEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0VYCDiAEeKDAMEjnOLmPA">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_YwFuEaEGEeKNa6EfGASSWw" key="tooltip_text" value="ProximetrieP2"/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_YwFuEqEGEeKNa6EfGASSWw" key="diagram_name" value="P2-Proximetrie"/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_YwFuE6EGEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_k0VcVTiAEeKDAMEjnOLmPA" type="5126">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_XmCVwKEGEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0VYCDiAEeKDAMEjnOLmPA">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_XmCVwaEGEeKNa6EfGASSWw" key="tooltip_text" value="P2-Proximetrie"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_XmCVwqEGEeKNa6EfGASSWw" key="diagram_name" value="P2-Proximetrie"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_XmCVw6EGEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
-            </eAnnotations>
-          </children>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VcVjiAEeKDAMEjnOLmPA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VcVziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcWDiAEeKDAMEjnOLmPA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VcWTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcWjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcWziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcXDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcXTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcXjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcXziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcYDiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcYTiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6gqLAKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcYziAEeKDAMEjnOLmPA" x="20" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcZDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcZTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmxjiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcZjiAEeKDAMEjnOLmPA" x="-10" y="25"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VcZziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcaDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcaTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcajiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcaziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcbDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcbTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcbjiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcbziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_62HdoKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VccTiAEeKDAMEjnOLmPA" x="20"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VccjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VccziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmyjiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcdDiAEeKDAMEjnOLmPA" x="-10" y="60"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VcdTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcdjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcdziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VceDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VceTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcejiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VceziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcfDiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcfTiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_9Q8hUKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcfziAEeKDAMEjnOLmPA" x="20" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcgDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcgTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmzjiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcgjiAEeKDAMEjnOLmPA" x="-10" y="270"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VcgziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VchDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VchTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VchjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VchziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VciDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VciTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcijiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VciziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_88rhgKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcjTiAEeKDAMEjnOLmPA" x="20" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcjjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcjziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm0jiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VckDiAEeKDAMEjnOLmPA" x="-10" y="225"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VckTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VckjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VckziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VclDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VclTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcljiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VclziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcmDiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcmTiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7TCDIKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcmziAEeKDAMEjnOLmPA" x="20" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcnDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcnTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm1jiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcnjiAEeKDAMEjnOLmPA" x="-10" y="88"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VcnziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcoDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcoTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcojiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcoziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcpDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcpTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcpjiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcpziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_75UnEKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcqTiAEeKDAMEjnOLmPA" x="20" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcqjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcqziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm3TiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcrDiAEeKDAMEjnOLmPA" x="-10" y="125"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VcrTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcrjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcrziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcsDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcsTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcsjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcsziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VctDiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VctTiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8P-MgKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VctziAEeKDAMEjnOLmPA" x="20" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcuDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcuTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm3jiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcujiAEeKDAMEjnOLmPA" x="-10" y="161"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VcuziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcvDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcvTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcvjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcvziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcwDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcwTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcwjiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcwziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_-UmWsKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="28"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcxTiAEeKDAMEjnOLmPA" x="-96"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcxjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcxziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm3ziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcyDiAEeKDAMEjnOLmPA" x="191" y="115"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VcyTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcyjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcyziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VczDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VczTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VczjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VczziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vc0DiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vc0TiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_9n5BsKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vc0ziAEeKDAMEjnOLmPA" x="-56" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vc1DiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vc1TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm4DiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0Vc1jiAEeKDAMEjnOLmPA" x="191" y="180"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0Vc1ziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vc2DiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vc2TiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vc2jiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vc2ziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vc3DiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vc3TiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vc3jiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vc3ziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_99DZYKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vc4TiAEeKDAMEjnOLmPA" x="-91" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vc4jiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vc4ziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm4TiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0Vc5DiAEeKDAMEjnOLmPA" x="191" y="145"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0Vc5TiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vc5jiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vc5ziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vc6DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vc6TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vc6jiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vc6ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vc7DiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vc7TiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_-zvw0KBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="28"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vc7ziAEeKDAMEjnOLmPA" x="-91" y="10"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vc8DiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vc8TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm4jiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0Vc8jiAEeKDAMEjnOLmPA" x="191" y="70" width="20" height="20"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0Vc8ziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vc9DiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vc9TiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vc9jiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vc9ziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vc-DiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vc-TiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vc-jiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vc-ziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8pT5kKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vc_TiAEeKDAMEjnOLmPA" x="20"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vc_jiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vc_ziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm4ziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdADiAEeKDAMEjnOLmPA" x="-10" y="195"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlGziAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdATiAEeKDAMEjnOLmPA" x="515" y="590" width="201" height="296"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VdAjiAEeKDAMEjnOLmPA" type="3070" fontHeight="8" fillColor="8047085" gradient="16777215, 16777215, 0" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdAziAEeKDAMEjnOLmPA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdBDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdBTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdBjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdBziAEeKDAMEjnOLmPA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdCDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_rVQH0KEFEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0ehlDiAEeKDAMEjnOLmPA">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_rVQH0aEFEeKNa6EfGASSWw" key="tooltip_text" value="GlobalP4"/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_rVQH0qEFEeKNa6EfGASSWw" key="diagram_name" value="P4-Global"/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_rVQH06EFEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_k0VdDTiAEeKDAMEjnOLmPA" type="5126">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lvL3MKEFEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0ehlDiAEeKDAMEjnOLmPA">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lvL3MaEFEeKNa6EfGASSWw" key="tooltip_text" value="P4-Global"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lvL3MqEFEeKNa6EfGASSWw" key="diagram_name" value="P4-Global"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lvL3M6EFEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
-            </eAnnotations>
-          </children>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VdDjiAEeKDAMEjnOLmPA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VdDziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdEDiAEeKDAMEjnOLmPA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VdETiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdEjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdEziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdFDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdFTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdFjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdFziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdGDiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdGTiAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdGjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdGziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmBjiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdHDiAEeKDAMEjnOLmPA" x="-10" y="60"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VdHTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdHjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdHziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdIDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdITiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdIjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdIziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdJDiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdJTiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdJjiAEeKDAMEjnOLmPA" key="CustomAppearance_MaskValue" value="52"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdJziAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdKDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdKTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmBziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdKjiAEeKDAMEjnOLmPA" x="-10" y="30"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VdKziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdLDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdLTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdLjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdLziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdMDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdMTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdMjiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdMziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdNDiAEeKDAMEjnOLmPA" key="CustomAppearance_MaskValue" value="52"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdNTiAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdNjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdNziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmCDiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdODiAEeKDAMEjnOLmPA" x="-10" y="100"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VdOTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdOjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdOziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdPDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdPTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdPjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdPziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdQDiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdQTiAEeKDAMEjnOLmPA" x="-94" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdQjiAEeKDAMEjnOLmPA" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdQziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmCTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdRDiAEeKDAMEjnOLmPA" x="164" y="75"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlHDiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdRTiAEeKDAMEjnOLmPA" x="1340" y="635" width="174" height="143"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VdRjiAEeKDAMEjnOLmPA" type="3070" fontHeight="8" fillColor="8047085" gradient="16777215, 16777215, 0" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdRziAEeKDAMEjnOLmPA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdSDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdSTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdSjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdSziAEeKDAMEjnOLmPA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdTDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_k0VdTTiAEeKDAMEjnOLmPA" type="5126">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Nh4JMKEGEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0ef6TiAEeKDAMEjnOLmPA">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Nh4JMaEGEeKNa6EfGASSWw" key="tooltip_text" value="P3-Local"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Nh4JMqEGEeKNa6EfGASSWw" key="diagram_name" value="P3-Local"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Nh4JM6EGEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
-            </eAnnotations>
-          </children>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VdTjiAEeKDAMEjnOLmPA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VdTziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdUDiAEeKDAMEjnOLmPA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VdUTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdUjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdUziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdVDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdVTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdVjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdVziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdWDiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdWTiAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdWjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdWziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmUTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdXDiAEeKDAMEjnOLmPA" x="-10" y="60"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VdXTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdXjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdXziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdYDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdYTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdYjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdYziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdZDiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdZTiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdZjiAEeKDAMEjnOLmPA" key="CustomAppearance_MaskValue" value="52"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdZziAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdaDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdaTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmUjiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdajiAEeKDAMEjnOLmPA" x="-10" y="240"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VdaziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdbDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdbTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdbjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdbziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdcDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdcTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdcjiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdcziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VddDiAEeKDAMEjnOLmPA" key="CustomAppearance_MaskValue" value="52"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VddTiAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VddjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VddziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmUziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdeDiAEeKDAMEjnOLmPA" x="-10" y="205"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VdeTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdejiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdeziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdfDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdfTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdfjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdfziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdgDiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdgTiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdgjiAEeKDAMEjnOLmPA" key="CustomAppearance_MaskValue" value="52"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdgziAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdhDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdhTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmVDiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdhjiAEeKDAMEjnOLmPA" x="-10" y="170"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VdhziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdiDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdiTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdijiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdiziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdjDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdjTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdjjiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdjziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdkDiAEeKDAMEjnOLmPA" key="CustomAppearance_MaskValue" value="52"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdkTiAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdkjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdkziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmVTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdlDiAEeKDAMEjnOLmPA" x="-10" y="105" width="20" height="20"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VdlTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdljiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdlziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdmDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdmTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdmjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdmziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdnDiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdnTiAEeKDAMEjnOLmPA" x="-91" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdnjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdnziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmVjiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdoDiAEeKDAMEjnOLmPA" x="191" y="95"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VdoTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdojiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdoziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdpDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdpTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdpjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdpziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdqDiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdqTiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdqjiAEeKDAMEjnOLmPA" key="CustomAppearance_MaskValue" value="52"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdqziAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdrDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdrTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmVziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdrjiAEeKDAMEjnOLmPA" x="-10" y="134" width="20" height="20"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlHTiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdrziAEeKDAMEjnOLmPA" x="985" y="600" width="201" height="276"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VdsDiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdsTiAEeKDAMEjnOLmPA"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LlFDiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdsjiAEeKDAMEjnOLmPA" x="30" y="75" width="1841" height="1323"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0VdsziAEeKDAMEjnOLmPA"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdgH7bEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Model" href="YouthChallenge.uml#_k0Lj4DiAEeKDAMEjnOLmPA"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Model" href="YouthChallenge.uml#_k0Lj4DiAEeKDAMEjnOLmPA"/>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VdtDiAEeKDAMEjnOLmPA" type="4013" source="_k0VavziAEeKDAMEjnOLmPA" target="_k0ValziAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VdtTiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdtjiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VdtziAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VduDiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VduTiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdujiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VduziAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdvDiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VdvTiAEeKDAMEjnOLmPA" fontName="Segoe UI"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlHjiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VdvjiAEeKDAMEjnOLmPA" points="[7, 17, 7, -26]$[7, 61, 7, 18]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VdvziAEeKDAMEjnOLmPA" type="4013" source="_k0VaeziAEeKDAMEjnOLmPA" target="_k0Va3TiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VdwDiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdwTiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VdwjiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdwziAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VdxDiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdxTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VdxjiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdxziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VdyDiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlJTiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VdyTiAEeKDAMEjnOLmPA"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VdyjiAEeKDAMEjnOLmPA" id="(0.0,0.475)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VdyziAEeKDAMEjnOLmPA" id="(1.0,0.475)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VdzDiAEeKDAMEjnOLmPA" type="4013" source="_k0Va6ziAEeKDAMEjnOLmPA" target="_k0VbMziAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VdzTiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdzjiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VdzziAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd0DiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd0TiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd0jiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd0ziAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd1DiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0Vd1TiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlLDiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0Vd1jiAEeKDAMEjnOLmPA" points="[-1, -7, 283, 49]$[-41, -7, 243, 49]$[-41, -56, 243, 0]$[-280, -56, 4, 0]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0Vd1ziAEeKDAMEjnOLmPA" id="(0.1,0.35)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0Vd2DiAEeKDAMEjnOLmPA" id="(0.8,0.55)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0Vd2TiAEeKDAMEjnOLmPA" type="4013" source="_k0VbQTiAEeKDAMEjnOLmPA" target="_k0VblziAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd2jiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd2ziAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd3DiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd3TiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd3jiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd3ziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd4DiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd4TiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0Vd4jiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlMziAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0Vd4ziAEeKDAMEjnOLmPA" points="[2, 10, -27, -109]$[29, 129, 0, 10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0Vd5DiAEeKDAMEjnOLmPA" type="4013" source="_k0VbtTiAEeKDAMEjnOLmPA" target="_k0VcWTiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd5TiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd5jiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd5ziAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd6DiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd6TiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd6jiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd6ziAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd7DiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0Vd7TiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlOjiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0Vd7jiAEeKDAMEjnOLmPA" points="[10, -2, -99, 13]$[106, -5, -3, 10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0Vd7ziAEeKDAMEjnOLmPA" type="4013" source="_k0VbwziAEeKDAMEjnOLmPA" target="_k0VcZziAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd8DiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd8TiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd8jiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd8ziAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd9DiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd9TiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd9jiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd9ziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0Vd-DiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlQTiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0Vd-TiAEeKDAMEjnOLmPA" points="[10, -1, -99, 8]$[105, -19, -4, -10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0Vd-jiAEeKDAMEjnOLmPA" type="4013" source="_k0Vb7TiAEeKDAMEjnOLmPA" target="_k0VckTiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd-ziAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd_DiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd_TiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd_jiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd_ziAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeADiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeATiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeAjiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VeAziAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlSDiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VeBDiAEeKDAMEjnOLmPA" points="[10, -6, -99, -2]$[105, -14, -4, -10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VeBTiAEeKDAMEjnOLmPA" type="4013" source="_k0VcCTiAEeKDAMEjnOLmPA" target="_k0VcnziAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeBjiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeBziAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeCDiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeCTiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeCjiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeCziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeDDiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeDTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VeDjiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlTziAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VeDziAEeKDAMEjnOLmPA" points="[10, 0, -99, 0]$[99, 0, -10, 0]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VeEDiAEeKDAMEjnOLmPA" type="4013" source="_k0Vb-ziAEeKDAMEjnOLmPA" target="_k0VcrTiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeETiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeEjiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeEziAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeFDiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeFTiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeFjiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeFziAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeGDiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VeGTiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlVjiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VeGjiAEeKDAMEjnOLmPA" points="[10, -2, -99, -3]$[110, -9, 1, -10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VeGziAEeKDAMEjnOLmPA" type="4013" source="_k0Vb0TiAEeKDAMEjnOLmPA" target="_k0VcdTiAEeKDAMEjnOLmPA" lineColor="12560536">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeHDiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeHTiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeHjiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeHziAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeIDiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeITiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeIjiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeIziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VeJDiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlXTiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VeJTiAEeKDAMEjnOLmPA"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VeJjiAEeKDAMEjnOLmPA" type="4013" source="_k0Vb3ziAEeKDAMEjnOLmPA" target="_k0VcgziAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeJziAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeKDiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeKTiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeKjiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeKziAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeLDiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeLTiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeLjiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VeLziAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlZDiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VeMDiAEeKDAMEjnOLmPA" points="[10, 5, -99, 0]$[99, 5, -10, 0]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VeMTiAEeKDAMEjnOLmPA" type="4013" source="_k0Vb3ziAEeKDAMEjnOLmPA" target="_k0VbeTiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeMjiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeMziAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeNDiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeNTiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeNjiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeNziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeODiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeOTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VeOjiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlaziAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VeOziAEeKDAMEjnOLmPA" points="[10, 0, -420, 321]$[164, 0, -266, 321]$[164, -260, -266, 61]$[469, -260, 39, 61]$[469, -321, 39, 0]$[450, -321, 20, 0]"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VePDiAEeKDAMEjnOLmPA" id="(0.0,0.475)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VePTiAEeKDAMEjnOLmPA" type="4013" source="_k0VcyTiAEeKDAMEjnOLmPA" target="_k0VbaziAEeKDAMEjnOLmPA" lineColor="10265827">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VePjiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VePziAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeQDiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeQTiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeQjiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeQziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeRDiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeRTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VeRjiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlcjiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VeRziAEeKDAMEjnOLmPA" points="[1, 9, 15, 430]$[120, 9, 134, 430]$[120, -421, 134, 0]$[-4, -421, 10, 0]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VeSDiAEeKDAMEjnOLmPA" id="(0.95,0.3)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VeYDiAEeKDAMEjnOLmPA" type="4013" source="_k0VcuziAEeKDAMEjnOLmPA" target="_k0VbBziAEeKDAMEjnOLmPA" lineColor="10011046">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeYTiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeYjiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeYziAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeZDiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeZTiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeZjiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeZziAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeaDiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VeaTiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlhziAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VeajiAEeKDAMEjnOLmPA" points="[10, 0, -425, 350]$[196, 0, -239, 350]$[196, -245, -239, 105]$[519, -245, 84, 105]$[519, -350, 84, 0]$[445, -350, 10, 0]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VeaziAEeKDAMEjnOLmPA" type="4013" source="_k0VcyTiAEeKDAMEjnOLmPA" target="_k0VbFTiAEeKDAMEjnOLmPA" lineColor="10265827" lineWidth="2">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VebDiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VebTiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VebjiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VebziAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VecDiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VecTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VecjiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VecziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VedDiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LljjiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VedTiAEeKDAMEjnOLmPA" points="[10, 0, -433, 382]$[129, 0, -314, 382]$[129, -240, -314, 142]$[494, -240, 51, 142]$[494, -359, 51, 23]$[494, -382, 51, 0]$[445, -382, 2, 0]"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VedjiAEeKDAMEjnOLmPA" id="(0.9,0.65)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VedziAEeKDAMEjnOLmPA" type="4013" source="_k0VdlTiAEeKDAMEjnOLmPA" target="_k0Va-TiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeeDiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeeTiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeejiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeeziAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VefDiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VefTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VefjiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VefziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VegDiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LllTiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VegTiAEeKDAMEjnOLmPA" points="[10, 0, 45, 365]$[89, 0, 124, 365]$[89, -175, 124, 190]$[89, -335, 124, 30]$[89, -365, 124, 0]$[-25, -365, 10, 0]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VegjiAEeKDAMEjnOLmPA" type="4013" source="_k0Vb3ziAEeKDAMEjnOLmPA" target="_k0VdaziAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VegziAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VehDiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VehTiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VehjiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VehziAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeiDiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeiTiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeijiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VeiziAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlnDiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VejDiAEeKDAMEjnOLmPA" points="[10, 0, -694, 11]$[164, 0, -540, 11]$[164, 80, -540, 91]$[594, 80, -110, 91]$[594, -11, -110, 0]$[704, -11, 0, 0]"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VejTiAEeKDAMEjnOLmPA" id="(0.0,0.475)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VejjiAEeKDAMEjnOLmPA" type="4013" source="_k0Vb0TiAEeKDAMEjnOLmPA" target="_k0VdXTiAEeKDAMEjnOLmPA" lineColor="12560536">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VejziAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VekDiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VekTiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VekjiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VekziAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VelDiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VelTiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeljiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VelziAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LloziAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VemDiAEeKDAMEjnOLmPA" points="[0, 0, -694, 25]$[101, 0, -593, 25]$[101, 81, -593, 106]$[629, 81, -65, 106]$[629, -19, -65, 6]$[694, -19, 0, 6]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VemTiAEeKDAMEjnOLmPA" id="(1.0,0.475)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VemjiAEeKDAMEjnOLmPA" id="(0.0,0.45)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VemziAEeKDAMEjnOLmPA" type="4013" source="_k0VcyTiAEeKDAMEjnOLmPA" target="_k0VdeTiAEeKDAMEjnOLmPA" lineColor="10265827">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VenDiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VenTiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VenjiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VenziAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeoDiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeoTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeojiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeoziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VepDiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlqjiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VepTiAEeKDAMEjnOLmPA"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VepjiAEeKDAMEjnOLmPA" id="(0.05,0.6)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VepziAEeKDAMEjnOLmPA" type="4013" source="_k0VcuziAEeKDAMEjnOLmPA" target="_k0VdhziAEeKDAMEjnOLmPA" lineColor="10011046">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeqDiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeqTiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeqjiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeqziAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VerDiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VerTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VerjiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VerziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VesDiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlsTiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VesTiAEeKDAMEjnOLmPA"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VesjiAEeKDAMEjnOLmPA" id="(1.0,0.475)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VesziAEeKDAMEjnOLmPA" id="(0.0,0.475)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VetDiAEeKDAMEjnOLmPA" type="4013" source="_k0Vc5TiAEeKDAMEjnOLmPA" target="_k0VdUTiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VetTiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VetjiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VetziAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeuDiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeuTiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeujiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeuziAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VevDiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VevTiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LluDiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VevjiAEeKDAMEjnOLmPA"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VevziAEeKDAMEjnOLmPA" id="(0.15,0.2)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VewDiAEeKDAMEjnOLmPA" id="(0.05,0.5)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VewTiAEeKDAMEjnOLmPA" type="4013" source="_k0Vc1ziAEeKDAMEjnOLmPA" target="_k0VdoTiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VewjiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VewziAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VexDiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VexTiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VexjiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VexziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeyDiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeyTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VeyjiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlvziAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VeyziAEeKDAMEjnOLmPA"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VezDiAEeKDAMEjnOLmPA" id="(1.0,0.475)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VezTiAEeKDAMEjnOLmPA" id="(0.15,0.6)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VezjiAEeKDAMEjnOLmPA" type="4013" source="_k0VcuziAEeKDAMEjnOLmPA" target="_k0VdHTiAEeKDAMEjnOLmPA" lineColor="10011046">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VezziAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve0DiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve0TiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve0jiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve0ziAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve1DiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve1TiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve1jiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0Ve1ziAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlxjiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0Ve2DiAEeKDAMEjnOLmPA" points="[0, 0, -614, 40]$[184, 0, -430, 40]$[184, -245, -430, -205]$[589, -245, -25, -205]$[589, -135, -25, -95]$[589, -40, -25, 0]$[604, -40, -10, 0]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0Ve2TiAEeKDAMEjnOLmPA" id="(1.0,0.5)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0Ve2jiAEeKDAMEjnOLmPA" type="4013" source="_k0Vb0TiAEeKDAMEjnOLmPA" target="_k0VdKziAEeKDAMEjnOLmPA" lineColor="12560536" lineWidth="2">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve2ziAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve3DiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve3TiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve3jiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve3ziAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve4DiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve4TiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve4jiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0Ve4ziAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlzTiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0Ve5DiAEeKDAMEjnOLmPA" points="[18, 0, -1049, 138]$[117, 0, -950, 138]$[117, 75, -950, 213]$[1002, 75, -65, 213]$[1002, -138, -65, 0]$[1067, -138, 0, 0]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0Ve5TiAEeKDAMEjnOLmPA" id="(0.1,0.75)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0Ve5jiAEeKDAMEjnOLmPA" id="(0.0,0.35)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0Ve5ziAEeKDAMEjnOLmPA" type="4013" source="_k0VdlTiAEeKDAMEjnOLmPA" target="_k0VdETiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve6DiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve6TiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve6jiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve6ziAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve7DiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve7TiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve7jiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve7ziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0Ve8DiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Ll1DiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0Ve8TiAEeKDAMEjnOLmPA"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0Ve8jiAEeKDAMEjnOLmPA" id="(0.475,1.0)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0Ve8ziAEeKDAMEjnOLmPA" id="(0.2,0.55)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0Ve9DiAEeKDAMEjnOLmPA" type="4013" source="_k0VcuziAEeKDAMEjnOLmPA" target="_k0VaiTiAEeKDAMEjnOLmPA" lineColor="10011046">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve9TiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve9jiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve9ziAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve-DiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve-TiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve-jiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve-ziAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve_DiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0Ve_TiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Ll2ziAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0Ve_jiAEeKDAMEjnOLmPA" points="[10, 0, -798, 333]$[194, 0, -614, 333]$[194, -245, -614, 88]$[854, -245, 46, 88]$[854, -325, 46, 8]$[820, -325, 12, 8]"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0Ve_ziAEeKDAMEjnOLmPA" id="(0.9,0.45)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VfADiAEeKDAMEjnOLmPA" type="4013" source="_k0VdOTiAEeKDAMEjnOLmPA" target="_k0VapTiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfATiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfAjiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfAziAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfBDiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfBTiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfBjiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfBziAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfCDiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VfCTiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Ll4jiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VfCjiAEeKDAMEjnOLmPA" points="[0, 0, 8, 355]$[78, 0, 86, 355]$[78, -105, 86, 250]$[79, -348, 87, 7]$[12, -348, 20, 7]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VfCziAEeKDAMEjnOLmPA" id="(1.0,0.475)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VfDDiAEeKDAMEjnOLmPA" id="(0.0,0.475)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VfDTiAEeKDAMEjnOLmPA" type="4013" source="_k0VcOziAEeKDAMEjnOLmPA" target="_k0Vc8ziAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfDjiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfDziAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfEDiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfETiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfEjiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfEziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfFDiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfFTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VfFjiAEeKDAMEjnOLmPA" fontName="Segoe UI"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Ll6TiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VfFziAEeKDAMEjnOLmPA" points="[15, 3, -351, 3]$[364, 15, -2, 15]"/>
-    </edges>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_k0VfGDiAEeKDAMEjnOLmPA" type="CompositeStructure" name="A1-Servoings" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_k0VfGTiAEeKDAMEjnOLmPA" type="2073" fontName="Segoe UI" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfGjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfGziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfHDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfHTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfHjiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfHziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_QqzzkKEHEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0VaYjiAEeKDAMEjnOLmPA">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QqzzkaEHEeKNa6EfGASSWw" key="tooltip_text" value="WifiBot"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QqzzkqEHEeKNa6EfGASSWw" key="diagram_name" value="WifiBot"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Qqzzk6EHEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfJDiAEeKDAMEjnOLmPA" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VfJTiAEeKDAMEjnOLmPA" type="7073">
-        <children xmi:type="notation:Shape" xmi:id="_k0VfJjiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfJziAEeKDAMEjnOLmPA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfKDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfKTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfKjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfKziAEeKDAMEjnOLmPA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfLDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_k0VfLTiAEeKDAMEjnOLmPA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VfLjiAEeKDAMEjnOLmPA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VfLziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VfMDiAEeKDAMEjnOLmPA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VfMTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfMjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfMziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfNDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfNTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfNjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfNziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfODiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfOTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfOjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfOziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfPDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfPTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VfPjiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfPziAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VfQDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfQTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lo7TiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VfQjiAEeKDAMEjnOLmPA" x="-10" y="46"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VfQziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfRDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfRTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfRjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfRziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfSDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfSTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfSjiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfSziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfTDiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfTTiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfTjiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfTziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VfUDiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfUTiAEeKDAMEjnOLmPA" x="-246" y="-16"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VfUjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfUziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lo8TiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VfVDiAEeKDAMEjnOLmPA" x="321" y="46"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lo_ziAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VfVTiAEeKDAMEjnOLmPA" x="50" y="20" width="331" height="116"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VfVjiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfVziAEeKDAMEjnOLmPA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfWDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfWTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfWjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfWziAEeKDAMEjnOLmPA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfXDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_k0VfXTiAEeKDAMEjnOLmPA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VfXjiAEeKDAMEjnOLmPA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VfXziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VfYDiAEeKDAMEjnOLmPA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VfYTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfYjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfYziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfZDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfZTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfZjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfZziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfaDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfaTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfajiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfaziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfbDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfbTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VfbjiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfbziAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VfcDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfcTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lo9jiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VfcjiAEeKDAMEjnOLmPA" x="-11" y="45" width="20" height="20"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LpADiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VfcziAEeKDAMEjnOLmPA" x="435" y="20" width="318" height="116"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VfdDiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VfdTiAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0VfdjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfdziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfeDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfeTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfejiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfeziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VffDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VffTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VffjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VffziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfgDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfgTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfgjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VfgziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfhDiAEeKDAMEjnOLmPA" x="15" y="25"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VfhTiAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfhjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lo-ziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VfhziAEeKDAMEjnOLmPA" x="-11" y="104" width="20" height="20"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0Lo-jiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VfiDiAEeKDAMEjnOLmPA" x="70" y="40" width="796" height="196"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0VfiTiAEeKDAMEjnOLmPA"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdgX7bEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0Lo6ziAEeKDAMEjnOLmPA"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0Lo6ziAEeKDAMEjnOLmPA"/>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VfijiAEeKDAMEjnOLmPA" type="4013" source="_k0VfYTiAEeKDAMEjnOLmPA" target="_k0VfQziAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfiziAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfjDiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfjTiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfjjiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfjziAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfkDiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfkTiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfkjiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VfkziAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LpATiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VflDiAEeKDAMEjnOLmPA"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VflTiAEeKDAMEjnOLmPA" id="(0.0,0.475)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VfljiAEeKDAMEjnOLmPA" id="(1.0,0.475)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VflziAEeKDAMEjnOLmPA" type="4013" source="_k0VfdjiAEeKDAMEjnOLmPA" target="_k0VfMTiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfmDiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfmTiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfmjiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfmziAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfnDiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfnTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfnjiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfnziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VfoDiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LpCDiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VfoTiAEeKDAMEjnOLmPA" points="[3, 10, -27, -88]$[32, 108, 2, 10]"/>
-    </edges>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_k0VfojiAEeKDAMEjnOLmPA" type="CompositeStructure" name="A2-Pilot" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_k0VfoziAEeKDAMEjnOLmPA" type="2073" fontName="Segoe UI" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfpDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfpTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfpjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfpziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfqDiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfqTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_57YVoKEDEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0VaYjiAEeKDAMEjnOLmPA">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_57YVoaEDEeKNa6EfGASSWw" key="tooltip_text" value="WifiBot"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_57YVoqEDEeKNa6EfGASSWw" key="diagram_name" value="WifiBot"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_57YVo6EDEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfqjiAEeKDAMEjnOLmPA" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VfqziAEeKDAMEjnOLmPA" type="7073">
-        <children xmi:type="notation:Shape" xmi:id="_k0VfrDiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfrTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfrjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfrziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfsDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfsTiAEeKDAMEjnOLmPA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfsjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_k0VfsziAEeKDAMEjnOLmPA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VftDiAEeKDAMEjnOLmPA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VftTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VftjiAEeKDAMEjnOLmPA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VftziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfuDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfuTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfujiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfuziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfvDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfvTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfvjiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfvziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfwDiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfwTiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfwjiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfwziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VfxDiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfxTiAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VfxjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfxziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoiTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VfyDiAEeKDAMEjnOLmPA" x="-10" y="25"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VfyTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfyjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfyziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfzDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfzTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfzjiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfzziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf0DiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf0TiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf0jiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf0ziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vf1DiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf1TiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="0"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vf1jiAEeKDAMEjnOLmPA" type="5125">
-              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vf1ziAEeKDAMEjnOLmPA" source="QualifiedName">
-                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf2DiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="2"/>
-              </eAnnotations>
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vf2TiAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vf2jiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vf2ziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LojTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0Vf3DiAEeKDAMEjnOLmPA" x="-10" y="55"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0Vf3TiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vf3jiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf3ziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vf4DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf4TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vf4jiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf4ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vf5DiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf5TiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf5jiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf5ziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf6DiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf6TiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vf6jiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vf6ziAEeKDAMEjnOLmPA" x="-157" y="24"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vf7DiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vf7TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LokTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0Vf7jiAEeKDAMEjnOLmPA" x="296" y="83"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0Vf7ziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vf8DiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf8TiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vf8jiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf8ziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vf9DiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf9TiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vf9jiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf9ziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf-DiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf-TiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf-jiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf-ziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vf_DiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vf_TiAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vf_jiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vf_ziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LolTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VgADiAEeKDAMEjnOLmPA" x="-10" y="85"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VgATiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgAjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgAziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgBDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgBTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgBjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgBziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgCDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgCTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgCjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgCziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgDDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgDTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VgDjiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgDziAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VgEDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgETiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LomTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VgEjiAEeKDAMEjnOLmPA" x="-10" y="115"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VgEziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgFDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgFTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgFjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgFziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgGDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgGTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgGjiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgGziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgHDiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgHTiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgHjiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgHziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VgIDiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgITiAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VgIjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgIziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LonTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VgJDiAEeKDAMEjnOLmPA" x="-10" y="145"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LotDiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VgJTiAEeKDAMEjnOLmPA" x="161" y="13" width="306" height="186"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0VgJjiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgJziAEeKDAMEjnOLmPA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgKDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgKTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgKjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgKziAEeKDAMEjnOLmPA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgLDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_k0VgLTiAEeKDAMEjnOLmPA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VgLjiAEeKDAMEjnOLmPA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VgLziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VgMDiAEeKDAMEjnOLmPA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VgMTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgMjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgMziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgNDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgNTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgNjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgNziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgODiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgOTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgOjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgOziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgPDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgPTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VgPjiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgPziAEeKDAMEjnOLmPA" x="-156" y="21"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VgQDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgQTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LooziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VgQjiAEeKDAMEjnOLmPA" x="220" y="76" width="20" height="20"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VgQziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgRDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgRTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgRjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgRziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgSDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgSTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgSjiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgSziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgTDiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgTTiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgTjiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgTziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VgUDiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgUTiAEeKDAMEjnOLmPA" x="20" y="-20"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VgUjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgUziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LopziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VgVDiAEeKDAMEjnOLmPA" x="-10" y="83"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LotTiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VgVTiAEeKDAMEjnOLmPA" x="525" y="8" width="231" height="186"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VgVjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VgVziAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0VgWDiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgWTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgWjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgWziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgXDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgXTiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgXjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgXziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgYDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgYTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgYjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgYziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgZDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VgZTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgZjiAEeKDAMEjnOLmPA" x="25" y="10"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VgZziAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgaDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LorDiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VgaTiAEeKDAMEjnOLmPA" x="-10" y="76" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0VgajiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgaziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgbDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgbTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgbjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgbziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgcDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgcTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgcjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgcziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgdDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgdTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgdjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VgdziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgeDiAEeKDAMEjnOLmPA" x="-166" y="20"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VgeTiAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgejiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LosDiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VgeziAEeKDAMEjnOLmPA" x="931" y="110"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0VgoDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgoTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgojiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgoziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgpDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgpTiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgpjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgpziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgqDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgqTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgqjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgqziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgrDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VgrTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgrjiAEeKDAMEjnOLmPA" x="25" y="13"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VgrziAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgsDiAEeKDAMEjnOLmPA" x="20" y="-6"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LouDiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VgsTiAEeKDAMEjnOLmPA" x="-10" y="166" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0VgsjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgsziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgtDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgtTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgtjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgtziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VguDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VguTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgujiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VguziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgvDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgvTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgvjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VgvziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgwDiAEeKDAMEjnOLmPA" x="25" y="13"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VgwTiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgwjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LouTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VgwziAEeKDAMEjnOLmPA" x="-10" y="196" width="20" height="20"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LoqziAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VgxDiAEeKDAMEjnOLmPA" x="25" y="60" width="941" height="311"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_RoksUKBXEeKY66-xYT6OCw" type="2109">
-      <children xmi:type="notation:DecorationNode" xmi:id="_RoksUqBXEeKY66-xYT6OCw" type="5192"/>
-      <element xmi:type="uml:Comment" href="YouthChallenge.uml#_k0LoiDiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_RoksUaBXEeKY66-xYT6OCw" x="30" y="420" width="421"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_XIPaAKBXEeKY66-xYT6OCw" type="2109">
-      <children xmi:type="notation:DecorationNode" xmi:id="_XIPaAqBXEeKY66-xYT6OCw" type="5192"/>
-      <element xmi:type="uml:Comment" href="YouthChallenge.uml#_k0LoojiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_XIPaAaBXEeKY66-xYT6OCw" x="545" y="415"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0VgxTiAEeKDAMEjnOLmPA"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdgn7bEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0LohjiAEeKDAMEjnOLmPA"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0LohjiAEeKDAMEjnOLmPA"/>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VgxjiAEeKDAMEjnOLmPA" type="4013" source="_k0Vf3TiAEeKDAMEjnOLmPA" target="_k0VgQziAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VgxziAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgyDiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VgyTiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgyjiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VgyziAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgzDiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VgzTiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgzjiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VgzziAEeKDAMEjnOLmPA" fontName="Segoe UI"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LoujiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0Vg0DiAEeKDAMEjnOLmPA" points="[10, -5, -79, 36]$[99, -41, 10, 0]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0Vg0TiAEeKDAMEjnOLmPA" type="4013" source="_k0VgWDiAEeKDAMEjnOLmPA" target="_k0VftziAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vg0jiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vg0ziAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vg1DiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vg1TiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vg1jiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vg1ziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vg2DiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vg2TiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0Vg2jiAEeKDAMEjnOLmPA" fontName="Segoe UI"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LowTiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0Vg2ziAEeKDAMEjnOLmPA" points="[10, 5, -210, 0]$[210, 5, -10, 0]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0Vg3DiAEeKDAMEjnOLmPA" type="4013" source="_k0VgMTiAEeKDAMEjnOLmPA" target="_k0VgajiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vg3TiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vg3jiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vg3ziAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vg4DiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vg4TiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vg4jiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vg4ziAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vg5DiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0Vg5TiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LoyDiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0Vg5jiAEeKDAMEjnOLmPA" points="[10, 1, -240, 0]$[260, 1, 10, 0]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0Vg_TiAEeKDAMEjnOLmPA" type="4013" source="_k0VgoDiAEeKDAMEjnOLmPA" target="_k0VgATiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vg_jiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vg_ziAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VhADiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhATiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VhAjiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhAziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VhBDiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhBTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VhBjiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Lo3TiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VhBziAEeKDAMEjnOLmPA" points="[10, 1, -156, 0]$[40, 1, -126, 0]$[75, 1, -91, 0]$[75, 1, -91, 0]$[156, 1, -10, 0]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0VhCDiAEeKDAMEjnOLmPA" type="4013" source="_k0VgsjiAEeKDAMEjnOLmPA" target="_k0VgEziAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VhCTiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhCjiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VhCziAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhDDiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VhDTiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhDjiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VhDziAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhEDiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0VhETiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Lo5DiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VhEjiAEeKDAMEjnOLmPA" points="[10, -2, -156, 28]$[164, -40, -2, -10]"/>
-    </edges>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_k0VhEziAEeKDAMEjnOLmPA" type="CompositeStructure" name="A3-Navigator" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_k0VhFDiAEeKDAMEjnOLmPA" type="2073" fontName="Segoe UI" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhFTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhFjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhFziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhGDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhGTiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhGjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_f4uaIKEFEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0VaYjiAEeKDAMEjnOLmPA">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_f4uaIaEFEeKNa6EfGASSWw" key="tooltip_text" value="WifiBot"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_f4uaIqEFEeKNa6EfGASSWw" key="diagram_name" value="WifiBot"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_f4uaI6EFEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0VhGziAEeKDAMEjnOLmPA" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VhHDiAEeKDAMEjnOLmPA" type="7073">
-        <children xmi:type="notation:Shape" xmi:id="_k0VhHTiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhHjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhHziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhIDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhITiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhIjiAEeKDAMEjnOLmPA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhIziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_k0VhJDiAEeKDAMEjnOLmPA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VhJTiAEeKDAMEjnOLmPA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VhJjiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VhJziAEeKDAMEjnOLmPA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VhKDiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhKTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhKjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhKziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhLDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhLTiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhLjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhLziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhMDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhMTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhMjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhMziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhNDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VhNTiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhNjiAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VhNziAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhODiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoQjiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VhOTiAEeKDAMEjnOLmPA" x="-10" y="25"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VhOjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhOziAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhPDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhPTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhPjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhPziAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhQDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhQTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhQjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhQziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhRDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhRTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhRjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VhRziAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhSDiAEeKDAMEjnOLmPA" x="-126" y="6"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VhSTiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhSjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoRjiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VhSziAEeKDAMEjnOLmPA" x="305" y="84" width="20" height="20"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VhTDiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhTTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhTjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhTziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhUDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhUTiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhUjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhUziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhVDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhVTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhVjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhVziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhWDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VhWTiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhWjiAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VhWziAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhXDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoSjiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VhXTiAEeKDAMEjnOLmPA" x="-10" y="55"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VhXjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhXziAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhYDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhYTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhYjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhYziAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhZDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhZTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhZjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhZziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhaDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhaTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhajiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VhaziAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhbDiAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VhbTiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhbjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoTjiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VhbziAEeKDAMEjnOLmPA" x="-10" y="80"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0VhcDiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhcTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhcjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhcziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhdDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhdTiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhdjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhdziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VheDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VheTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhejiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VheziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhfDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VhfTiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhfjiAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0VhfziAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhgDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoUjiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VhgTiAEeKDAMEjnOLmPA" x="-10" y="110"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LoXziAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VhgjiAEeKDAMEjnOLmPA" x="145" y="20" width="316" height="183"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VhgziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VhhDiAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0VhhTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhhjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhhziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhiDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhiTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhijiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhiziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhjDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhjTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhjjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhjziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhkDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhkTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VhkjiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhkziAEeKDAMEjnOLmPA" x="25" y="-4"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VhlDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhlTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoVziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VhljiAEeKDAMEjnOLmPA" x="-11" y="69" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0VhlziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhmDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhmTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhmjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhmziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhnDiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhnTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhnjiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhnziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhoDiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhoTiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhojiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhoziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VhpDiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhpTiAEeKDAMEjnOLmPA" x="-126" y="-10"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VhpjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhpziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoWziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VhqDiAEeKDAMEjnOLmPA" x="621" y="130"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0VhqTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhqjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhqziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhrDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhrTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhrjiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhrziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhsDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhsTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhsjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhsziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhtDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhtTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VhtjiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhtziAEeKDAMEjnOLmPA" x="25" y="-4"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VhuDiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhuTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoYDiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VhujiAEeKDAMEjnOLmPA" x="-11" y="99" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0VhuziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhvDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhvTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhvjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhvziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhwDiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhwTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhwjiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhwziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhxDiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhxTiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhxjiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhxziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VhyDiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhyTiAEeKDAMEjnOLmPA" x="25" y="-4"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0VhyjiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhyziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoYTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VhzDiAEeKDAMEjnOLmPA" x="-11" y="124" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0VhzTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhzjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhzziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vh0DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vh0TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vh0jiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vh0ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vh1DiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vh1TiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vh1jiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vh1ziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vh2DiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vh2TiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0Vh2jiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vh2ziAEeKDAMEjnOLmPA" x="20" y="-4"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0Vh3DiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vh3TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoYjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0Vh3jiAEeKDAMEjnOLmPA" x="-11" y="154" width="20" height="20"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LoVjiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0Vh3ziAEeKDAMEjnOLmPA" x="55" y="35" width="631" height="256"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0Vh4DiAEeKDAMEjnOLmPA"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdg37bEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0LoPziAEeKDAMEjnOLmPA"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0LoPziAEeKDAMEjnOLmPA"/>
-    <edges xmi:type="notation:Connector" xmi:id="_k0Vh4TiAEeKDAMEjnOLmPA" type="4013" source="_k0VhOjiAEeKDAMEjnOLmPA" target="_k0VhlziAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vh4jiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vh4ziAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vh5DiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vh5TiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vh5jiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vh5ziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vh6DiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vh6TiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0Vh6jiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LoYziAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0Vh6ziAEeKDAMEjnOLmPA" points="[10, 1, -155, 0]$[175, 1, 10, 0]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0Vh7DiAEeKDAMEjnOLmPA" type="4013" source="_k0VhhTiAEeKDAMEjnOLmPA" target="_k0VhKDiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vh7TiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vh7jiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vh7ziAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vh8DiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vh8TiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vh8jiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vh8ziAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vh9DiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0Vh9TiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LoajiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0Vh9jiAEeKDAMEjnOLmPA" points="[10, 1, -140, -14]$[146, 25, -4, 10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0Vh9ziAEeKDAMEjnOLmPA" type="4013" source="_k0VhqTiAEeKDAMEjnOLmPA" target="_k0VhTDiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vh-DiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vh-TiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vh-jiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vh-ziAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vh_DiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vh_TiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vh_jiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vh_ziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0ViADiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LocTiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ViATiAEeKDAMEjnOLmPA" points="[10, 2, -140, 1]$[146, 11, -4, 10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0ViAjiAEeKDAMEjnOLmPA" type="4013" source="_k0VhuziAEeKDAMEjnOLmPA" target="_k0VhXjiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ViAziAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ViBDiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ViBTiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ViBjiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ViBziAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ViCDiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ViCTiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ViCjiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0ViCziAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LoeDiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ViDDiAEeKDAMEjnOLmPA" points="[10, -1, -140, 10]$[154, -1, 4, 10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0ViDTiAEeKDAMEjnOLmPA" type="4013" source="_k0VhzTiAEeKDAMEjnOLmPA" target="_k0VhcDiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ViDjiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ViDziAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ViEDiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ViETiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ViEjiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ViEziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ViFDiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ViFTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0ViFjiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LofziAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ViFziAEeKDAMEjnOLmPA" points="[10, -3, -140, -4]$[154, -9, 4, -10]"/>
-    </edges>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_k0ee0DiAEeKDAMEjnOLmPA" type="CompositeStructure" name="A4-PathPlanner" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_k0ee0TiAEeKDAMEjnOLmPA" type="2073" fontName="Segoe UI" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ee0jiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee0ziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ee1DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee1TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ee1jiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee1ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ee2DiAEeKDAMEjnOLmPA" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0ee2TiAEeKDAMEjnOLmPA" type="7073">
-        <children xmi:type="notation:Shape" xmi:id="_k0ee2jiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ee2ziAEeKDAMEjnOLmPA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee3DiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ee3TiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee3jiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ee3ziAEeKDAMEjnOLmPA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee4DiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_k0ee4TiAEeKDAMEjnOLmPA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_k0ee4jiAEeKDAMEjnOLmPA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_k0ee4ziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ee5DiAEeKDAMEjnOLmPA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0ee5TiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ee5jiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee5ziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ee6DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee6TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ee6jiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee6ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ee7DiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee7TiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee7jiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee7ziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee8DiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee8TiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0ee8jiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ee8ziAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0ee9DiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ee9TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoBziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ee9jiAEeKDAMEjnOLmPA" x="-10" y="30"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0ee9ziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ee-DiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee-TiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ee-jiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee-ziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ee_DiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee_TiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ee_jiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee_ziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efADiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efATiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efAjiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efAziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0efBDiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efBTiAEeKDAMEjnOLmPA" x="-84" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0efBjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efBziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoCziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0efCDiAEeKDAMEjnOLmPA" x="171" y="55"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0efCTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efCjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efCziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efDDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efDTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efDjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efDziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efEDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efETiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efEjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efEziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efFDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efFTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0efFjiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efFziAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0efGDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efGTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoDziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0efGjiAEeKDAMEjnOLmPA" x="-10" y="70"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0efGziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efHDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efHTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efHjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efHziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efIDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efITiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0efIjiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efIziAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0efJDiAEeKDAMEjnOLmPA" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efJTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoEziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0efJjiAEeKDAMEjnOLmPA" x="-10" y="105"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LoITiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0efJziAEeKDAMEjnOLmPA" x="195" y="55" width="181" height="146"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0efKDiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0efKTiAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0efKjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efKziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efLDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efLTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efLjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efLziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efMDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efMTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efMjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efMziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efNDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efNTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efNjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0efNziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efODiAEeKDAMEjnOLmPA" x="-86" y="10"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0efOTiAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efOjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoFTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0efOziAEeKDAMEjnOLmPA" x="580" y="134" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0efPDiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efPTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efPjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efPziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efQDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efQTiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efQjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efQziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efRDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efRTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efRjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efRziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efSDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0efSTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efSjiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0efSziAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efTDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoGTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0efTTiAEeKDAMEjnOLmPA" x="-10" y="200"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0efTjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efTziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efUDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efUTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efUjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efUziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efVDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efVTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efVjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efVziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efWDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efWTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efWjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0efWziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efXDiAEeKDAMEjnOLmPA" x="15" y="-15"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0efXTiAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efXjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoHTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0efXziAEeKDAMEjnOLmPA" x="-11" y="109" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0efYDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efYTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efYjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efYziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efZDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efZTiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efZjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efZziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efaDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efaTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efajiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efaziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efbDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0efbTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efbjiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0efbziAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efcDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoIjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0efcTiAEeKDAMEjnOLmPA" x="-11" y="149" width="20" height="20"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LoFDiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0efcjiAEeKDAMEjnOLmPA" x="65" y="55" width="591" height="241"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0efcziAEeKDAMEjnOLmPA"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdhH7bEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0LoBDiAEeKDAMEjnOLmPA"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0LoBDiAEeKDAMEjnOLmPA"/>
-    <edges xmi:type="notation:Connector" xmi:id="_k0efdDiAEeKDAMEjnOLmPA" type="4013" source="_k0efTjiAEeKDAMEjnOLmPA" target="_k0ee5TiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0efdTiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efdjiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0efdziAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efeDiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0efeTiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efejiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0efeziAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0effDiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0effTiAEeKDAMEjnOLmPA" fontName="Segoe UI"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LoIziAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0effjiAEeKDAMEjnOLmPA" points="[10, 3, -291, -87]$[300, 100, -1, 10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0effziAEeKDAMEjnOLmPA" type="4013" source="_k0ee9ziAEeKDAMEjnOLmPA" target="_k0efKjiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0efgDiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efgTiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0efgjiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efgziAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0efhDiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efhTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0efhjiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efhziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0efiDiAEeKDAMEjnOLmPA" fontName="Segoe UI"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LoKjiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0efiTiAEeKDAMEjnOLmPA" points="[10, 4, -121, -51]$[126, 45, -5, -10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0efijiAEeKDAMEjnOLmPA" type="4013" source="_k0efYDiAEeKDAMEjnOLmPA" target="_k0efCTiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0efiziAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efjDiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0efjTiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efjjiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0efjziAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efkDiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0efkTiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efkjiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0efkziAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LoMTiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0eflDiAEeKDAMEjnOLmPA" points="[10, -3, -190, 40]$[197, -53, -3, -10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0eflTiAEeKDAMEjnOLmPA" type="4013" source="_k0efPDiAEeKDAMEjnOLmPA" target="_k0efGziAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0efljiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eflziAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0efmDiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efmTiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0efmjiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efmziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0efnDiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efnTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0efnjiAEeKDAMEjnOLmPA" fontName="Segoe UI"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LoODiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0efnziAEeKDAMEjnOLmPA" points="[10, -1, -190, 14]$[198, -5, -2, 10]"/>
-    </edges>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_k0efoDiAEeKDAMEjnOLmPA" type="CompositeStructure" name="A5-MissionGenerator" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_k0efoTiAEeKDAMEjnOLmPA" type="2073" fontName="Segoe UI" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efojiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efoziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efpDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efpTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efpjiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efpziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_dEk3gKEFEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0VaYjiAEeKDAMEjnOLmPA">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_dEk3gaEFEeKNa6EfGASSWw" key="tooltip_text" value="WifiBot"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_dEk3gqEFEeKNa6EfGASSWw" key="diagram_name" value="WifiBot"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_dEk3g6EFEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0efqDiAEeKDAMEjnOLmPA" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0efqTiAEeKDAMEjnOLmPA" type="7073">
-        <children xmi:type="notation:Shape" xmi:id="_k0efqjiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efqziAEeKDAMEjnOLmPA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efrDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efrTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efrjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efrziAEeKDAMEjnOLmPA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efsDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_k0efsTiAEeKDAMEjnOLmPA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_k0efsjiAEeKDAMEjnOLmPA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_k0efsziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eftDiAEeKDAMEjnOLmPA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0eftTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eftjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eftziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efuDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efuTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efujiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efuziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efvDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efvTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efvjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efvziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efwDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efwTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0efwjiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efwziAEeKDAMEjnOLmPA" x="-132"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0efxDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efxTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Ln8ziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0efxjiAEeKDAMEjnOLmPA" x="227" y="65"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Ln_DiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0efxziAEeKDAMEjnOLmPA" x="120" y="20" width="237" height="118"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0efyDiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0efyTiAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0efyjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efyziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efzDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efzTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efzjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efzziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ef0DiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ef0TiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ef0jiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ef0ziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ef1DiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ef1TiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ef1jiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ef1ziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ef2DiAEeKDAMEjnOLmPA" x="-131" y="10"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ef2TiAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ef2jiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Ln-DiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ef2ziAEeKDAMEjnOLmPA" x="531" y="110"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0Ln9ziAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ef3DiAEeKDAMEjnOLmPA" x="90" y="35" width="541" height="246"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0ef3TiAEeKDAMEjnOLmPA"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdhX7bEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0Ln8TiAEeKDAMEjnOLmPA"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0Ln8TiAEeKDAMEjnOLmPA"/>
-    <edges xmi:type="notation:Connector" xmi:id="_k0ef3jiAEeKDAMEjnOLmPA" type="4013" source="_k0eftTiAEeKDAMEjnOLmPA" target="_k0efyjiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ef3ziAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ef4DiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ef4TiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ef4jiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ef4ziAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ef5DiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ef5TiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ef5jiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0ef5ziAEeKDAMEjnOLmPA" fontName="Segoe UI"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Ln_TiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ef6DiAEeKDAMEjnOLmPA" points="[10, 1, -284, -49]$[284, 50, -10, 0]"/>
-    </edges>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_k0ef6TiAEeKDAMEjnOLmPA" type="CompositeStructure" name="P3-Local" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_k0ef6jiAEeKDAMEjnOLmPA" type="2073" fontName="Segoe UI" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ef6ziAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ef7DiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ef7TiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ef7jiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ef7ziAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ef8DiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ef8TiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OoDuIKEGEeKNa6EfGASSWw" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OoDuIaEGEeKNa6EfGASSWw" key="StereotypeList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OoDuIqEGEeKNa6EfGASSWw" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OoDuI6EGEeKNa6EfGASSWw" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OoDuJKEGEeKNa6EfGASSWw" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Qn6GAKEGEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0VaYjiAEeKDAMEjnOLmPA">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Qn6GAaEGEeKNa6EfGASSWw" key="tooltip_text" value="WifiBot"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Qn6GAqEGEeKNa6EfGASSWw" key="diagram_name" value="WifiBot"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Qn6GA6EGEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ef-ziAEeKDAMEjnOLmPA" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0ef_DiAEeKDAMEjnOLmPA" type="7073">
-        <children xmi:type="notation:Shape" xmi:id="_k0ef_TiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ef_jiAEeKDAMEjnOLmPA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ef_ziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egADiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egATiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egAjiAEeKDAMEjnOLmPA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egAziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_k0egBDiAEeKDAMEjnOLmPA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_k0egBTiAEeKDAMEjnOLmPA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_k0egBjiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0egBziAEeKDAMEjnOLmPA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0egCDiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egCTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egCjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egCziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egDDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egDTiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egDjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egDziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egEDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egETiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egEjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egEziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egFDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0egFTiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egFjiAEeKDAMEjnOLmPA" x="15" y="-10"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0egFziAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egGDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmRjiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0egGTiAEeKDAMEjnOLmPA" x="-10" y="40"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0egGjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egGziAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egHDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egHTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egHjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egHziAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egIDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egITiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egIjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egIziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egJDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egJTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egJjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0egJziAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egKDiAEeKDAMEjnOLmPA" x="-91" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0egKTiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egKjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmSjiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0egKziAEeKDAMEjnOLmPA" x="256" y="40" width="20" height="20"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LmTziAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0egLDiAEeKDAMEjnOLmPA" x="50" y="174" width="266" height="66"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0egLTiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egLjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egLziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egMDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egMTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egMjiAEeKDAMEjnOLmPA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egMziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_k0egNDiAEeKDAMEjnOLmPA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_k0egNTiAEeKDAMEjnOLmPA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_k0egNjiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0egNziAEeKDAMEjnOLmPA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0egODiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egOTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egOjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egOziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egPDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egPTiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egPjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egPziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egQDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egQTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egQjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egQziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egRDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0egRTiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egRjiAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0egRziAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egSDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmKTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0egSTiAEeKDAMEjnOLmPA" x="-10" y="25"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0egSjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egSziAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egTDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egTTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egTjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egTziAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egUDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egUTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egUjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egUziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egVDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egVTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egVjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0egVziAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egWDiAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0egWTiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egWjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmLTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0egWziAEeKDAMEjnOLmPA" x="-10" y="50"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0egXDiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egXTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egXjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egXziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egYDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egYTiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egYjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egYziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egZDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egZTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egZjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egZziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egaDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0egaTiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egajiAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0egaziAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egbDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmMTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0egbTiAEeKDAMEjnOLmPA" x="-10" y="75"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0egbjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egbziAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egcDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egcTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egcjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egcziAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egdDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egdTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egdjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egdziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egeDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egeTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egejiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0egeziAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egfDiAEeKDAMEjnOLmPA" x="-166" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0egfTiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egfjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmNTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0egfziAEeKDAMEjnOLmPA" x="374" y="190"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0eggDiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eggTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eggjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eggziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eghDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eghTiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eghjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eghziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egiDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egiTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egijiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egiziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egjDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0egjTiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egjjiAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0egjziAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egkDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmOTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0egkTiAEeKDAMEjnOLmPA" x="-10" y="105"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0egkjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egkziAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eglDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eglTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egljiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eglziAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egmDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egmTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egmjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egmziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egnDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egnTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egnjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0egnziAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egoDiAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0egoTiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egojiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmPTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0egoziAEeKDAMEjnOLmPA" x="-10" y="130"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0egpDiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egpTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egpjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egpziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egqDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egqTiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egqjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egqziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egrDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egrTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egrjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egrziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egsDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0egsTiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egsjiAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0egsziAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egtDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmQTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0egtTiAEeKDAMEjnOLmPA" x="-11" y="199" width="20" height="20"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LmUDiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0egtjiAEeKDAMEjnOLmPA" x="387" y="9" width="384" height="226"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0egtziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eguDiAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0eguTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egujiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eguziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egvDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egvTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egvjiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egvziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egwDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egwTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egwjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egwziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egxDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egxTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0egxjiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egxziAEeKDAMEjnOLmPA" x="25" y="-5"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0egyDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egyTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmUTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0egyjiAEeKDAMEjnOLmPA" x="-10" y="180" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0egyziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egzDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egzTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egzjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egzziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eg0DiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg0TiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eg0jiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg0ziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg1DiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg1TiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg1jiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg1ziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eg2DiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eg2TiAEeKDAMEjnOLmPA" x="25" y="-4"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eg2jiAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eg2ziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmUjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eg3DiAEeKDAMEjnOLmPA" x="-11" y="154" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0eg3TiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eg3jiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg3ziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eg4DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg4TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eg4jiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg4ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eg5DiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg5TiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg5jiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg5ziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg6DiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg6TiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eg6jiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eg6ziAEeKDAMEjnOLmPA" x="25" y="-4"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eg7DiAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eg7TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmUziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eg7jiAEeKDAMEjnOLmPA" x="-11" y="124" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0eg7ziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eg8DiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg8TiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eg8jiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg8ziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eg9DiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg9TiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eg9jiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg9ziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg-DiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg-TiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg-jiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg-ziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eg_DiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eg_TiAEeKDAMEjnOLmPA" x="25" y="-4"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eg_jiAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eg_ziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmVDiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ehADiAEeKDAMEjnOLmPA" x="-11" y="99" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0ehATiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehAjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehAziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehBDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehBTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehBjiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehBziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehCDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehCTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehCjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehCziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehDDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehDTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ehDjiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehDziAEeKDAMEjnOLmPA" x="25" y="-9"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ehEDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehETiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmVTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ehEjiAEeKDAMEjnOLmPA" x="-11" y="74" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0ehEziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehFDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehFTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehFjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehFziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehGDiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehGTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehGjiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehGziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehHDiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehHTiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehHjiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehHziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ehIDiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehITiAEeKDAMEjnOLmPA" x="-81" y="26"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ehIjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehIziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmVjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ehJDiAEeKDAMEjnOLmPA" x="880" y="239" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0ehJTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehJjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehJziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehKDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehKTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehKjiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehKziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehLDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehLTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehLjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehLziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehMDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehMTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ehMjiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehMziAEeKDAMEjnOLmPA" x="25" y="15"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ehNDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehNTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmVziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ehNjiAEeKDAMEjnOLmPA" x="-10" y="295" width="20" height="20"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LmTjiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ehNziAEeKDAMEjnOLmPA" x="15" y="5" width="891" height="416"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0ehODiAEeKDAMEjnOLmPA"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdhn7bEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0LmJjiAEeKDAMEjnOLmPA"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0LmJjiAEeKDAMEjnOLmPA"/>
-    <edges xmi:type="notation:Connector" xmi:id="_k0ehOTiAEeKDAMEjnOLmPA" type="4013" source="_k0egGjiAEeKDAMEjnOLmPA" target="_k0egpDiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehOjiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehOziAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehPDiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehPTiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehPjiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehPziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehQDiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehQTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0ehQjiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LmWDiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ehQziAEeKDAMEjnOLmPA" points="[17, 13, -53, -40]$[67, 52, -3, -1]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0ehRDiAEeKDAMEjnOLmPA" id="(0.1,0.35)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0ehRTiAEeKDAMEjnOLmPA" id="(0.15,0.4)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0ehRjiAEeKDAMEjnOLmPA" type="4013" source="_k0eguTiAEeKDAMEjnOLmPA" target="_k0egkjiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehRziAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehSDiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehSTiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehSjiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehSziAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehTDiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehTTiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehTjiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0ehTziAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LmXziAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ehUDiAEeKDAMEjnOLmPA" points="[10, 0, -382, 0]$[65, 0, -327, 0]$[382, 0, -10, 0]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0ehUTiAEeKDAMEjnOLmPA" type="4013" source="_k0ehATiAEeKDAMEjnOLmPA" target="_k0egODiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehUjiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehUziAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehVDiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehVTiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehVjiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehVziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehWDiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehWTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0ehWjiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LmZjiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ehWziAEeKDAMEjnOLmPA" points="[10, -1, -376, 13]$[382, -16, -4, -2]"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0ehXDiAEeKDAMEjnOLmPA" id="(0.2,0.35)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0ehXTiAEeKDAMEjnOLmPA" type="4013" source="_k0eg7ziAEeKDAMEjnOLmPA" target="_k0egSjiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehXjiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehXziAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehYDiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehYTiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehYjiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehYziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehZDiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehZTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0ehZjiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LmbTiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ehZziAEeKDAMEjnOLmPA" points="[10, 1, -382, 0]$[65, 1, -327, 0]$[382, 1, -10, 0]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0ehaDiAEeKDAMEjnOLmPA" type="4013" source="_k0eg3TiAEeKDAMEjnOLmPA" target="_k0egXDiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehaTiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehajiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehaziAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehbDiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehbTiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehbjiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehbziAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehcDiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0ehcTiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LmdDiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ehcjiAEeKDAMEjnOLmPA" points="[10, -1, -382, 13]$[393, -24, 1, -10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0ehcziAEeKDAMEjnOLmPA" type="4013" source="_k0egyziAEeKDAMEjnOLmPA" target="_k0eggDiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehdDiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehdTiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehdjiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehdziAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0eheDiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eheTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehejiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eheziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0ehfDiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LmeziAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ehfTiAEeKDAMEjnOLmPA" points="[10, -5, -382, 2]$[395, 3, 3, 10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0ehfjiAEeKDAMEjnOLmPA" type="4013" source="_k0egbjiAEeKDAMEjnOLmPA" target="_k0ehEziAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehfziAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehgDiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehgTiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehgjiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehgziAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehhDiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehhTiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehhjiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0ehhziAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LmgjiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ehiDiAEeKDAMEjnOLmPA" points="[10, -2, -105, -1]$[114, -11, -1, -10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0ehiTiAEeKDAMEjnOLmPA" type="4013" source="_k0ehJTiAEeKDAMEjnOLmPA" target="_k0egCDiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehijiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehiziAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehjDiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehjTiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehjjiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehjziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehkDiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehkTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0ehkjiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LmiTiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ehkziAEeKDAMEjnOLmPA" points="[10, 0, -45, 40]$[31, 0, -24, 40]$[31, -40, -24, 0]$[45, -40, -10, 0]"/>
-    </edges>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_k0ehlDiAEeKDAMEjnOLmPA" type="CompositeStructure" name="P4-Global" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_k0ehlTiAEeKDAMEjnOLmPA" type="2073" fontName="Segoe UI" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehljiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehlziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehmDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehmTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehmjiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehmziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehnDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FQIq4FjYEeKfV8GUW17iZg" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FQIq4VjYEeKfV8GUW17iZg" key="StereotypeList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FQIq4ljYEeKfV8GUW17iZg" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FQIq41jYEeKfV8GUW17iZg" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FQIq5FjYEeKfV8GUW17iZg" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_KKaeIKEGEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0VaYjiAEeKDAMEjnOLmPA">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_KKaeIaEGEeKNa6EfGASSWw" key="tooltip_text" value="WifiBot"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_KKaeIqEGEeKNa6EfGASSWw" key="diagram_name" value="WifiBot"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_KKaeI6EGEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehojiAEeKDAMEjnOLmPA" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0ehoziAEeKDAMEjnOLmPA" type="7073">
-        <children xmi:type="notation:Shape" xmi:id="_k0ehpDiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehpTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehpjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehpziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehqDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehqTiAEeKDAMEjnOLmPA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehqjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_k0ehqziAEeKDAMEjnOLmPA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_k0ehrDiAEeKDAMEjnOLmPA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_k0ehrTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ehrjiAEeKDAMEjnOLmPA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0ehrziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehsDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehsTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehsjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehsziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehtDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehtTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehtjiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehtziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehuDiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehuTiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehujiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehuziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0ehvDiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehvTiAEeKDAMEjnOLmPA" x="-131"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0ehvjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehvziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Ll9DiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ehwDiAEeKDAMEjnOLmPA" x="501" y="100"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0ehwTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehwjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehwziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehxDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehxTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehxjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehxziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehyDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehyTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehyjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehyziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehzDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehzTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0ehzjiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehzziAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0eh0DiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eh0TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Ll-DiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eh0jiAEeKDAMEjnOLmPA" x="-10" y="32"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0eh0ziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eh1DiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh1TiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eh1jiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh1ziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eh2DiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh2TiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eh2jiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh2ziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh3DiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh3TiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh3jiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh3ziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0eh4DiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eh4TiAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0eh4jiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eh4ziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Ll_DiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eh5DiAEeKDAMEjnOLmPA" x="-10" y="84"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0eh5TiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eh5jiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh5ziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eh6DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh6TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eh6jiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh6ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eh7DiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh7TiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh7jiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh7ziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh8DiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh8TiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0eh8jiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eh8ziAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0eh9DiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eh9TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmADiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eh9jiAEeKDAMEjnOLmPA" x="-10" y="155"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LmBTiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eh9ziAEeKDAMEjnOLmPA" x="120" y="34" width="511" height="188"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0eh-DiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eh-TiAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0eh-jiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eh-ziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh_DiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eh_TiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh_jiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eh_ziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiADiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiATiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiAjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiAziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiBDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiBTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiBjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eiBziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiCDiAEeKDAMEjnOLmPA" x="25" y="-6"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eiCTiAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiCjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmBjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eiCziAEeKDAMEjnOLmPA" x="-11" y="106" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0eiDDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiDTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiDjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiDziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiEDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiETiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiEjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiEziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiFDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiFTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiFjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiFziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiGDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eiGTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiGjiAEeKDAMEjnOLmPA" x="15" y="-3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eiGziAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiHDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmBziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eiHTiAEeKDAMEjnOLmPA" x="-11" y="158" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0eiHjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiHziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiIDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiITiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiIjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiIziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiJDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiJTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiJjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiJziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiKDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiKTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiKjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eiKziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiLDiAEeKDAMEjnOLmPA" x="25" y="-5"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eiLTiAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiLjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmCDiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eiLziAEeKDAMEjnOLmPA" x="-10" y="230" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0eiMDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiMTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiMjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiMziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiNDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiNTiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiNjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiNziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiODiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiOTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiOjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiOziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiPDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eiPTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiPjiAEeKDAMEjnOLmPA" x="-86" y="-13"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eiPziAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiQDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmCTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eiQTiAEeKDAMEjnOLmPA" x="746" y="173" width="20" height="20"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LmBDiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eiQjiAEeKDAMEjnOLmPA" x="105" y="45" width="756" height="396"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0eiQziAEeKDAMEjnOLmPA"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdh37bEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0Ll8TiAEeKDAMEjnOLmPA"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0Ll8TiAEeKDAMEjnOLmPA"/>
-    <edges xmi:type="notation:Connector" xmi:id="_k0eiRDiAEeKDAMEjnOLmPA" type="4013" source="_k0eh-jiAEeKDAMEjnOLmPA" target="_k0ehwTiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiRTiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiRjiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiRziAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiSDiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiSTiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiSjiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiSziAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiTDiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0eiTTiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LmCjiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0eiTjiAEeKDAMEjnOLmPA" points="[10, -2, -115, -3]$[126, -9, 1, -10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0eiTziAEeKDAMEjnOLmPA" type="4013" source="_k0eiDDiAEeKDAMEjnOLmPA" target="_k0eh0ziAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiUDiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiUTiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiUjiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiUziAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiVDiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiVTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiVjiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiVziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0eiWDiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LmETiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0eiWTiAEeKDAMEjnOLmPA" points="[10, 4, -115, 3]$[124, 11, -1, 10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0eiWjiAEeKDAMEjnOLmPA" type="4013" source="_k0eiHjiAEeKDAMEjnOLmPA" target="_k0eh5TiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiWziAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiXDiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiXTiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiXjiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiXziAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiYDiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiYTiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiYjiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0eiYziAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LmGDiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0eiZDiAEeKDAMEjnOLmPA" points="[10, -1, -115, -2]$[122, -9, -3, -10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0eiZTiAEeKDAMEjnOLmPA" type="4013" source="_k0ehrziAEeKDAMEjnOLmPA" target="_k0eiMDiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiZjiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiZziAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiaDiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiaTiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiajiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiaziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0eibDiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eibTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0eibjiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LmHziAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0eibziAEeKDAMEjnOLmPA" points="[10, -6, -110, -4]$[123, -12, 3, -10]"/>
-    </edges>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_k0eicDiAEeKDAMEjnOLmPA" type="CompositeStructure" name="P1-Sensors" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_k0eicTiAEeKDAMEjnOLmPA" type="2073" fontName="Segoe UI" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eicjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eicziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eidDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eidTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eidjiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eidziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_1WqF4KEGEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0VaYjiAEeKDAMEjnOLmPA">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_1WqF4aEGEeKNa6EfGASSWw" key="tooltip_text" value="WifiBot"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_1WqF4qEGEeKNa6EfGASSWw" key="diagram_name" value="WifiBot"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_1WqF46EGEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0eifDiAEeKDAMEjnOLmPA" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0eifTiAEeKDAMEjnOLmPA" type="7073">
-        <children xmi:type="notation:Shape" xmi:id="_k0eifjiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eifziAEeKDAMEjnOLmPA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eigDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eigTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eigjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eigziAEeKDAMEjnOLmPA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eihDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_k0eihTiAEeKDAMEjnOLmPA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_k0eihjiAEeKDAMEjnOLmPA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_k0eihziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eiiDiAEeKDAMEjnOLmPA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0eiiTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiijiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiiziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eijDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eijTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eijjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eijziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eikDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eikTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eikjiAEeKDAMEjnOLmPA" key="StereotypeList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eikziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eilDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eilTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0eiljiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eilziAEeKDAMEjnOLmPA" x="-271"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0eimDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eimTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnOjiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eimjiAEeKDAMEjnOLmPA" x="396" y="155"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0eimziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0einDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0einTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0einjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0einziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eioDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eioTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiojiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eioziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eipDiAEeKDAMEjnOLmPA" key="StereotypeList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eipTiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eipjiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eipziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0eiqDiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiqTiAEeKDAMEjnOLmPA" x="-301" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0eiqjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiqziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnPjiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eirDiAEeKDAMEjnOLmPA" x="396" y="125"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0eirTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eirjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eirziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eisDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eisTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eisjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eisziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eitDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eitTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eitjiAEeKDAMEjnOLmPA" key="StereotypeList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eitziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiuDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiuTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0eiujiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiuziAEeKDAMEjnOLmPA" x="-221" y="4"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0eivDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eivTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnQjiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eivjiAEeKDAMEjnOLmPA" x="396" y="85"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0eivziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiwDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiwTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiwjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiwziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eixDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eixTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eixjiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eixziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiyDiAEeKDAMEjnOLmPA" key="StereotypeList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiyTiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiyjiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiyziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0eizDiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eizTiAEeKDAMEjnOLmPA" x="-166" y="-1"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0eizjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eizziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnRjiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ei0DiAEeKDAMEjnOLmPA" x="396" y="30"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0ei0TiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ei0jiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei0ziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ei1DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei1TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ei1jiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei1ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ei2DiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei2TiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei2jiAEeKDAMEjnOLmPA" key="StereotypeList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei2ziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei3DiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei3TiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0ei3jiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ei3ziAEeKDAMEjnOLmPA" x="-186" y="4"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0ei4DiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ei4TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnSjiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ei4jiAEeKDAMEjnOLmPA" x="396" y="55"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LnijiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ei4ziAEeKDAMEjnOLmPA" x="50" y="5" width="406" height="172"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0ei5DiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ei5TiAEeKDAMEjnOLmPA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei5jiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ei5ziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei6DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ei6TiAEeKDAMEjnOLmPA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei6jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_k0ei6ziAEeKDAMEjnOLmPA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_k0ei7DiAEeKDAMEjnOLmPA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_k0ei7TiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ei7jiAEeKDAMEjnOLmPA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0ei7ziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ei8DiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei8TiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ei8jiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei8ziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ei9DiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei9TiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ei9jiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei9ziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei-DiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei-TiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei-jiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei-ziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0ei_DiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ei_TiAEeKDAMEjnOLmPA" x="-101" y="1"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0ei_jiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ei_ziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnYDiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejADiAEeKDAMEjnOLmPA" x="176" y="30"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LniziAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejATiAEeKDAMEjnOLmPA" x="470" y="350" width="186"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0ejAjiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejAziAEeKDAMEjnOLmPA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejBDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejBTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejBjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejBziAEeKDAMEjnOLmPA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejCDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_k0ejCTiAEeKDAMEjnOLmPA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_k0ejCjiAEeKDAMEjnOLmPA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_k0ejCziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejDDiAEeKDAMEjnOLmPA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0ejDTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejDjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejDziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejEDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejETiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejEjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejEziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejFDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejFTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejFjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejFziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejGDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejGTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejGjiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejGziAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejHDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejHTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnTziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejHjiAEeKDAMEjnOLmPA" x="-10" y="42"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0ejHziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejIDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejITiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejIjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejIziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejJDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejJTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejJjiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejJziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejKDiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejKTiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejKjiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejKziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejLDiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejLTiAEeKDAMEjnOLmPA" x="25" y="3"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejLjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejLziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnUziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejMDiAEeKDAMEjnOLmPA" x="-10" y="17"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0ejMTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejMjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejMziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejNDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejNTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejNjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejNziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejODiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejOTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejOjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejOziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejPDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejPTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejPjiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejPziAEeKDAMEjnOLmPA" x="-311" y="-5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejQDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejQTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnVziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejQjiAEeKDAMEjnOLmPA" x="381" y="95"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0ejQziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejRDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejRTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejRjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejRziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejSDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejSTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejSjiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejSziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejTDiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejTTiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejTjiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejTziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejUDiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejUTiAEeKDAMEjnOLmPA" x="-306" y="16"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejUjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejUziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnWziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejVDiAEeKDAMEjnOLmPA" x="380" y="54" width="20" height="20"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LnjDiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejVTiAEeKDAMEjnOLmPA" x="265" y="210" width="391" height="122"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0ejVjiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejVziAEeKDAMEjnOLmPA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejWDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejWTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejWjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejWziAEeKDAMEjnOLmPA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejXDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_k0ejXTiAEeKDAMEjnOLmPA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_k0ejXjiAEeKDAMEjnOLmPA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_k0ejXziAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejYDiAEeKDAMEjnOLmPA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0ejYTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejYjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejYziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejZDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejZTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejZjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejZziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejaDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejaTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejajiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejaziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejbDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejbTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejbjiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejbziAEeKDAMEjnOLmPA" x="-101" y="1"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejcDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejcTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnZTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejcjiAEeKDAMEjnOLmPA" x="185" y="55" width="20" height="20"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LnjTiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejcziAEeKDAMEjnOLmPA" x="475" y="575" width="196"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0ejdDiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejdTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejdjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejdziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejeDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejeTiAEeKDAMEjnOLmPA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejejiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_k0ejeziAEeKDAMEjnOLmPA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_k0ejfDiAEeKDAMEjnOLmPA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_k0ejfTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejfjiAEeKDAMEjnOLmPA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0ejfziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejgDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejgTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejgjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejgziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejhDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejhTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejhjiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejhziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejiDiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejiTiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejijiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejiziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejjDiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejjTiAEeKDAMEjnOLmPA" x="-126"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejjjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejjziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnajiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejkDiAEeKDAMEjnOLmPA" x="190" y="70"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0ejkTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejkjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejkziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejlDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejlTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejljiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejlziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejmDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejmTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejmjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejmziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejnDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejnTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejnjiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejnziAEeKDAMEjnOLmPA" x="-136" y="2"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejoDiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejoTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnbjiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejojiAEeKDAMEjnOLmPA" x="215" y="31" width="20" height="20"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LnjjiAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejoziAEeKDAMEjnOLmPA" x="440" y="465" width="226"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_k0ejpDiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejpTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejpjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejpziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejqDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejqTiAEeKDAMEjnOLmPA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejqjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_k0ejqziAEeKDAMEjnOLmPA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_k0ejrDiAEeKDAMEjnOLmPA" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_k0ejrTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejrjiAEeKDAMEjnOLmPA"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0ejrziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejsDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejsTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejsjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejsziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejtDiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejtTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejtjiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejtziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejuDiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejuTiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejujiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejuziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejvDiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejvTiAEeKDAMEjnOLmPA" x="-91" y="5"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejvjiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejvziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LncDiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejwDiAEeKDAMEjnOLmPA" x="211" y="70"/>
-          </children>
-          <children xmi:type="notation:Shape" xmi:id="_k0ejwTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejwjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejwziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejxDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejxTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejxjiAEeKDAMEjnOLmPA" source="QualifiedName">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejxziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-            </eAnnotations>
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejyDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejyTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejyjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejyziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejzDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejzTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-            </eAnnotations>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejzjiAEeKDAMEjnOLmPA" type="5125">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejzziAEeKDAMEjnOLmPA" x="-126" y="1"/>
-            </children>
-            <children xmi:type="notation:DecorationNode" xmi:id="_k0ej0DiAEeKDAMEjnOLmPA" visible="false" type="6029">
-              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ej0TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-            </children>
-            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LndDiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ej0jiAEeKDAMEjnOLmPA" x="211" y="44" width="20" height="20"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LnjziAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ej0ziAEeKDAMEjnOLmPA" x="451" y="680" width="221" height="101"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0ej1DiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ej1TiAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0ej1jiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ej1ziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej2DiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ej2TiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej2jiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ej2ziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej3DiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ej3TiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej3jiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej3ziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej4DiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej4TiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej4jiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ej4ziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ej5DiAEeKDAMEjnOLmPA" x="-291" y="22"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ej5TiAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ej5jiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LndjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ej5ziAEeKDAMEjnOLmPA" x="835" y="343" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0ej6DiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ej6TiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej6jiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ej6ziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej7DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ej7TiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej7jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ej7ziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej8DiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej8TiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej8jiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej8ziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej9DiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ej9TiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ej9jiAEeKDAMEjnOLmPA" x="-301" y="-20"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ej9ziAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ej-DiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnejiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ej-TiAEeKDAMEjnOLmPA" x="835" y="302" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0ej-jiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ej-ziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej_DiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ej_TiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej_jiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ej_ziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekADiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekATiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekAjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekAziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekBDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekBTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekBjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekBziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekCDiAEeKDAMEjnOLmPA" x="-96" y="10"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekCTiAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekCjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnfjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ekCziAEeKDAMEjnOLmPA" x="835" y="418" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0ekDDiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekDTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekDjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekDziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekEDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekETiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekEjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekEziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekFDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekFTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekFjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekFziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekGDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekGTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekGjiAEeKDAMEjnOLmPA" x="-101" y="10"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekGziAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekHDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LngjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ekHTiAEeKDAMEjnOLmPA" x="836" y="670"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0ekHjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekHziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekIDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekITiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekIjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekIziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekJDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekJTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekJjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekJziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekKDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekKTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekKjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekKziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekLDiAEeKDAMEjnOLmPA" x="-131" y="11"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekLTiAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekLjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnhjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ekLziAEeKDAMEjnOLmPA" x="835" y="573" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0ekMDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekMTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekMjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekMziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekNDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekNTiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekNjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekNziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekODiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekOTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekOjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekOziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekPDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekPTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekPjiAEeKDAMEjnOLmPA" x="-126" y="-8"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekPziAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekQDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnkDiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ekQTiAEeKDAMEjnOLmPA" x="836" y="753" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0ekQjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekQziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekRDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekRTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekRjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekRziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekSDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekSTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekSjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekSziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekTDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekTTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekTjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekTziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekUDiAEeKDAMEjnOLmPA" x="-86" y="-10"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekUTiAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekUjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnkTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ekUziAEeKDAMEjnOLmPA" x="836" y="780" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0ekVDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekVTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekVjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekVziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekWDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekWTiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekWjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekWziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekXDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekXTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekXjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekXziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekYDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekYTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekYjiAEeKDAMEjnOLmPA" x="-136" y="-6"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekYziAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekZDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnkjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ekZTiAEeKDAMEjnOLmPA" x="836" y="536" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0ekZjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekZziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekaDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekaTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekajiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekaziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekbDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekbTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekbjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekbziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekcDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekcTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekcjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekcziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekdDiAEeKDAMEjnOLmPA" x="-116" y="-6"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekdTiAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekdjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnkziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ekdziAEeKDAMEjnOLmPA" x="835" y="73" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0ekeDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekeTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekejiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekeziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekfDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekfTiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekfjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekfziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekgDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekgTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekgjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekgziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekhDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekhTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekhjiAEeKDAMEjnOLmPA" x="-136" y="-9"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekhziAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekiDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnlDiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ekiTiAEeKDAMEjnOLmPA" x="835" y="98" width="20" height="20"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0ekijiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekiziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekjDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekjTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekjjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekjziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekkDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekkTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekkjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekkziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eklDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eklTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekljiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eklziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekmDiAEeKDAMEjnOLmPA" x="-186" y="-9"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekmTiAEeKDAMEjnOLmPA" visible="false" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekmjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnlTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ekmziAEeKDAMEjnOLmPA" x="835" y="128" width="20" height="20"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LndTiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eknDiAEeKDAMEjnOLmPA" x="-320" y="20" width="846" height="851"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0eknTiAEeKDAMEjnOLmPA"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdiH7bEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0LnODiAEeKDAMEjnOLmPA"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0LnODiAEeKDAMEjnOLmPA"/>
-    <edges xmi:type="notation:Connector" xmi:id="_k0eknjiAEeKDAMEjnOLmPA" type="4013" source="_k0ejQziAEeKDAMEjnOLmPA" target="_k0ej6DiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0eknziAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekoDiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekoTiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekojiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekoziAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekpDiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekpTiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekpjiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0ekpziAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnljiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ekqDiAEeKDAMEjnOLmPA" points="[10, -2, -169, 0]$[175, -2, -4, 0]"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0ekqTiAEeKDAMEjnOLmPA" id="(0.2,0.5)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0ekqjiAEeKDAMEjnOLmPA" type="4013" source="_k0ejMTiAEeKDAMEjnOLmPA" target="_k0ej1jiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekqziAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekrDiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekrTiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekrjiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekrziAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eksDiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0eksTiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eksjiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0eksziAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnnTiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ektDiAEeKDAMEjnOLmPA" points="[10, 3, -175, -2]$[186, -5, 1, -10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0ektTiAEeKDAMEjnOLmPA" type="4013" source="_k0ei7ziAEeKDAMEjnOLmPA" target="_k0ej-jiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ektjiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ektziAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekuDiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekuTiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekujiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekuziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekvDiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekvTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0ekvjiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnpDiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ekvziAEeKDAMEjnOLmPA" points="[10, -1, -167, 11]$[175, -13, -2, -1]"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0ekwDiAEeKDAMEjnOLmPA" id="(0.1,0.4)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0ekwTiAEeKDAMEjnOLmPA" type="4013" source="_k0ejfziAEeKDAMEjnOLmPA" target="_k0ekHjiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekwjiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekwziAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekxDiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekxTiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekxjiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekxziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekyDiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekyTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0ekyjiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnqziAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ekyziAEeKDAMEjnOLmPA" points="[10, -1, -165, 0]$[84, -1, -91, 0]$[165, -1, -10, 0]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0ekzDiAEeKDAMEjnOLmPA" type="4013" source="_k0ejwTiAEeKDAMEjnOLmPA" target="_k0ekMDiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekzTiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekzjiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekzziAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek0DiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek0TiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek0jiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek0ziAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek1DiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0ek1TiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnsjiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ek1jiAEeKDAMEjnOLmPA" points="[10, 0, -159, -4]$[170, -6, 1, -10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0ek1ziAEeKDAMEjnOLmPA" type="4013" source="_k0ejrziAEeKDAMEjnOLmPA" target="_k0ekQjiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek2DiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek2TiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek2jiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek2ziAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek3DiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek3TiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek3jiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek3ziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0ek4DiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnuTiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ek4TiAEeKDAMEjnOLmPA" points="[10, 6, -159, 1]$[168, 15, -1, 10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0ek4jiAEeKDAMEjnOLmPA" type="4013" source="_k0ejYTiAEeKDAMEjnOLmPA" target="_k0ekDDiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek4ziAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek5DiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek5TiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek5jiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek5ziAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek6DiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek6TiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek6jiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0ek6ziAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnwDiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ek7DiAEeKDAMEjnOLmPA" points="[10, -6, -160, -5]$[169, -11, -1, -10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0ek7TiAEeKDAMEjnOLmPA" type="4013" source="_k0ejkTiAEeKDAMEjnOLmPA" target="_k0ekVDiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek7jiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek7ziAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek8DiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek8TiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek8jiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek8ziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek9DiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek9TiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0ek9jiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnxziAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ek9ziAEeKDAMEjnOLmPA" points="[10, 0, -165, -3]$[172, -7, -3, -10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0ek-DiAEeKDAMEjnOLmPA" type="4013" source="_k0eimziAEeKDAMEjnOLmPA" target="_k0ejHziAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek-TiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek-jiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek-ziAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek_DiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek_TiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek_jiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek_ziAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elADiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0elATiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnzjiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0elAjiAEeKDAMEjnOLmPA" points="[5, -1, 201, -91]$[37, -1, 233, -91]$[37, 53, 233, -37]$[-226, 53, -30, -37]$[-226, 90, -30, 0]$[-206, 90, -10, 0]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0elAziAEeKDAMEjnOLmPA" id="(0.75,0.85)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0elBDiAEeKDAMEjnOLmPA" type="4013" source="_k0eiiTiAEeKDAMEjnOLmPA" target="_k0ejDTiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0elBTiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elBjiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0elBziAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elCDiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0elCTiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elCjiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0elCziAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elDDiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0elDTiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Ln1TiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0elDjiAEeKDAMEjnOLmPA" points="[4, -5, 207, -97]$[22, -5, 225, -97]$[22, 17, 225, -75]$[-242, 17, -39, -75]$[-242, 93, -39, 1]$[-207, 93, -4, 1]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0elDziAEeKDAMEjnOLmPA" id="(0.8,0.65)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0elEDiAEeKDAMEjnOLmPA" id="(0.2,0.65)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0elETiAEeKDAMEjnOLmPA" type="4013" source="_k0eirTiAEeKDAMEjnOLmPA" target="_k0ekijiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0elEjiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elEziAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0elFDiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elFTiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0elFjiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elFziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0elGDiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elGTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0elGjiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Ln3DiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0elGziAEeKDAMEjnOLmPA" points="[10, 0, -375, -34]$[380, 24, -5, -10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0elHDiAEeKDAMEjnOLmPA" type="4013" source="_k0ei0TiAEeKDAMEjnOLmPA" target="_k0ekeDiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0elHTiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elHjiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0elHziAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elIDiAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0elITiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elIjiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0elIziAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elJDiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0elJTiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Ln4ziAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0elJjiAEeKDAMEjnOLmPA" points="[10, 0, -375, -17]$[385, 7, 0, -10]"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0elJziAEeKDAMEjnOLmPA" type="4013" source="_k0eivziAEeKDAMEjnOLmPA" target="_k0ekZjiAEeKDAMEjnOLmPA" lineColor="0">
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0elKDiAEeKDAMEjnOLmPA" visible="false" type="6025">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elKTiAEeKDAMEjnOLmPA" y="60"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0elKjiAEeKDAMEjnOLmPA" visible="false" type="6050">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elKziAEeKDAMEjnOLmPA" y="-20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0elLDiAEeKDAMEjnOLmPA" visible="false" type="6051">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elLTiAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0elLjiAEeKDAMEjnOLmPA" visible="false" type="6052">
-        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elLziAEeKDAMEjnOLmPA" y="20"/>
-      </children>
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0elMDiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Ln6jiAEeKDAMEjnOLmPA"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0elMTiAEeKDAMEjnOLmPA" points="[10, -3, -375, 1]$[385, 6, 0, 10]"/>
-    </edges>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_k0elMjiAEeKDAMEjnOLmPA" type="CompositeStructure" name="P2_Proximetry_Systems" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_k0elMziAEeKDAMEjnOLmPA" type="2073" fontHeight="8" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elNDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elNTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elNjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elNziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elODiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elOTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0elOjiAEeKDAMEjnOLmPA" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0elOziAEeKDAMEjnOLmPA" type="7073">
-        <children xmi:type="notation:Shape" xmi:id="_k0elPDiAEeKDAMEjnOLmPA" type="3070" fontHeight="8" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elPTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elPjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elPziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elQDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elQTiAEeKDAMEjnOLmPA" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elQjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_k0elQziAEeKDAMEjnOLmPA" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_k0elRDiAEeKDAMEjnOLmPA" visible="false" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_k0elRTiAEeKDAMEjnOLmPA"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elRjiAEeKDAMEjnOLmPA"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LmqziAEeKDAMEjnOLmPA"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elRziAEeKDAMEjnOLmPA" x="20" y="157" width="191"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0elSDiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elSTiAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0elSjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elSziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elTDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elTTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elTjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elTziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elUDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0elUTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elUjiAEeKDAMEjnOLmPA" x="-106"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0elUziAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elVDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmkziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elVTiAEeKDAMEjnOLmPA" x="426" y="35"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0elVjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elVziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elWDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elWTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elWjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elWziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elXDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0elXTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elXjiAEeKDAMEjnOLmPA" x="-101"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0elXziAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elYDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmlziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elYTiAEeKDAMEjnOLmPA" x="426" y="175"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0elYjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elYziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elZDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elZTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elZjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elZziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elaDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0elaTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elajiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0elaziAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elbDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmmziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elbTiAEeKDAMEjnOLmPA" x="-10" y="145"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0elbjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elbziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elcDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elcTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elcjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elcziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eldDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eldTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eldjiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eldziAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eleDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmnziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eleTiAEeKDAMEjnOLmPA" x="-10" y="50"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0elejiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eleziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elfDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elfTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elfjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elfziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elgDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0elgTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elgjiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0elgziAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elhDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmoziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elhTiAEeKDAMEjnOLmPA" x="-10" y="75"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0elhjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elhziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eliDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eliTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elijiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eliziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eljDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eljTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eljjiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eljziAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elkDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmpziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elkTiAEeKDAMEjnOLmPA" x="-10" y="115"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LmkTiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elkjiAEeKDAMEjnOLmPA" x="25" y="30" width="436" height="321"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0elkziAEeKDAMEjnOLmPA" type="2109" fontHeight="8" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ellDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ellTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elljiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ellziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elmDiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elmTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0elmjiAEeKDAMEjnOLmPA" type="5192"/>
-      <element xmi:type="uml:Comment" href="YouthChallenge.uml#_k0LmkjiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elmziAEeKDAMEjnOLmPA" x="480" y="75" width="461"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0elnDiAEeKDAMEjnOLmPA" type="2073" fontHeight="8" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elnTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elnjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elnziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eloDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eloTiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elojiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0eloziAEeKDAMEjnOLmPA" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0elpDiAEeKDAMEjnOLmPA" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0elpTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elpjiAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0elpziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elqDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elqTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elqjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elqziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elrDiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elrTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0elrjiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elrziAEeKDAMEjnOLmPA" x="-106" y="5"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0elsDiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elsTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmsDiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elsjiAEeKDAMEjnOLmPA" x="326" y="36"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0elsziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eltDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eltTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eltjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eltziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eluDiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eluTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0elujiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eluziAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0elvDiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elvTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmtDiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elvjiAEeKDAMEjnOLmPA" x="-10" y="31"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0elvziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elwDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elwTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elwjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elwziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elxDiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elxTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0elxjiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elxziAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0elyDiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elyTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmuDiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elyjiAEeKDAMEjnOLmPA" x="-10" y="51"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LmrjiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elyziAEeKDAMEjnOLmPA" x="60" y="394" width="336"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0elzDiAEeKDAMEjnOLmPA" type="2109" fontHeight="8" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elzTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elzjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elzziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0el0DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0el0TiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0el0jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0el0ziAEeKDAMEjnOLmPA" type="5192"/>
-      <element xmi:type="uml:Comment" href="YouthChallenge.uml#_k0LmrziAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0el1DiAEeKDAMEjnOLmPA" x="532" y="414" width="374"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0el1TiAEeKDAMEjnOLmPA" type="2073" fontHeight="8" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0el1jiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0el1ziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0el2DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0el2TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0el2jiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0el2ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0el3DiAEeKDAMEjnOLmPA" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0el3TiAEeKDAMEjnOLmPA" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0el3jiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0el3ziAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0el4DiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0el4TiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0el4jiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0el4ziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0el5DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0el5TiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0el5jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0el5ziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0el6DiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0el6TiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0el6jiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmuziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0el6ziAEeKDAMEjnOLmPA" x="-10" y="67"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0el7DiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0el7TiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0el7jiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0el7ziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0el8DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0el8TiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0el8jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0el8ziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0el9DiAEeKDAMEjnOLmPA" x="-156" y="-15"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0el9TiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0el9jiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmvziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0el9ziAEeKDAMEjnOLmPA" x="218" y="67"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0el-DiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0el-TiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0el-jiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0el-ziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0el_DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0el_TiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0el_jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0el_ziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emADiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0emATiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emAjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmwziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emAziAEeKDAMEjnOLmPA" x="-10" y="37"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LmuTiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emBDiAEeKDAMEjnOLmPA" x="118" y="538" width="228"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0emBTiAEeKDAMEjnOLmPA" type="2109" fontHeight="8" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emBjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emBziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emCDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emCTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emCjiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emCziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0emDDiAEeKDAMEjnOLmPA" type="5192"/>
-      <element xmi:type="uml:Comment" href="YouthChallenge.uml#_k0LmujiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emDTiAEeKDAMEjnOLmPA" x="510" y="565" width="266"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0emDjiAEeKDAMEjnOLmPA" type="2073" fontHeight="8" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emDziAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emEDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emETiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emEjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emEziAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emFDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0emFTiAEeKDAMEjnOLmPA" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0emFjiAEeKDAMEjnOLmPA" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0emFziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emGDiAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0emGTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emGjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emGziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emHDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emHTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emHjiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emHziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0emIDiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emITiAEeKDAMEjnOLmPA" x="20" y="5"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0emIjiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emIziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmxjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emJDiAEeKDAMEjnOLmPA" x="-10" y="280"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0emJTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emJjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emJziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emKDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emKTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emKjiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emKziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0emLDiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emLTiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0emLjiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emLziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmyjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emMDiAEeKDAMEjnOLmPA" x="-10" y="250"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0emMTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emMjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emMziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emNDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emNTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emNjiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emNziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0emODiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emOTiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0emOjiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emOziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmzjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emPDiAEeKDAMEjnOLmPA" x="-10" y="25"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0emPTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emPjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emPziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emQDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emQTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emQjiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emQziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0emRDiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emRTiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0emRjiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emRziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm0jiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emSDiAEeKDAMEjnOLmPA" x="-10" y="55"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0emSTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emSjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emSziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emTDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emTTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emTjiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emTziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0emUDiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emUTiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0emUjiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emUziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm1jiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emVDiAEeKDAMEjnOLmPA" x="-10" y="100"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0emVTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emVjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emVziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emWDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emWTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emWjiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emWziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0emXDiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emXTiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0emXjiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emXziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm3TiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emYDiAEeKDAMEjnOLmPA" x="-10" y="150"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0emYTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emYjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emYziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emZDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emZTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emZjiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emZziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0emaDiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emaTiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0emajiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emaziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm3jiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0embDiAEeKDAMEjnOLmPA" x="-10" y="190"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0embTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0embjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0embziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emcDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emcTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emcjiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emcziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0emdDiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emdTiAEeKDAMEjnOLmPA" x="-101"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0emdjiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emdziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm3ziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emeDiAEeKDAMEjnOLmPA" x="291" y="60"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0emeTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emejiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emeziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emfDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emfTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emfjiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emfziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0emgDiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emgTiAEeKDAMEjnOLmPA" x="-101"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0emgjiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emgziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm4DiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emhDiAEeKDAMEjnOLmPA" x="291" y="90"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0emhTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emhjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emhziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emiDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emiTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emijiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emiziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0emjDiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emjTiAEeKDAMEjnOLmPA" x="-161" y="5"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0emjjiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emjziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm4TiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emkDiAEeKDAMEjnOLmPA" x="291" y="125"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0emkTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emkjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emkziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emlDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emlTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emljiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emlziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0emmDiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emmTiAEeKDAMEjnOLmPA" x="-116" y="5"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0emmjiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emmziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm4jiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emnDiAEeKDAMEjnOLmPA" x="291" y="160"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0emnTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emnjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emnziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emoDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emoTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emojiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emoziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0empDiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0empTiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0empjiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0empziAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm4ziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emqDiAEeKDAMEjnOLmPA" x="-10" y="225"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LmxDiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emqTiAEeKDAMEjnOLmPA" x="95" y="655" width="301" height="311"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0emqjiAEeKDAMEjnOLmPA" type="2109" fontHeight="8" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emqziAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emrDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emrTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emrjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emrziAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emsDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0emsTiAEeKDAMEjnOLmPA" type="5192"/>
-      <element xmi:type="uml:Comment" href="YouthChallenge.uml#_k0LmxTiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emsjiAEeKDAMEjnOLmPA" x="530" y="795"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0emsziAEeKDAMEjnOLmPA"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdiX7bEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0LmkDiAEeKDAMEjnOLmPA"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0LmkDiAEeKDAMEjnOLmPA"/>
-    <edges xmi:type="notation:Connector" xmi:id="_k0emtDiAEeKDAMEjnOLmPA" type="4002" source="_k0elkziAEeKDAMEjnOLmPA" target="_k0elMziAEeKDAMEjnOLmPA" lineColor="0">
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0emtTiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xsi:nil="true"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0emtjiAEeKDAMEjnOLmPA" points="[-24, -2, 160, 9]$[-171, -12, 13, -1]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0emtziAEeKDAMEjnOLmPA" id="(0.036036036036036036,0.37)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0emuDiAEeKDAMEjnOLmPA" id="(0.9701834862385321,0.4984423676012461)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0emuTiAEeKDAMEjnOLmPA" type="4002" source="_k0elzDiAEeKDAMEjnOLmPA" target="_k0elnDiAEeKDAMEjnOLmPA" lineColor="0">
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0emujiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xsi:nil="true"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0emuziAEeKDAMEjnOLmPA" points="[-53, 2, 159, -9]$[-189, 15, 23, 4]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0emvDiAEeKDAMEjnOLmPA" id="(0.08006042296072508,0.48)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0emvTiAEeKDAMEjnOLmPA" id="(0.9315476190476191,0.79)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0emvjiAEeKDAMEjnOLmPA" type="4002" source="_k0emBTiAEeKDAMEjnOLmPA" target="_k0el1TiAEeKDAMEjnOLmPA" lineColor="0">
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0emvziAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xsi:nil="true"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0emwDiAEeKDAMEjnOLmPA" points="[-35, -2, 188, 9]$[-199, -14, 24, -3]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0emwTiAEeKDAMEjnOLmPA" id="(0.13157894736842105,0.23)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0emwjiAEeKDAMEjnOLmPA" id="(0.8947368421052632,0.39)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0emwziAEeKDAMEjnOLmPA" type="4002" source="_k0emqjiAEeKDAMEjnOLmPA" target="_k0emDjiAEeKDAMEjnOLmPA" lineColor="0">
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0emxDiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xsi:nil="true"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0emxTiAEeKDAMEjnOLmPA" points="[-6, 0, 205, -20]$[-195, 23, 16, 3]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0emxjiAEeKDAMEjnOLmPA" id="(0.06,0.5)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0emxziAEeKDAMEjnOLmPA" id="(0.946843853820598,0.594855305466238)"/>
-    </edges>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_k0emyDiAEeKDAMEjnOLmPA" type="CompositeStructure" name="P3_Local_Systems" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_k0emyTiAEeKDAMEjnOLmPA" type="2073" fontHeight="8" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emyjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emyziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emzDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emzTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emzjiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emzziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0em0DiAEeKDAMEjnOLmPA" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0em0TiAEeKDAMEjnOLmPA" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0em0jiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0em0ziAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0em1DiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0em1TiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0em1jiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0em1ziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0em2DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0em2TiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0em2jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0em2ziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0em3DiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0em3TiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0em3jiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmKTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0em3ziAEeKDAMEjnOLmPA" x="-10" y="105"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0em4DiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0em4TiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0em4jiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0em4ziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0em5DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0em5TiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0em5jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0em5ziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0em6DiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0em6TiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0em6jiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmLTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0em6ziAEeKDAMEjnOLmPA" x="-10" y="16"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0em7DiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0em7TiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0em7jiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0em7ziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0em8DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0em8TiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0em8jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0em8ziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0em9DiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0em9TiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0em9jiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmMTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0em9ziAEeKDAMEjnOLmPA" x="-10" y="41"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0em-DiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0em-TiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0em-jiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0em-ziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0em_DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0em_TiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0em_jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0em_ziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enADiAEeKDAMEjnOLmPA" x="-86" y="5"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0enATiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enAjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmNTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enAziAEeKDAMEjnOLmPA" x="172" y="160"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0enBDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enBTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enBjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enBziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enCDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enCTiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enCjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0enCziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enDDiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0enDTiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enDjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmOTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enDziAEeKDAMEjnOLmPA" x="-10" y="71"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0enEDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enETiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enEjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enEziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enFDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enFTiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enFjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0enFziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enGDiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0enGTiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enGjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmPTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enGziAEeKDAMEjnOLmPA" x="-10" y="135"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0enHDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enHTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enHjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enHziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enIDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enITiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enIjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0enIziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enJDiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0enJTiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enJjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmQTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enJziAEeKDAMEjnOLmPA" x="-10" y="195"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LmJziAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enKDiAEeKDAMEjnOLmPA" x="109" y="20" width="182" height="251"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0enKTiAEeKDAMEjnOLmPA" type="2109" fontHeight="8" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enKjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enKziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enLDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enLTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enLjiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enLziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0enMDiAEeKDAMEjnOLmPA" type="5192"/>
-      <element xmi:type="uml:Comment" href="YouthChallenge.uml#_k0LmKDiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enMTiAEeKDAMEjnOLmPA" x="444" y="118" width="472"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0enMjiAEeKDAMEjnOLmPA"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdin7bEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0LmJjiAEeKDAMEjnOLmPA"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0LmJjiAEeKDAMEjnOLmPA"/>
-    <edges xmi:type="notation:Connector" xmi:id="_k0enMziAEeKDAMEjnOLmPA" type="4002" source="_k0enKTiAEeKDAMEjnOLmPA" target="_k0emyTiAEeKDAMEjnOLmPA" lineColor="0">
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0enNDiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xsi:nil="true"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0enNTiAEeKDAMEjnOLmPA" points="[-33, -1, 187, 0]$[-186, 5, 34, 6]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0enNjiAEeKDAMEjnOLmPA" id="(0.049107142857142856,0.39)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0enNziAEeKDAMEjnOLmPA" id="(0.8131868131868132,0.5418326693227091)"/>
-    </edges>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_k0enODiAEeKDAMEjnOLmPA" type="CompositeStructure" name="P4_Globa_Systems" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_k0enOTiAEeKDAMEjnOLmPA" type="2073" fontHeight="8" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enOjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enOziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enPDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enPTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enPjiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enPziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0enQDiAEeKDAMEjnOLmPA" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0enQTiAEeKDAMEjnOLmPA" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0enQjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enQziAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0enRDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enRTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enRjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enRziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enSDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enSTiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enSjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0enSziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enTDiAEeKDAMEjnOLmPA" x="-98" y="5"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0enTTiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enTjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Ll9DiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enTziAEeKDAMEjnOLmPA" x="153" y="152"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0enUDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enUTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enUjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enUziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enVDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enVTiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enVjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0enVziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enWDiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0enWTiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enWjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Ll-DiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enWziAEeKDAMEjnOLmPA" x="-10" y="37"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0enXDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enXTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enXjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enXziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enYDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enYTiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enYjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0enYziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enZDiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0enZTiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enZjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Ll_DiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enZziAEeKDAMEjnOLmPA" x="-10" y="67"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0enaDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enaTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enajiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enaziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enbDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enbTiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enbjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0enbziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0encDiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0encTiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0encjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmADiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0encziAEeKDAMEjnOLmPA" x="-10" y="112"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0Ll8jiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0endDiAEeKDAMEjnOLmPA" x="138" y="128" width="163" height="193"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0endTiAEeKDAMEjnOLmPA" type="2109" fontHeight="8" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0endjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0endziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eneDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eneTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enejiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eneziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0enfDiAEeKDAMEjnOLmPA" type="5192"/>
-      <element xmi:type="uml:Comment" href="YouthChallenge.uml#_k0Ll8ziAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enfTiAEeKDAMEjnOLmPA" x="392" y="203" width="329"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0enfjiAEeKDAMEjnOLmPA"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdi37bEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0Ll8TiAEeKDAMEjnOLmPA"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0Ll8TiAEeKDAMEjnOLmPA"/>
-    <edges xmi:type="notation:Connector" xmi:id="_k0enfziAEeKDAMEjnOLmPA" type="4002" source="_k0endTiAEeKDAMEjnOLmPA" target="_k0enOTiAEeKDAMEjnOLmPA" lineColor="0">
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0engDiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xsi:nil="true"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0engTiAEeKDAMEjnOLmPA" points="[-20, 0, 104, 0]$[-111, 1, 13, 1]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0engjiAEeKDAMEjnOLmPA" id="(0.04065040650406504,0.31)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0engziAEeKDAMEjnOLmPA" id="(0.9202453987730062,0.5492227979274611)"/>
-    </edges>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_k0enhDiAEeKDAMEjnOLmPA" type="CompositeStructure" name="A4_PathPlanning_Systems" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_k0enhTiAEeKDAMEjnOLmPA" type="2073" fontHeight="8" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enhjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enhziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eniDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eniTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enijiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eniziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0enjDiAEeKDAMEjnOLmPA" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0enjTiAEeKDAMEjnOLmPA" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0enjjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enjziAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0enkDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enkTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enkjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enkziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enlDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enlTiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enljiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0enlziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enmDiAEeKDAMEjnOLmPA" x="16" y="-10"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0enmTiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enmjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoBziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enmziAEeKDAMEjnOLmPA" x="-10" y="40"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0ennDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ennTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ennjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ennziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enoDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enoTiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enojiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0enoziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enpDiAEeKDAMEjnOLmPA" x="-71"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0enpTiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enpjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoCziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enpziAEeKDAMEjnOLmPA" x="147" y="85"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0enqDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enqTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enqjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enqziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enrDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enrTiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enrjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0enrziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ensDiAEeKDAMEjnOLmPA" x="16" y="-5"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0ensTiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ensjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoDziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ensziAEeKDAMEjnOLmPA" x="-10" y="90"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0entDiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0entTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0entjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0entziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enuDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enuTiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enujiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enuziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0envDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0envTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0envjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0envziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enwDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0enwTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enwjiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0enwziAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enxDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoEziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enxTiAEeKDAMEjnOLmPA" x="-10" y="145" width="20" height="20"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LoBTiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enxjiAEeKDAMEjnOLmPA" x="104" y="135" width="157" height="176"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0enxziAEeKDAMEjnOLmPA" type="2073" fontHeight="8" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enyDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enyTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enyjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enyziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enzDiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enzTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0enzjiAEeKDAMEjnOLmPA" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0enzziAEeKDAMEjnOLmPA" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0en0DiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0en0TiAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0en0jiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0en0ziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0en1DiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0en1TiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0en1jiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0en1ziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0en2DiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0en2TiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0en2jiAEeKDAMEjnOLmPA" x="-76" y="5"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0en2ziAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0en3DiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoFTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0en3TiAEeKDAMEjnOLmPA" x="194" y="64"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0en3jiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0en3ziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0en4DiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0en4TiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0en4jiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0en4ziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0en5DiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0en5TiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0en5jiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0en5ziAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0en6DiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoGTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0en6TiAEeKDAMEjnOLmPA" x="-10" y="19"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0en6jiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0en6ziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0en7DiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0en7TiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0en7jiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0en7ziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0en8DiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0en8TiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0en8jiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0en8ziAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0en9DiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoHTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0en9TiAEeKDAMEjnOLmPA" x="-10" y="49"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0en9jiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0en9ziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0en-DiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0en-TiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0en-jiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0en-ziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0en_DiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0en_TiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0en_jiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0en_ziAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoADiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoIjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eoATiAEeKDAMEjnOLmPA" x="-10" y="94"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LoFDiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eoAjiAEeKDAMEjnOLmPA" x="85" y="335" width="204" height="150"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0eoAziAEeKDAMEjnOLmPA" type="2109" fontHeight="8" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoBDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoBTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoBjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoBziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoCDiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoCTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0eoCjiAEeKDAMEjnOLmPA" type="5192"/>
-      <element xmi:type="uml:Comment" href="YouthChallenge.uml#_k0LoBjiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eoCziAEeKDAMEjnOLmPA" x="340" y="150" width="291"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0eoDDiAEeKDAMEjnOLmPA"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdjH7bEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0LoBDiAEeKDAMEjnOLmPA"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0LoBDiAEeKDAMEjnOLmPA"/>
-    <edges xmi:type="notation:Connector" xmi:id="_k0eoDTiAEeKDAMEjnOLmPA" type="4002" source="_k0eoAziAEeKDAMEjnOLmPA" target="_k0enhTiAEeKDAMEjnOLmPA" lineColor="0">
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0eoDjiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xsi:nil="true"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0eoDziAEeKDAMEjnOLmPA" points="[-53, -1, 173, 0]$[-217, -2, 9, -1]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0eoEDiAEeKDAMEjnOLmPA" id="(0.07290233837689133,0.41)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0eoETiAEeKDAMEjnOLmPA" id="(0.9426751592356688,0.49044585987261147)"/>
-    </edges>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_k0eoEjiAEeKDAMEjnOLmPA" type="CompositeStructure" name="A2_pilot_Systems" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_k0eoEziAEeKDAMEjnOLmPA" type="2073" fontHeight="8" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoFDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoFTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoFjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoFziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoGDiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoGTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0eoGjiAEeKDAMEjnOLmPA" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0eoGziAEeKDAMEjnOLmPA" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0eoHDiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eoHTiAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0eoHjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoHziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoIDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoITiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoIjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoIziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoJDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoJTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoJjiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoJziAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoKDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoiTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eoKTiAEeKDAMEjnOLmPA" x="-10" y="25"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0eoKjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoKziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoLDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoLTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoLjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoLziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoMDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoMTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoMjiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoMziAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoNDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LojTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eoNTiAEeKDAMEjnOLmPA" x="-10" y="160"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0eoNjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoNziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoODiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoOTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoOjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoOziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoPDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoPTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoPjiAEeKDAMEjnOLmPA" x="-156" y="-5"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoPziAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoQDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LokTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eoQTiAEeKDAMEjnOLmPA" x="227" y="150"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0eoQjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoQziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoRDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoRTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoRjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoRziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoSDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoSTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoSjiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoSziAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoTDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LolTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eoTTiAEeKDAMEjnOLmPA" x="-10" y="50"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0eoTjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoTziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoUDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoUTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoUjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoUziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoVDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoVTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoVjiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoVziAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoWDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LomTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eoWTiAEeKDAMEjnOLmPA" x="-10" y="90"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0eoWjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoWziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoXDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoXTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoXjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoXziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoYDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoYTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoYjiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoYziAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoZDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LonTiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eoZTiAEeKDAMEjnOLmPA" x="-10" y="125"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LohziAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eoZjiAEeKDAMEjnOLmPA" x="124" y="45" width="237" height="207"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0eoZziAEeKDAMEjnOLmPA" type="2073" fontHeight="8" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoaDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoaTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoajiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoaziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eobDiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eobTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0eobjiAEeKDAMEjnOLmPA" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0eobziAEeKDAMEjnOLmPA" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0eocDiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eocTiAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0eocjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eocziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eodDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eodTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eodjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eodziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoeDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoeTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoejiAEeKDAMEjnOLmPA" x="-161" y="5"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoeziAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eofDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LooziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eofTiAEeKDAMEjnOLmPA" x="211" y="74"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0eofjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eofziAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eogDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eogTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eogjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eogziAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eohDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eohTiAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eohjiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eohziAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoiDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LopziAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eoiTiAEeKDAMEjnOLmPA" x="-10" y="44"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LooTiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eoijiAEeKDAMEjnOLmPA" x="120" y="305" width="221"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0eoiziAEeKDAMEjnOLmPA" type="2109" fontHeight="8" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eojDiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eojTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eojjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eojziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eokDiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eokTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0eokjiAEeKDAMEjnOLmPA" type="5192"/>
-      <element xmi:type="uml:Comment" href="YouthChallenge.uml#_k0LoiDiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eokziAEeKDAMEjnOLmPA" x="461" y="115" width="420"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0eolDiAEeKDAMEjnOLmPA" type="2109" fontHeight="8" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eolTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoljiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eolziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eomDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eomTiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eomjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0eomziAEeKDAMEjnOLmPA" type="5192"/>
-      <element xmi:type="uml:Comment" href="YouthChallenge.uml#_k0LoojiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eonDiAEeKDAMEjnOLmPA" x="435" y="305" width="341"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0eonTiAEeKDAMEjnOLmPA"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdjX7bEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0LohjiAEeKDAMEjnOLmPA"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0LohjiAEeKDAMEjnOLmPA"/>
-    <edges xmi:type="notation:Connector" xmi:id="_k0eonjiAEeKDAMEjnOLmPA" type="4002" source="_k0eoiziAEeKDAMEjnOLmPA" target="_k0eoEziAEeKDAMEjnOLmPA" lineColor="0">
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0eonziAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xsi:nil="true"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0eooDiAEeKDAMEjnOLmPA" points="[-46, -2, 137, 0]$[-146, 6, 37, 8]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0eooTiAEeKDAMEjnOLmPA" id="(0.08440366972477065,0.55)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0eoojiAEeKDAMEjnOLmPA" id="(0.8438818565400844,0.5942028985507246)"/>
-    </edges>
-    <edges xmi:type="notation:Connector" xmi:id="_k0eooziAEeKDAMEjnOLmPA" type="4002" source="_k0eolDiAEeKDAMEjnOLmPA" target="_k0eoZziAEeKDAMEjnOLmPA" lineColor="0">
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0eopDiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xsi:nil="true"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0eopTiAEeKDAMEjnOLmPA" points="[-32, 1, 110, 0]$[-126, -1, 16, -2]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0eopjiAEeKDAMEjnOLmPA" id="(0.093841642228739,0.4)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0eopziAEeKDAMEjnOLmPA" id="(0.9276018099547512,0.41)"/>
-    </edges>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_k0eoqDiAEeKDAMEjnOLmPA" type="CompositeStructure" name="A3_Navigator_Systems" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_k0eoqTiAEeKDAMEjnOLmPA" type="2073" fontHeight="8" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoqjiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoqziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eorDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eorTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eorjiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eorziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0eosDiAEeKDAMEjnOLmPA" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_k0eosTiAEeKDAMEjnOLmPA" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_k0eosjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eosziAEeKDAMEjnOLmPA"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0eotDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eotTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eotjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eotziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eouDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eouTiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoujiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eouziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eovDiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eovTiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eovjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoQjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eovziAEeKDAMEjnOLmPA" x="-10" y="69"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0eowDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eowTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eowjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eowziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoxDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoxTiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoxjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoxziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoyDiAEeKDAMEjnOLmPA" x="-116" y="-15"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoyTiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoyjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoRjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eoyziAEeKDAMEjnOLmPA" x="172" y="104"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0eozDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eozTiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eozjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eozziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eo0DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eo0TiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eo0jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eo0ziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eo1DiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eo1TiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eo1jiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoSjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eo1ziAEeKDAMEjnOLmPA" x="-10" y="109"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0eo2DiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eo2TiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eo2jiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eo2ziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eo3DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eo3TiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eo3jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eo3ziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eo4DiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eo4TiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eo4jiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoTjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eo4ziAEeKDAMEjnOLmPA" x="-10" y="154"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_k0eo5DiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eo5TiAEeKDAMEjnOLmPA" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eo5jiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eo5ziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eo6DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eo6TiAEeKDAMEjnOLmPA" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eo6jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eo6ziAEeKDAMEjnOLmPA" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eo7DiAEeKDAMEjnOLmPA" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_k0eo7TiAEeKDAMEjnOLmPA" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eo7jiAEeKDAMEjnOLmPA" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoUjiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eo7ziAEeKDAMEjnOLmPA" x="-10" y="184"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LoQDiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eo8DiAEeKDAMEjnOLmPA" x="109" y="86" width="182" height="255"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_k0eo8TiAEeKDAMEjnOLmPA" type="2109" fontHeight="8" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eo8jiAEeKDAMEjnOLmPA" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eo8ziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eo9DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eo9TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eo9jiAEeKDAMEjnOLmPA" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eo9ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_k0eo-DiAEeKDAMEjnOLmPA" type="5192"/>
-      <element xmi:type="uml:Comment" href="YouthChallenge.uml#_k0LoQTiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eo-TiAEeKDAMEjnOLmPA" x="429" y="217" width="262"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0eo-jiAEeKDAMEjnOLmPA"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdjn7bEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0LoPziAEeKDAMEjnOLmPA"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0LoPziAEeKDAMEjnOLmPA"/>
-    <edges xmi:type="notation:Connector" xmi:id="_k0eo-ziAEeKDAMEjnOLmPA" type="4002" source="_k0eo8TiAEeKDAMEjnOLmPA" target="_k0eoqTiAEeKDAMEjnOLmPA" lineColor="0">
-      <styles xmi:type="notation:FontStyle" xmi:id="_k0eo_DiAEeKDAMEjnOLmPA" fontHeight="8"/>
-      <element xsi:nil="true"/>
-      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0eo_TiAEeKDAMEjnOLmPA" points="[-51, 0, 175, 0]$[-189, 38, 37, 38]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0eo_jiAEeKDAMEjnOLmPA" id="(0.10472279260780287,0.52)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0eo_ziAEeKDAMEjnOLmPA" id="(0.7967032967032966,0.7176470588235294)"/>
-    </edges>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_WaH_MDiuEeKFHpsdOC1X1Q" type="CompositeStructure" name="PlatformsDiagram" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_iCSVIDiuEeKFHpsdOC1X1Q" type="2073" fontName="Segoe UI" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_iCSVIjiuEeKFHpsdOC1X1Q" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_iCSVIziuEeKFHpsdOC1X1Q" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_iCSVJDiuEeKFHpsdOC1X1Q" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_iCSVJTiuEeKFHpsdOC1X1Q" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_iCSVJjiuEeKFHpsdOC1X1Q" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_iCSVJziuEeKFHpsdOC1X1Q" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_iFQwoDiuEeKFHpsdOC1X1Q" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_iFQwoTiuEeKFHpsdOC1X1Q" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_iFQwojiuEeKFHpsdOC1X1Q" key="StereotypeList" value="RobotML::RoboticMiddleware"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_iFQwoziuEeKFHpsdOC1X1Q" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_iFQwpDiuEeKFHpsdOC1X1Q" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_iFQwpTiuEeKFHpsdOC1X1Q" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_iCSVKDiuEeKFHpsdOC1X1Q" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_iCSVKTiuEeKFHpsdOC1X1Q" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_iCSVKjiuEeKFHpsdOC1X1Q"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_iCSVKziuEeKFHpsdOC1X1Q"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_iBPzUDiuEeKFHpsdOC1X1Q"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_iCSVITiuEeKFHpsdOC1X1Q" x="144" y="113"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_rlmecDiuEeKFHpsdOC1X1Q" type="2073" fontName="Segoe UI" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_rlmecjiuEeKFHpsdOC1X1Q" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_rlmecziuEeKFHpsdOC1X1Q" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_rlmedDiuEeKFHpsdOC1X1Q" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_rlmedTiuEeKFHpsdOC1X1Q" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_rlmedjiuEeKFHpsdOC1X1Q" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_rlmedziuEeKFHpsdOC1X1Q" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_rlwPcTiuEeKFHpsdOC1X1Q" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_u6pHoDiuEeKFHpsdOC1X1Q" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_u6pHoTiuEeKFHpsdOC1X1Q" key="StereotypeList" value="RobotML::BlenderMorse"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_u6pHojiuEeKFHpsdOC1X1Q" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_u6pHoziuEeKFHpsdOC1X1Q" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_u6pHpDiuEeKFHpsdOC1X1Q" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_rlmeeDiuEeKFHpsdOC1X1Q" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_rlmeeTiuEeKFHpsdOC1X1Q" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_rlmeejiuEeKFHpsdOC1X1Q"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_rlmeeziuEeKFHpsdOC1X1Q"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_rlJygDiuEeKFHpsdOC1X1Q"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_rlmecTiuEeKFHpsdOC1X1Q" x="348" y="116"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_HSZVoDivEeKFHpsdOC1X1Q" type="2073" fontName="Segoe UI" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSZVojivEeKFHpsdOC1X1Q" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSZVozivEeKFHpsdOC1X1Q" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSZVpDivEeKFHpsdOC1X1Q" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSZVpTivEeKFHpsdOC1X1Q" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSZVpjivEeKFHpsdOC1X1Q" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSZVpzivEeKFHpsdOC1X1Q" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSifkDivEeKFHpsdOC1X1Q" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSifkTivEeKFHpsdOC1X1Q" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSifkjivEeKFHpsdOC1X1Q" key="StereotypeList" value="RobotML::Platform"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSifkzivEeKFHpsdOC1X1Q" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSiflDivEeKFHpsdOC1X1Q" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSiflTivEeKFHpsdOC1X1Q" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_HSZVqDivEeKFHpsdOC1X1Q" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_HSZVqTivEeKFHpsdOC1X1Q" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_HSZVqjivEeKFHpsdOC1X1Q"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_HSZVqzivEeKFHpsdOC1X1Q"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_HR8psDivEeKFHpsdOC1X1Q"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_HSZVoTivEeKFHpsdOC1X1Q" x="145" y="225" width="326" height="136"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_WaH_MTiuEeKFHpsdOC1X1Q"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdj37bEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_O0YV0DiuEeKFHpsdOC1X1Q"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Package" href="YouthChallenge.uml#_O0YV0DiuEeKFHpsdOC1X1Q"/>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_NzHQoDivEeKFHpsdOC1X1Q" type="CompositeStructure" name="ArchitectureDiagram" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_OxmSIDivEeKFHpsdOC1X1Q" type="2073" fontName="Segoe UI" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_OxmSIjivEeKFHpsdOC1X1Q" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OxmSIzivEeKFHpsdOC1X1Q" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_OxmSJDivEeKFHpsdOC1X1Q" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OxmSJTivEeKFHpsdOC1X1Q" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_OxmSJjivEeKFHpsdOC1X1Q" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OxmSJzivEeKFHpsdOC1X1Q" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_OxmSKDivEeKFHpsdOC1X1Q" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_OxmSKTivEeKFHpsdOC1X1Q" type="7073">
-        <children xmi:type="notation:Shape" xmi:id="_QB74oDivEeKFHpsdOC1X1Q" type="3070" fontName="Segoe UI" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_QB74ojivEeKFHpsdOC1X1Q" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QB74ozivEeKFHpsdOC1X1Q" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_QB74pDivEeKFHpsdOC1X1Q" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QB74pTivEeKFHpsdOC1X1Q" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_QB74pjivEeKFHpsdOC1X1Q" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QB74pzivEeKFHpsdOC1X1Q" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_QB74qDivEeKFHpsdOC1X1Q" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_QB74qTivEeKFHpsdOC1X1Q" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_QB74qjivEeKFHpsdOC1X1Q"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_QB74qzivEeKFHpsdOC1X1Q"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_QAl00DivEeKFHpsdOC1X1Q"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_QB74oTivEeKFHpsdOC1X1Q" x="20" y="20" height="81"/>
-        </children>
-        <children xmi:type="notation:Shape" xmi:id="_yv3QQDivEeKFHpsdOC1X1Q" type="3070" fontName="Segoe UI" lineColor="0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_yv3QQjivEeKFHpsdOC1X1Q" source="ShadowFigure">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_yv3QQzivEeKFHpsdOC1X1Q" key="ShadowFigure_Value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_yv3QRDivEeKFHpsdOC1X1Q" source="displayNameLabelIcon">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_yv3QRTivEeKFHpsdOC1X1Q" key="displayNameLabelIcon_value" value="false"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_yv3QRjivEeKFHpsdOC1X1Q" source="QualifiedName">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_yv3QRzivEeKFHpsdOC1X1Q" key="QualifiedNameDepth" value="1000"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_yv3QSDivEeKFHpsdOC1X1Q" type="5126"/>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_yv3QSTivEeKFHpsdOC1X1Q" type="7077">
-            <styles xmi:type="notation:TitleStyle" xmi:id="_yv3QSjivEeKFHpsdOC1X1Q"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_yv3QSzivEeKFHpsdOC1X1Q"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_yvakUDivEeKFHpsdOC1X1Q"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_yv3QQTivEeKFHpsdOC1X1Q" x="245" y="25"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_OxmSKjivEeKFHpsdOC1X1Q"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_OxmSKzivEeKFHpsdOC1X1Q"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_HR8psDivEeKFHpsdOC1X1Q"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_OxmSITivEeKFHpsdOC1X1Q" x="155" y="94" width="591" height="202"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_NzHQoTivEeKFHpsdOC1X1Q"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdkH7bEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_O0YV0DiuEeKFHpsdOC1X1Q"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Package" href="YouthChallenge.uml#_O0YV0DiuEeKFHpsdOC1X1Q"/>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_LuVHIHBiEeKpO-l0NGAU9Q" type="CompositeStructure" name="Sensors_def" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_MbKX8HBiEeKpO-l0NGAU9Q" type="2073" fontName="Segoe UI" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MbXMQHBiEeKpO-l0NGAU9Q" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MbXMQXBiEeKpO-l0NGAU9Q" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MbXMQnBiEeKpO-l0NGAU9Q" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MbXMQ3BiEeKpO-l0NGAU9Q" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MbXMRHBiEeKpO-l0NGAU9Q" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MbXMRXBiEeKpO-l0NGAU9Q" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_MbXMRnBiEeKpO-l0NGAU9Q" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_MbXMR3BiEeKpO-l0NGAU9Q" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_MbXMSHBiEeKpO-l0NGAU9Q"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MbXMSXBiEeKpO-l0NGAU9Q"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LnOTiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MbKX8XBiEeKpO-l0NGAU9Q" x="115" y="87"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_MsVAcHBiEeKpO-l0NGAU9Q" type="2073" fontName="Segoe UI" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MsVngHBiEeKpO-l0NGAU9Q" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MsVngXBiEeKpO-l0NGAU9Q" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MsVngnBiEeKpO-l0NGAU9Q" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MsVng3BiEeKpO-l0NGAU9Q" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MsVnhHBiEeKpO-l0NGAU9Q" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MsVnhXBiEeKpO-l0NGAU9Q" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_MsVnhnBiEeKpO-l0NGAU9Q" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_MsVnh3BiEeKpO-l0NGAU9Q" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_MsVniHBiEeKpO-l0NGAU9Q"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MsVniXBiEeKpO-l0NGAU9Q"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LnTjiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MsVAcXBiEeKpO-l0NGAU9Q" x="211" y="269"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_M74fYHBiEeKpO-l0NGAU9Q" type="2073" fontName="Segoe UI" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_M75GcHBiEeKpO-l0NGAU9Q" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_M75GcXBiEeKpO-l0NGAU9Q" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_M75GcnBiEeKpO-l0NGAU9Q" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_M75Gc3BiEeKpO-l0NGAU9Q" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_M75GdHBiEeKpO-l0NGAU9Q" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_M75GdXBiEeKpO-l0NGAU9Q" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_M75GdnBiEeKpO-l0NGAU9Q" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_M75Gd3BiEeKpO-l0NGAU9Q" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_M75GeHBiEeKpO-l0NGAU9Q"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_M75GeXBiEeKpO-l0NGAU9Q"/>
-      </children>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_M8tl0HBiEeKpO-l0NGAU9Q" visible="false" type="AppliedStereotypeCompartement">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_M8tl0XBiEeKpO-l0NGAU9Q" showTitle="true"/>
-        <element xmi:type="RobotML:GPSSystem" href="YouthChallenge.uml#_k0LpHDiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_M8tl0nBiEeKpO-l0NGAU9Q"/>
-      </children>
-      <children xmi:type="notation:Shape" xmi:id="_UiYWsHBiEeKpO-l0NGAU9Q" type="3069" fontName="Segoe UI" lineColor="0">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_UiY9wHBiEeKpO-l0NGAU9Q" source="ShadowFigure">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_UiY9wXBiEeKpO-l0NGAU9Q" key="ShadowFigure_Value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_UiY9wnBiEeKpO-l0NGAU9Q" source="displayNameLabelIcon">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_UiY9w3BiEeKpO-l0NGAU9Q" key="displayNameLabelIcon_value" value="false"/>
-        </eAnnotations>
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_UiY9xHBiEeKpO-l0NGAU9Q" source="QualifiedName">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_UiY9xXBiEeKpO-l0NGAU9Q" key="QualifiedNameDepth" value="1000"/>
-        </eAnnotations>
-        <children xmi:type="notation:DecorationNode" xmi:id="_UiY9xnBiEeKpO-l0NGAU9Q" type="5125">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_UiY9x3BiEeKpO-l0NGAU9Q" x="25" y="3"/>
-        </children>
-        <children xmi:type="notation:DecorationNode" xmi:id="_UiZk0HBiEeKpO-l0NGAU9Q" type="6029">
-          <layoutConstraint xmi:type="notation:Location" xmi:id="_UiZk0XBiEeKpO-l0NGAU9Q" x="25" y="-10"/>
-        </children>
-        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnYDiAEeKDAMEjnOLmPA"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_UiYWsXBiEeKpO-l0NGAU9Q" x="90" y="60"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LnXziAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_M74fYXBiEeKpO-l0NGAU9Q" x="350" y="225"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_NHCmgHBiEeKpO-l0NGAU9Q" type="2073" fontName="Segoe UI" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NHDNkHBiEeKpO-l0NGAU9Q" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NHDNkXBiEeKpO-l0NGAU9Q" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NHDNknBiEeKpO-l0NGAU9Q" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NHDNk3BiEeKpO-l0NGAU9Q" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NHDNlHBiEeKpO-l0NGAU9Q" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NHDNlXBiEeKpO-l0NGAU9Q" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_NHDNlnBiEeKpO-l0NGAU9Q" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_NHDNl3BiEeKpO-l0NGAU9Q" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_NHDNmHBiEeKpO-l0NGAU9Q"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_NHDNmXBiEeKpO-l0NGAU9Q"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LnZDiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_NHCmgXBiEeKpO-l0NGAU9Q" x="55" y="365"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_NaJvwHBiEeKpO-l0NGAU9Q" type="2073" fontName="Segoe UI" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NaKW0HBiEeKpO-l0NGAU9Q" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NaKW0XBiEeKpO-l0NGAU9Q" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NaKW0nBiEeKpO-l0NGAU9Q" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NaKW03BiEeKpO-l0NGAU9Q" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NaKW1HBiEeKpO-l0NGAU9Q" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NaKW1XBiEeKpO-l0NGAU9Q" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_NaKW1nBiEeKpO-l0NGAU9Q" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_NaKW13BiEeKpO-l0NGAU9Q" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_NaKW2HBiEeKpO-l0NGAU9Q"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_NaKW2XBiEeKpO-l0NGAU9Q"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LnaTiAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_NaJvwXBiEeKpO-l0NGAU9Q" x="306" y="72"/>
-    </children>
-    <children xmi:type="notation:Shape" xmi:id="_Nq3sUHBiEeKpO-l0NGAU9Q" type="2073" fontName="Segoe UI" lineColor="0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Nq4TYHBiEeKpO-l0NGAU9Q" source="ShadowFigure">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Nq4TYXBiEeKpO-l0NGAU9Q" key="ShadowFigure_Value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Nq4TYnBiEeKpO-l0NGAU9Q" source="displayNameLabelIcon">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Nq4TY3BiEeKpO-l0NGAU9Q" key="displayNameLabelIcon_value" value="false"/>
-      </eAnnotations>
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Nq4TZHBiEeKpO-l0NGAU9Q" source="QualifiedName">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Nq4TZXBiEeKpO-l0NGAU9Q" key="QualifiedNameDepth" value="1000"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_Nq4TZnBiEeKpO-l0NGAU9Q" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_Nq4TZ3BiEeKpO-l0NGAU9Q" type="7073">
-        <styles xmi:type="notation:TitleStyle" xmi:id="_Nq4TaHBiEeKpO-l0NGAU9Q"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Nq4TaXBiEeKpO-l0NGAU9Q"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LnbziAEeKDAMEjnOLmPA"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Nq3sUXBiEeKpO-l0NGAU9Q" x="525" y="397"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_LuVHIXBiEeKpO-l0NGAU9Q"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdkX7bEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0LnODiAEeKDAMEjnOLmPA"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0LnODiAEeKDAMEjnOLmPA"/>
-  </notation:Diagram>
-  <notation:Diagram xmi:id="_rc51sKEKEeKLUqX9IJq2Gg" type="CompositeStructure" name="WifibotEnvironmentDiagram" measurementUnit="Pixel">
-    <children xmi:type="notation:Shape" xmi:id="_sAx-0KEKEeKLUqX9IJq2Gg" type="2073" gradient="8905185, 16777215, 0">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_sG4m0KEKEeKLUqX9IJq2Gg" source="Stereotype_Annotation">
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sJHbcKEKEeKLUqX9IJq2Gg" key="StereotypeWithQualifiedNameList" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sJHbcaEKEeKLUqX9IJq2Gg" key="StereotypeList" value="RobotML::Environment"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sJHbcqEKEeKLUqX9IJq2Gg" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sJHbc6EKEeKLUqX9IJq2Gg" key="PropStereoDisplay" value=""/>
-        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sJHbdKEKEeKLUqX9IJq2Gg" key="StereotypePropertyLocation" value="Compartment"/>
-      </eAnnotations>
-      <children xmi:type="notation:DecorationNode" xmi:id="_sA7v0KEKEeKLUqX9IJq2Gg" type="5156"/>
-      <children xmi:type="notation:BasicCompartment" xmi:id="_sA7v0aEKEeKLUqX9IJq2Gg" type="7073">
-        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_sA7v1KEKEeKLUqX9IJq2Gg" source="PapyrusCSSForceValue">
-          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sA7v1aEKEeKLUqX9IJq2Gg" key="showTitle" value="true"/>
-        </eAnnotations>
-        <children xmi:type="notation:Shape" xmi:id="_wPdlwKEKEeKLUqX9IJq2Gg" type="3070" gradient="10265827, 16777215, 0">
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BBnUUKELEeKLUqX9IJq2Gg" source="PapyrusHyperLink_Diagram" references="_k0VaYjiAEeKDAMEjnOLmPA">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BBnUUaELEeKLUqX9IJq2Gg" key="tooltip_text" value="WifiBot"/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BBnUUqELEeKLUqX9IJq2Gg" key="diagram_name" value="WifiBot"/>
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BBnUU6ELEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
-          </eAnnotations>
-          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Mym2IKELEeKLUqX9IJq2Gg" source="PapyrusCSSForceValue">
-            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MywnIKELEeKLUqX9IJq2Gg" key="gradient" value="true"/>
-          </eAnnotations>
-          <children xmi:type="notation:DecorationNode" xmi:id="_wPdlwqEKEeKLUqX9IJq2Gg" type="5126">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_-TL_MKEKEeKLUqX9IJq2Gg" source="PapyrusHyperLink_Diagram" references="_k0VaYjiAEeKDAMEjnOLmPA">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_-TL_MaEKEeKLUqX9IJq2Gg" key="tooltip_text" value="WifiBot"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_-TL_MqEKEeKLUqX9IJq2Gg" key="diagram_name" value="WifiBot"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_-TL_M6EKEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
-            </eAnnotations>
-          </children>
-          <children xmi:type="notation:BasicCompartment" xmi:id="_wPdlw6EKEeKLUqX9IJq2Gg" type="7077">
-            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_wPdlxqEKEeKLUqX9IJq2Gg" source="PapyrusCSSForceValue">
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_wPdlx6EKEeKLUqX9IJq2Gg" key="showTitle" value="true"/>
-              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_zroKoKEKEeKLUqX9IJq2Gg" key="visible" value="true"/>
-            </eAnnotations>
-            <styles xmi:type="notation:TitleStyle" xmi:id="_wPdlxKEKEeKLUqX9IJq2Gg"/>
-            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_wPdlxaEKEeKLUqX9IJq2Gg"/>
-          </children>
-          <element xmi:type="uml:Property" href="YouthChallenge.uml#_wOk08KEKEeKLUqX9IJq2Gg"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_wPdlwaEKEeKLUqX9IJq2Gg" x="148" y="115"/>
-        </children>
-        <styles xmi:type="notation:TitleStyle" xmi:id="_sA7v0qEKEeKLUqX9IJq2Gg"/>
-        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_sA7v06EKEeKLUqX9IJq2Gg"/>
-      </children>
-      <element xmi:type="uml:Class" href="YouthChallenge.uml#_r_SxEKEKEeKLUqX9IJq2Gg"/>
-      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_sAx-0aEKEeKLUqX9IJq2Gg" x="137" y="70" width="449" height="381"/>
-    </children>
-    <styles xmi:type="notation:DiagramStyle" xmi:id="_rc51saEKEeKLUqX9IJq2Gg"/>
-    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdkn7bEeSFyNbnLYDCkw">
-      <owner xmi:type="uml:Model" href="YouthChallenge.uml#_k0Lj4DiAEeKDAMEjnOLmPA"/>
-      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
-    </styles>
-    <element xmi:type="uml:Model" href="YouthChallenge.uml#_k0Lj4DiAEeKDAMEjnOLmPA"/>
-  </notation:Diagram>
-  <css:ModelStyleSheets xmi:id="_EmqHEMysEeSbw_7Zqs0KhQ"/>
-</xmi:XMI>
+<?xml version="1.0" encoding="UTF-8"?>
+<xmi:XMI xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:RobotML="http://Papyrus/RobotML/1" xmlns:configuration="http://www.eclipse.org/papyrus/infra/viewpoints/configuration" xmlns:css="http://www.eclipse.org/papyrus/infra/gmfdiag/css" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:notation="http://www.eclipse.org/gmf/runtime/1.0.2/notation" xmlns:style="http://www.eclipse.org/papyrus/infra/viewpoints/policy/style" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML">
+  <notation:Diagram xmi:id="_k0VVHjiAEeKDAMEjnOLmPA" type="PapyrusUMLClassDiagram" name="DataTypesDiagram" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_k0VVHziAEeKDAMEjnOLmPA" type="2006" fontHeight="8" fillColor="8905185" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVIDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVITiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVIjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVIziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVJDiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVJTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VVJjiAEeKDAMEjnOLmPA" type="5023"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VVJziAEeKDAMEjnOLmPA" type="7015">
+        <children xmi:type="notation:Shape" xmi:id="_k0VVKDiAEeKDAMEjnOLmPA" type="3017" fontHeight="8" lineColor="0">
+          <element xmi:type="uml:EnumerationLiteral" href="YouthChallenge.uml#_k0Lj5DiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVKTiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VVKjiAEeKDAMEjnOLmPA" type="3017" fontHeight="8" lineColor="0">
+          <element xmi:type="uml:EnumerationLiteral" href="YouthChallenge.uml#_k0Lj5TiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVKziAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VVLDiAEeKDAMEjnOLmPA" type="3017" fontHeight="8" lineColor="0">
+          <element xmi:type="uml:EnumerationLiteral" href="YouthChallenge.uml#_k0Lj5jiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVLTiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VVLjiAEeKDAMEjnOLmPA" type="3017" fontHeight="8" lineColor="0">
+          <element xmi:type="uml:EnumerationLiteral" href="YouthChallenge.uml#_k0Lj5ziAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVLziAEeKDAMEjnOLmPA"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VVMDiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VVMTiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VVMjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVMziAEeKDAMEjnOLmPA"/>
+      </children>
+      <element xmi:type="uml:Enumeration" href="YouthChallenge.uml#_k0Lj4ziAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVNDiAEeKDAMEjnOLmPA" x="45" y="-40"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0VVNTiAEeKDAMEjnOLmPA" type="2010" fontHeight="8" fillColor="8047085" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVNjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVNziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVODiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVOTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVOjiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVOziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VVPDiAEeKDAMEjnOLmPA" type="5035"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VVPTiAEeKDAMEjnOLmPA" type="7020">
+        <children xmi:type="notation:Shape" xmi:id="_k0VVPjiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lj6jiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVPziAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VVQDiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lj7jiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVQTiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VVQjiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lj8jiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVQziAEeKDAMEjnOLmPA"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VVRDiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VVRTiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VVRjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVRziAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VVSDiAEeKDAMEjnOLmPA" visible="false" type="7021">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VVSTiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VVSjiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VVSziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVTDiAEeKDAMEjnOLmPA"/>
+      </children>
+      <element xmi:type="uml:DataType" href="YouthChallenge.uml#_k0Lj6DiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVTTiAEeKDAMEjnOLmPA" x="325" y="320"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0VVTjiAEeKDAMEjnOLmPA" type="2010" fontHeight="8" fillColor="8047085" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVTziAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVUDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVUTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVUjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVUziAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVVDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VVVTiAEeKDAMEjnOLmPA" type="5035"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VVVjiAEeKDAMEjnOLmPA" type="7020">
+        <children xmi:type="notation:Shape" xmi:id="_k0VVVziAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lj-DiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVWDiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VVWTiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lj_DiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVWjiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VVWziAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkADiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVXDiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VVXTiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkBDiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVXjiAEeKDAMEjnOLmPA"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VVXziAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VVYDiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VVYTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVYjiAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VVYziAEeKDAMEjnOLmPA" visible="false" type="7021">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VVZDiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VVZTiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VVZjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVZziAEeKDAMEjnOLmPA"/>
+      </children>
+      <element xmi:type="uml:DataType" href="YouthChallenge.uml#_k0Lj9jiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVaDiAEeKDAMEjnOLmPA" x="520" y="315" width="201" height="111"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0VVaTiAEeKDAMEjnOLmPA" type="2010" fontHeight="8" fillColor="8047085" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVajiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVaziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVbDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVbTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVbjiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVbziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VVcDiAEeKDAMEjnOLmPA" type="5035"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VVcTiAEeKDAMEjnOLmPA" type="7020">
+        <children xmi:type="notation:Shape" xmi:id="_k0VVcjiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkCjiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVcziAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VVdDiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkDjiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVdTiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VVdjiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkEjiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVdziAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VVeDiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkFjiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVeTiAEeKDAMEjnOLmPA"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VVejiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VVeziAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VVfDiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVfTiAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VVfjiAEeKDAMEjnOLmPA" visible="false" type="7021">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VVfziAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VVgDiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VVgTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVgjiAEeKDAMEjnOLmPA"/>
+      </children>
+      <element xmi:type="uml:DataType" href="YouthChallenge.uml#_k0LkCTiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVgziAEeKDAMEjnOLmPA" x="535" y="440" width="171" height="129"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0VVhDiAEeKDAMEjnOLmPA" type="2010" fontHeight="8" fillColor="8047085" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVhTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVhjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVhziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VViDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VViTiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVijiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VViziAEeKDAMEjnOLmPA" type="5035"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VVjDiAEeKDAMEjnOLmPA" type="7020">
+        <children xmi:type="notation:Shape" xmi:id="_k0VVjTiAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkGziAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVjjiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VVjziAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkHziAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVkDiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VVkTiAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkIziAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVkjiAEeKDAMEjnOLmPA"/>
+        </children>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VVkziAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VVlDiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVlTiAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VVljiAEeKDAMEjnOLmPA" visible="false" type="7021">
+        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VVlziAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VVmDiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVmTiAEeKDAMEjnOLmPA"/>
+      </children>
+      <element xmi:type="uml:DataType" href="YouthChallenge.uml#_k0LkGjiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVmjiAEeKDAMEjnOLmPA" x="320" y="590"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0VVsDiAEeKDAMEjnOLmPA" type="2010" fontName="Segoe UI" fillColor="10265827" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVsTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVsjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVsziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVtDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VVtTiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VVtjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VVtziAEeKDAMEjnOLmPA" type="5035"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VVuDiAEeKDAMEjnOLmPA" type="7020">
+        <children xmi:type="notation:Shape" xmi:id="_k0VVuTiAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkLTiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVujiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VVuziAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkMTiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVvDiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VVvTiAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkNTiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVvjiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VVvziAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkOTiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVwDiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VVwTiAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkPTiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VVwjiAEeKDAMEjnOLmPA"/>
+        </children>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VVwziAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VVxDiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVxTiAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VVxjiAEeKDAMEjnOLmPA" visible="false" type="7021">
+        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VVxziAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VVyDiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVyTiAEeKDAMEjnOLmPA"/>
+      </children>
+      <element xmi:type="uml:DataType" href="YouthChallenge.uml#_k0LkLDiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VVyjiAEeKDAMEjnOLmPA" x="30" y="755" width="221" height="176"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0VV4DiAEeKDAMEjnOLmPA" type="2010" fontName="Segoe UI" fillColor="10265827" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VV4TiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VV4jiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VV4ziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VV5DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VV5TiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VV5jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VV5ziAEeKDAMEjnOLmPA" type="5035"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VV6DiAEeKDAMEjnOLmPA" type="7020">
+        <children xmi:type="notation:Shape" xmi:id="_k0VV6TiAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkSziAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VV6jiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VV6ziAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkTziAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VV7DiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VV7TiAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkUziAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VV7jiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VV7ziAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkVziAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VV8DiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VV8TiAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkWziAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VV8jiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VV8ziAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkXziAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VV9DiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VV9TiAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkYziAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VV9jiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VV9ziAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkZziAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VV-DiAEeKDAMEjnOLmPA"/>
+        </children>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VV-TiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VV-jiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VV-ziAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VV_DiAEeKDAMEjnOLmPA" type="7021">
+        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VV_TiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VV_jiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VV_ziAEeKDAMEjnOLmPA"/>
+      </children>
+      <element xmi:type="uml:DataType" href="YouthChallenge.uml#_k0LkSjiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VWADiAEeKDAMEjnOLmPA" x="35" y="310" width="231" height="246"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0VWPDiAEeKDAMEjnOLmPA" type="2006" fontHeight="8" fillColor="8905185" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VWPTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VWPjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VWPziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VWQDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VWQTiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VWQjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VWQziAEeKDAMEjnOLmPA" type="5023"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VWRDiAEeKDAMEjnOLmPA" type="7015">
+        <children xmi:type="notation:Shape" xmi:id="_k0VWRTiAEeKDAMEjnOLmPA" type="3017" fontHeight="8" lineColor="0">
+          <element xmi:type="uml:EnumerationLiteral" href="YouthChallenge.uml#_k0LkeziAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VWRjiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VWRziAEeKDAMEjnOLmPA" type="3017" fontHeight="8" lineColor="0">
+          <element xmi:type="uml:EnumerationLiteral" href="YouthChallenge.uml#_k0LkfDiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VWSDiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VWSTiAEeKDAMEjnOLmPA" type="3017" fontHeight="8" lineColor="0">
+          <element xmi:type="uml:EnumerationLiteral" href="YouthChallenge.uml#_k0LkfTiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VWSjiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VWSziAEeKDAMEjnOLmPA" type="3017" fontHeight="8" lineColor="0">
+          <element xmi:type="uml:EnumerationLiteral" href="YouthChallenge.uml#_k0LkfjiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VWTDiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VWTTiAEeKDAMEjnOLmPA" type="3017" fontName="Segoe UI" lineColor="0">
+          <element xmi:type="uml:EnumerationLiteral" href="YouthChallenge.uml#_k0LkfziAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VWTjiAEeKDAMEjnOLmPA"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VWTziAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VWUDiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VWUTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VWUjiAEeKDAMEjnOLmPA"/>
+      </children>
+      <element xmi:type="uml:Enumeration" href="YouthChallenge.uml#_k0LkejiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VWUziAEeKDAMEjnOLmPA" x="175" y="-40" height="106"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0VWVDiAEeKDAMEjnOLmPA" type="2006" fontName="Segoe UI" fillColor="8905185" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VWVTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VWVjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VWVziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VWWDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VWWTiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VWWjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VWWziAEeKDAMEjnOLmPA" type="5023"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VWXDiAEeKDAMEjnOLmPA" type="7015">
+        <children xmi:type="notation:Shape" xmi:id="_k0VWXTiAEeKDAMEjnOLmPA" type="3017" fontName="Segoe UI" lineColor="0">
+          <element xmi:type="uml:EnumerationLiteral" href="YouthChallenge.uml#_k0LkgTiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VWXjiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VWXziAEeKDAMEjnOLmPA" type="3017" fontName="Segoe UI" lineColor="0">
+          <element xmi:type="uml:EnumerationLiteral" href="YouthChallenge.uml#_k0LkgjiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VWYDiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VWYTiAEeKDAMEjnOLmPA" type="3017" fontName="Segoe UI" lineColor="0">
+          <element xmi:type="uml:EnumerationLiteral" href="YouthChallenge.uml#_k0LkgziAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VWYjiAEeKDAMEjnOLmPA"/>
+        </children>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VWYziAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VWZDiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VWZTiAEeKDAMEjnOLmPA"/>
+      </children>
+      <element xmi:type="uml:Enumeration" href="YouthChallenge.uml#_k0LkgDiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VWZjiAEeKDAMEjnOLmPA" x="300" y="-35"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0VWkTiAEeKDAMEjnOLmPA" type="2010" fontHeight="8" fillColor="8905185" transparency="0" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VWkjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VWkziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VWlDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VWlTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VWljiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VWlziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VWmDiAEeKDAMEjnOLmPA" source="layoutFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VWmTiAEeKDAMEjnOLmPA" key="layoutFigure_value" value="Manual_Layout"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VWmjiAEeKDAMEjnOLmPA" type="5035"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VWmziAEeKDAMEjnOLmPA" type="7020">
+        <children xmi:type="notation:Shape" xmi:id="_k0VWnDiAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkkziAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VWnTiAEeKDAMEjnOLmPA"/>
+        </children>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VWnjiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VWnziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VWoDiAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VWoTiAEeKDAMEjnOLmPA" visible="false" type="7021">
+        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VWojiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VWoziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VWpDiAEeKDAMEjnOLmPA"/>
+      </children>
+      <element xmi:type="uml:DataType" href="YouthChallenge.uml#_k0LkkjiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VWpTiAEeKDAMEjnOLmPA" x="205" y="95" width="135" height="66"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0VXFTiAEeKDAMEjnOLmPA" type="2010" fontHeight="8" fillColor="8905185" transparency="0" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VXFjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VXFziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VXGDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VXGTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VXGjiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VXGziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VXHDiAEeKDAMEjnOLmPA" source="layoutFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VXHTiAEeKDAMEjnOLmPA" key="layoutFigure_value" value="Manual_Layout"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VXHjiAEeKDAMEjnOLmPA" type="5035"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VXHziAEeKDAMEjnOLmPA" type="7020">
+        <children xmi:type="notation:Shape" xmi:id="_k0VXIDiAEeKDAMEjnOLmPA" type="3018" fontName="Segoe UI" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LkvTiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VXITiAEeKDAMEjnOLmPA"/>
+        </children>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VXIjiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VXIziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VXJDiAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VXJTiAEeKDAMEjnOLmPA" visible="false" type="7021">
+        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VXJjiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VXJziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VXKDiAEeKDAMEjnOLmPA"/>
+      </children>
+      <element xmi:type="uml:DataType" href="YouthChallenge.uml#_k0LkvDiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VXKTiAEeKDAMEjnOLmPA" x="375" y="95" width="135" height="66"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0VXhDiAEeKDAMEjnOLmPA" type="2010" fontHeight="8" fillColor="8047085" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VXhTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VXhjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VXhziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VXiDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VXiTiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VXijiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VXiziAEeKDAMEjnOLmPA" type="5035"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VXjDiAEeKDAMEjnOLmPA" type="7020">
+        <children xmi:type="notation:Shape" xmi:id="_k0VXjTiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lk5DiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VXjjiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VXjziAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lk6DiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VXkDiAEeKDAMEjnOLmPA"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VXkTiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VXkjiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VXkziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VXlDiAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VXlTiAEeKDAMEjnOLmPA" visible="false" type="7021">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VXljiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VXlziAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VXmDiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VXmTiAEeKDAMEjnOLmPA"/>
+      </children>
+      <element xmi:type="uml:DataType" href="YouthChallenge.uml#_k0Lk4jiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VXmjiAEeKDAMEjnOLmPA" x="745" y="455" width="246" height="96"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0VXmziAEeKDAMEjnOLmPA" type="2010" fontHeight="8" fillColor="8047085" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VXnDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VXnTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VXnjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VXnziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VXoDiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VXoTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VXojiAEeKDAMEjnOLmPA" type="5035"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VXoziAEeKDAMEjnOLmPA" type="7020">
+        <children xmi:type="notation:Shape" xmi:id="_k0VXpDiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lk7jiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VXpTiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VXpjiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lk8jiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VXpziAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VXqDiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lk9jiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VXqTiAEeKDAMEjnOLmPA"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VXqjiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VXqziAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VXrDiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VXrTiAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VXrjiAEeKDAMEjnOLmPA" visible="false" type="7021">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VXrziAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VXsDiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VXsTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VXsjiAEeKDAMEjnOLmPA"/>
+      </children>
+      <element xmi:type="uml:DataType" href="YouthChallenge.uml#_k0Lk7DiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VXsziAEeKDAMEjnOLmPA" x="300" y="450"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0VXtDiAEeKDAMEjnOLmPA" type="2010" fontHeight="8" fillColor="8047085" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VXtTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VXtjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VXtziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VXuDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VXuTiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VXujiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VXuziAEeKDAMEjnOLmPA" type="5035"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VXvDiAEeKDAMEjnOLmPA" type="7020">
+        <children xmi:type="notation:Shape" xmi:id="_k0VXvTiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lk_DiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VXvjiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VXvziAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlADiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VXwDiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VXwTiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlBDiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VXwjiAEeKDAMEjnOLmPA"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VXwziAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VXxDiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VXxTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VXxjiAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VXxziAEeKDAMEjnOLmPA" visible="false" type="7021">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VXyDiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VXyTiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VXyjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VXyziAEeKDAMEjnOLmPA"/>
+      </children>
+      <element xmi:type="uml:DataType" href="YouthChallenge.uml#_k0Lk-jiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VXzDiAEeKDAMEjnOLmPA" x="535" y="595" width="201" height="111"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0VXzTiAEeKDAMEjnOLmPA" type="2010" fontName="Ubuntu" fontHeight="11" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VXzjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VXzziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VX0DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VX0TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VX0jiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VX0ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VX1DiAEeKDAMEjnOLmPA" type="5035"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VX1TiAEeKDAMEjnOLmPA" type="7020">
+        <children xmi:type="notation:Shape" xmi:id="_k0VX1jiAEeKDAMEjnOLmPA" type="3018" fontName="Ubuntu" fontHeight="11" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlCTiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VX1ziAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VX2DiAEeKDAMEjnOLmPA" type="3018" fontName="Ubuntu" fontHeight="11" lineColor="0">
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlCjiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VX2TiAEeKDAMEjnOLmPA"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VX2jiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VX2ziAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VX3DiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VX3TiAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VX3jiAEeKDAMEjnOLmPA" type="7021">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VX3ziAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VX4DiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VX4TiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VX4jiAEeKDAMEjnOLmPA"/>
+      </children>
+      <element xmi:type="uml:DataType" href="YouthChallenge.uml#_k0LlCDiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VX4ziAEeKDAMEjnOLmPA" x="640" y="765"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0VX5DiAEeKDAMEjnOLmPA" type="2010" fontHeight="8" fillColor="12621752" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VX5TiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VX5jiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VX5ziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VX6DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VX6TiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VX6jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VX6ziAEeKDAMEjnOLmPA" type="5035"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VX7DiAEeKDAMEjnOLmPA" type="7020">
+        <children xmi:type="notation:Shape" xmi:id="_k0VX7TiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VX7jiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VX7ziAEeKDAMEjnOLmPA" key="CustomAppearance_MaskValue" value="124"/>
+          </eAnnotations>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlDDiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VX8DiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VX8TiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VX8jiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VX8ziAEeKDAMEjnOLmPA" key="CustomAppearance_MaskValue" value="124"/>
+          </eAnnotations>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlDjiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VX9DiAEeKDAMEjnOLmPA"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VX9TiAEeKDAMEjnOLmPA" type="3018" fontHeight="8" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VX9jiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VX9ziAEeKDAMEjnOLmPA" key="CustomAppearance_MaskValue" value="124"/>
+          </eAnnotations>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlEDiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VX-DiAEeKDAMEjnOLmPA"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VX-TiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VX-jiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VX-ziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VX_DiAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VX_TiAEeKDAMEjnOLmPA" visible="false" type="7021">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VX_jiAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:SortingStyle" xmi:id="_k0VX_ziAEeKDAMEjnOLmPA"/>
+        <styles xmi:type="notation:FilteringStyle" xmi:id="_k0VYADiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYATiAEeKDAMEjnOLmPA"/>
+      </children>
+      <element xmi:type="uml:DataType" href="YouthChallenge.uml#_k0LlCziAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYAjiAEeKDAMEjnOLmPA" x="35" y="195" height="82"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0VYAziAEeKDAMEjnOLmPA"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBITkH7bEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0Lj4jiAEeKDAMEjnOLmPA"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWCvL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0Lj4jiAEeKDAMEjnOLmPA"/>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_k0VYBDiAEeKDAMEjnOLmPA" type="PapyrusUMLClassDiagram" name="InterfacesDiagram" measurementUnit="Pixel">
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0VYBTiAEeKDAMEjnOLmPA"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBITkX7bEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0LlEjiAEeKDAMEjnOLmPA"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kz9EvL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0LlEjiAEeKDAMEjnOLmPA"/>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_k0VYBjiAEeKDAMEjnOLmPA" type="CompositeStructure" name="SubSystemsDiagram" measurementUnit="Pixel">
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0VYBziAEeKDAMEjnOLmPA"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBITkn7bEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0LlEziAEeKDAMEjnOLmPA"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0LlEziAEeKDAMEjnOLmPA"/>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_k0VYCDiAEeKDAMEjnOLmPA" type="CompositeStructure" name="P2-Proximetrie" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_k0VYCTiAEeKDAMEjnOLmPA" type="2073" fontName="Segoe UI" fontHeight="12" gradient="16777215, -1, 0" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYCjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYCziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYDDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYDTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYDjiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYDziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_mCL2QKEGEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0VaYjiAEeKDAMEjnOLmPA">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mCL2QaEGEeKNa6EfGASSWw" key="tooltip_text" value="WifiBot"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mCL2QqEGEeKNa6EfGASSWw" key="diagram_name" value="WifiBot"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_mCL2Q6EGEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_J7TMELVBEeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_J7TzILVBEeWmy72C-w00OQ" key="fillColor" value="true"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_KTN80LVBEeWmy72C-w00OQ" key="gradient" value="true"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VYFDiAEeKDAMEjnOLmPA" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VYFTiAEeKDAMEjnOLmPA" type="7073">
+        <children xmi:type="notation:Shape" xmi:id="_k0VYFjiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" fontHeight="12" fillColor="8047085" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYFziAEeKDAMEjnOLmPA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYGDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYGTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYGjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYGziAEeKDAMEjnOLmPA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYHDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_k0VYHTiAEeKDAMEjnOLmPA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VYHjiAEeKDAMEjnOLmPA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VYHziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYIDiAEeKDAMEjnOLmPA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VYITiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" fontHeight="10" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYIjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYIziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYJDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYJTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYJjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYJziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ibu5IrU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ibu5I7U6EeWmy72C-w00OQ" key="visible" value="true"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYLjiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ibzKkLU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ibzKkbU6EeWmy72C-w00OQ" key="visible" value="true"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYLziAEeKDAMEjnOLmPA" x="-77" y="-5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYMDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYMTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmkziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYMjiAEeKDAMEjnOLmPA" x="380" y="104" width="20" height="20"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VYMziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" fontHeight="10" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYNDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYNTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYNjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYNziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYODiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYOTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ibzKkrU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ibzKk7U6EeWmy72C-w00OQ" key="visible" value="true"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYQDiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ib2N4LU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ib2N4bU6EeWmy72C-w00OQ" key="visible" value="true"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYQTiAEeKDAMEjnOLmPA" x="-75" y="-4"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYQjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYQziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmlziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYRDiAEeKDAMEjnOLmPA" x="380" y="144" width="20" height="20"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VYRTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" fontHeight="10" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYRjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYRziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYSDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYSTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYSjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYSziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ibQYALU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ibQYAbU6EeWmy72C-w00OQ" key="visible" value="true"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYUjiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ibawELU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ibawEbU6EeWmy72C-w00OQ" key="visible" value="true"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYUziAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYVDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYVTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmmziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYVjiAEeKDAMEjnOLmPA" y="45"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VYVziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" fontHeight="10" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYWDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYWTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYWjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYWziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYXDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYXTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ibbXILU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ibbXIbU6EeWmy72C-w00OQ" key="visible" value="true"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYZDiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ibiE0LU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ibiE0bU6EeWmy72C-w00OQ" key="visible" value="true"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYZTiAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYZjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYZziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmnziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYaDiAEeKDAMEjnOLmPA" y="82"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VYaTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" fontHeight="10" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYajiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYaziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYbDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYbTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYbjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYbziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ibiE0rU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ibiE07U6EeWmy72C-w00OQ" key="visible" value="true"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYdjiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ibpZkLU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ibpZkbU6EeWmy72C-w00OQ" key="visible" value="true"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYdziAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYeDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYeTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmoziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYejiAEeKDAMEjnOLmPA" y="120"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VYeziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" fontHeight="10" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYfDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYfTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYfjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYfziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYgDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYgTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ibpZkrU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ibpZk7U6EeWmy72C-w00OQ" key="visible" value="true"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYiDiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ibu5ILU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ibu5IbU6EeWmy72C-w00OQ" key="visible" value="true"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYiTiAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYijiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYiziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmpziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYjDiAEeKDAMEjnOLmPA" y="158" width="20" height="20"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_T9hYkrU5EeWmy72C-w00OQ" type="6054">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_T9hYk7U5EeWmy72C-w00OQ" y="5"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lm2jiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYjTiAEeKDAMEjnOLmPA" x="320" y="30" width="391" height="196"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VYjjiAEeKDAMEjnOLmPA" type="3070" fontHeight="12" fillColor="8905185" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYjziAEeKDAMEjnOLmPA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYkDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYkTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYkjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYkziAEeKDAMEjnOLmPA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYlDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_k0VYlTiAEeKDAMEjnOLmPA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VYljiAEeKDAMEjnOLmPA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VYlziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYmDiAEeKDAMEjnOLmPA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VYmTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" fontHeight="10" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYmjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYmziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYnDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYnTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYnjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYnziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_cS4EgLU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_cS4EgbU6EeWmy72C-w00OQ" key="visible" value="true"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYoDiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_cS9kELU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_cS9kEbU6EeWmy72C-w00OQ" key="visible" value="true"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYoTiAEeKDAMEjnOLmPA" x="-103" y="7"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYojiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYoziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmsDiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYpDiAEeKDAMEjnOLmPA" x="293" y="57"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VYpTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" fontHeight="10" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYpjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYpziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYqDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYqTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYqjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYqziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_fACOULU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_fACOUbU6EeWmy72C-w00OQ" key="visible" value="true"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYrDiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_fADccLU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_fADccbU6EeWmy72C-w00OQ" key="visible" value="true"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYrTiAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYrjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYrziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmtDiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYsDiAEeKDAMEjnOLmPA" y="46" width="20" height="20"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VYsTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" fontHeight="10" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYsjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYsziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYtDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYtTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYtjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYtziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_cS-LILU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_cS-LIbU6EeWmy72C-w00OQ" key="visible" value="true"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYvjiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_cS-yMLU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_cS-yMbU6EeWmy72C-w00OQ" key="visible" value="true"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYvziAEeKDAMEjnOLmPA" x="23"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VYwDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VYwTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmuDiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYwjiAEeKDAMEjnOLmPA" y="74" width="20" height="20"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_T9hYlLU5EeWmy72C-w00OQ" type="6054">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_T9hYlbU5EeWmy72C-w00OQ" y="5"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lm2ziAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYwziAEeKDAMEjnOLmPA" x="376" y="357" width="293" height="94"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VYxDiAEeKDAMEjnOLmPA" type="3070" fontHeight="12" fillColor="10011046" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYxTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYxjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYxziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYyDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VYyTiAEeKDAMEjnOLmPA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VYyjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_k0VYyziAEeKDAMEjnOLmPA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VYzDiAEeKDAMEjnOLmPA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VYzTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VYzjiAEeKDAMEjnOLmPA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VYzziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" fontHeight="10" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VY0DiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VY0TiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VY0jiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VY0ziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VY1DiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VY1TiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_e_32QLU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_e_32QbU6EeWmy72C-w00OQ" key="visible" value="true"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VY1jiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_e_65kLU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_e_65kbU6EeWmy72C-w00OQ" key="visible" value="true"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VY1ziAEeKDAMEjnOLmPA" x="17" y="-7"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VY2DiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VY2TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmuziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VY2jiAEeKDAMEjnOLmPA" y="53" width="20" height="20"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VY2ziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" fontHeight="10" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VY3DiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VY3TiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VY3jiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VY3ziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VY4DiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VY4TiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_e_984rU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_e_9847U6EeWmy72C-w00OQ" key="visible" value="true"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VY4jiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_fABnQLU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_fABnQbU6EeWmy72C-w00OQ" key="visible" value="true"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VY4ziAEeKDAMEjnOLmPA" x="-116" y="-7"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VY5DiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VY5TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmvziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VY5jiAEeKDAMEjnOLmPA" x="235" y="60" width="20" height="20"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VY5ziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" fontHeight="10" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VY6DiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VY6TiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VY6jiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VY6ziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VY7DiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VY7TiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_e_65krU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_e_65k7U6EeWmy72C-w00OQ" key="visible" value="true"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VY9DiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_e_984LU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_e_984bU6EeWmy72C-w00OQ" key="visible" value="true"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VY9TiAEeKDAMEjnOLmPA" x="19" y="-5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VY9jiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VY9ziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmwziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VY-DiAEeKDAMEjnOLmPA" y="84" width="20" height="20"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_T9hYlrU5EeWmy72C-w00OQ" type="6054">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_T9hYl7U5EeWmy72C-w00OQ" y="5"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lm3DiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VY-TiAEeKDAMEjnOLmPA" x="146" y="256" width="246" height="100"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VY-jiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VY-ziAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0VY_DiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" fontHeight="10" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VY_TiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VY_jiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VY_ziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZADiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZATiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZAjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_e_LSsLU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_e_LSsbU6EeWmy72C-w00OQ" key="visible" value="true"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZCTiAEeKDAMEjnOLmPA" type="5125">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_e_WR0LU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_e_WR0bU6EeWmy72C-w00OQ" key="visible" value="true"/>
+          </eAnnotations>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZCjiAEeKDAMEjnOLmPA" x="17" y="-14"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZCziAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZDDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmxjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VZDTiAEeKDAMEjnOLmPA" y="181" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0VZDjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" fontHeight="10" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZDziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZEDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZETiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZEjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZEziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZFDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_e_W44LU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_e_W44bU6EeWmy72C-w00OQ" key="visible" value="true"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZGziAEeKDAMEjnOLmPA" type="5125">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZHDiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZHTiAEeKDAMEjnOLmPA" key="CustomAppearance_MaskValue" value="44"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_e_dmkLU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_e_dmkbU6EeWmy72C-w00OQ" key="visible" value="true"/>
+          </eAnnotations>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZHjiAEeKDAMEjnOLmPA" x="17" y="-16"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZHziAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZIDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmyjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VZITiAEeKDAMEjnOLmPA" y="220" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0VZIjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" fontHeight="10" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZIziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZJDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZJTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZJjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZJziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZKDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_e_dmkrU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_e_dmk7U6EeWmy72C-w00OQ" key="visible" value="true"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZLziAEeKDAMEjnOLmPA" type="5125">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_e_ifELU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_e_ifEbU6EeWmy72C-w00OQ" key="visible" value="true"/>
+          </eAnnotations>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZMDiAEeKDAMEjnOLmPA" x="25" y="-25"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZMTiAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZMjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmzjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VZMziAEeKDAMEjnOLmPA" y="260" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0VZNDiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" fontHeight="10" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZNTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZNjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZNziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZODiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZOTiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZOjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_e_ifErU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_e_ifE7U6EeWmy72C-w00OQ" key="visible" value="true"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZQTiAEeKDAMEjnOLmPA" type="5125">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_e_mwgLU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_e_nXkLU6EeWmy72C-w00OQ" key="visible" value="true"/>
+          </eAnnotations>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZQjiAEeKDAMEjnOLmPA" x="21" y="-23"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZQziAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZRDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm0jiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VZRTiAEeKDAMEjnOLmPA" x="-11" y="297" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0VZRjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" fontHeight="10" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZRziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZSDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZSTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZSjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZSziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZTDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_e_whgLU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_e_whgbU6EeWmy72C-w00OQ" key="visible" value="true"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZUziAEeKDAMEjnOLmPA" type="5125">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_e_0L4LU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_e_0L4bU6EeWmy72C-w00OQ" key="visible" value="true"/>
+          </eAnnotations>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZVDiAEeKDAMEjnOLmPA" x="12" y="-17"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZVTiAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZVjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm1jiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VZVziAEeKDAMEjnOLmPA" x="-11" y="498" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0VZWDiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" fontHeight="10" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZWTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZWjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZWziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZXDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZXTiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZXjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_e_nXkbU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_e_nXkrU6EeWmy72C-w00OQ" key="visible" value="true"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZZTiAEeKDAMEjnOLmPA" type="5125">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_e_sQELU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_e_sQEbU6EeWmy72C-w00OQ" key="visible" value="true"/>
+          </eAnnotations>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZZjiAEeKDAMEjnOLmPA" x="17" y="-13"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZZziAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZaDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm3TiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VZaTiAEeKDAMEjnOLmPA" y="399" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0VZajiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" fontHeight="10" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZaziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZbDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZbTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZbjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZbziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZcDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_e_s3ILU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_e_s3IbU6EeWmy72C-w00OQ" key="visible" value="true"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZdziAEeKDAMEjnOLmPA" type="5125">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_e_v6cLU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_e_v6cbU6EeWmy72C-w00OQ" key="visible" value="true"/>
+          </eAnnotations>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZeDiAEeKDAMEjnOLmPA" x="18" y="-19"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZeTiAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZejiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm3jiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VZeziAEeKDAMEjnOLmPA" y="447" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0VZfDiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" fontHeight="10" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZfTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZfjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZfziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZgDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZgTiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZgjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ib208LU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ib208bU6EeWmy72C-w00OQ" key="visible" value="true"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZiTiAEeKDAMEjnOLmPA" type="5125">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ib6fULU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ib6fUbU6EeWmy72C-w00OQ" key="visible" value="true"/>
+          </eAnnotations>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZijiAEeKDAMEjnOLmPA" x="-79" y="-24"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZiziAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZjDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm3ziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VZjTiAEeKDAMEjnOLmPA" x="836" y="235" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0VZjjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" fontHeight="10" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZjziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZkDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZkTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZkjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZkziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZlDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ib6fUrU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ib6fU7U6EeWmy72C-w00OQ" key="visible" value="true"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZmziAEeKDAMEjnOLmPA" type="5125">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ib-JsLU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ib-JsbU6EeWmy72C-w00OQ" key="visible" value="true"/>
+          </eAnnotations>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZnDiAEeKDAMEjnOLmPA" x="-70" y="-27"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZnTiAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZnjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm4DiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VZnziAEeKDAMEjnOLmPA" x="836" y="300" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0VZoDiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" fontHeight="10" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZoTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZojiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZoziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZpDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZpTiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZpjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_ib-JsrU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_ib-Js7U6EeWmy72C-w00OQ" key="visible" value="true"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZrTiAEeKDAMEjnOLmPA" type="5125">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_icBNALU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_icBNAbU6EeWmy72C-w00OQ" key="visible" value="true"/>
+          </eAnnotations>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZrjiAEeKDAMEjnOLmPA" x="-115" y="-16"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZrziAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZsDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm4TiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VZsTiAEeKDAMEjnOLmPA" x="836" y="433" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0VZsjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" fontHeight="10" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZsziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZtDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZtTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZtjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZtziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZuDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_icBNArU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_icBNA7U6EeWmy72C-w00OQ" key="visible" value="true"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZvziAEeKDAMEjnOLmPA" type="5125">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_icCbILU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_icCbIbU6EeWmy72C-w00OQ" key="visible" value="true"/>
+          </eAnnotations>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZwDiAEeKDAMEjnOLmPA" x="-102" y="-19"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZwTiAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZwjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm4jiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VZwziAEeKDAMEjnOLmPA" x="825" y="496" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0VZxDiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" fontHeight="10" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZxTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZxjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZxziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZyDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VZyTiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VZyjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_e_0L4rU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_e_0L47U6EeWmy72C-w00OQ" key="visible" value="true"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ0TiAEeKDAMEjnOLmPA" type="5125">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_e_3PMLU6EeWmy72C-w00OQ" source="PapyrusCSSForceValue">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_e_3PMbU6EeWmy72C-w00OQ" key="visible" value="true"/>
+          </eAnnotations>
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ0jiAEeKDAMEjnOLmPA" x="15" y="-11"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ0ziAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ1DiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm4ziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VZ1TiAEeKDAMEjnOLmPA" y="537" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_T9hYkLU5EeWmy72C-w00OQ" type="6089">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_T9hYkbU5EeWmy72C-w00OQ" y="5"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LmxDiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VZ1jiAEeKDAMEjnOLmPA" x="146" y="41" width="836" height="574"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_T_w0QLU5EeWmy72C-w00OQ" type="StereotypeComment">
+      <styles xmi:type="notation:TitleStyle" xmi:id="_T_w0QbU5EeWmy72C-w00OQ" showTitle="true"/>
+      <styles xmi:type="notation:EObjectValueStyle" xmi:id="_T_w0Q7U5EeWmy72C-w00OQ" name="BASE_ELEMENT">
+        <eObjectValue xmi:type="uml:Class" href="YouthChallenge.uml#_k0LmxDiAEeKDAMEjnOLmPA"/>
+      </styles>
+      <element xsi:nil="true"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_T_w0QrU5EeWmy72C-w00OQ" x="310" y="-15"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0VZ1ziAEeKDAMEjnOLmPA"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBITk37bEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0LmkDiAEeKDAMEjnOLmPA"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <styles xmi:type="notation:StringValueStyle" xmi:id="_T9h_oLU5EeWmy72C-w00OQ" name="diagram_compatibility_version" stringValue="1.1.0"/>
+    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0LmkDiAEeKDAMEjnOLmPA"/>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VZ2DiAEeKDAMEjnOLmPA" type="4013" source="_k0VZRjiAEeKDAMEjnOLmPA" target="_k0VYpTiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ2TiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_f7qlkLU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ2jiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ2ziAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_f8EOMLU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ3DiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ3TiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_f8ed4LU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ3jiAEeKDAMEjnOLmPA" x="-56" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ3ziAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_f83fcLU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ4DiAEeKDAMEjnOLmPA" x="56" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VZ4TiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Lm5DiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VZ4jiAEeKDAMEjnOLmPA" points="[120, 392, -643984, -643984]$[272, 392, -643984, -643984]$[272, 447, -643984, -643984]$[425, 447, -643984, -643984]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VZ4ziAEeKDAMEjnOLmPA" id="(1.0,0.475)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VZ5DiAEeKDAMEjnOLmPA" id="(0.0,0.475)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VZ5TiAEeKDAMEjnOLmPA" type="4013" source="_k0VZNDiAEeKDAMEjnOLmPA" target="_k0VYeziAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ5jiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gBPCELU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ5ziAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ6DiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gB1fALU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ6TiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ6jiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gCY4oLU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ6ziAEeKDAMEjnOLmPA" x="-56" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ7DiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gC0WcLU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ7TiAEeKDAMEjnOLmPA" x="55" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VZ7jiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Lm6ziAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VZ7ziAEeKDAMEjnOLmPA"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_JwEQoLU6EeWmy72C-w00OQ" id="(1.0,0.475)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_JwEQobU6EeWmy72C-w00OQ" id="(0.0,0.475)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VZ8DiAEeKDAMEjnOLmPA" type="4013" source="_k0VZIjiAEeKDAMEjnOLmPA" target="_k0VYaTiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ8TiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gDSQgLU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ8jiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ8ziAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gDnnsLU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ9DiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ9TiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gD8-4LU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ9jiAEeKDAMEjnOLmPA" x="-56" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ9ziAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gESWELU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ-DiAEeKDAMEjnOLmPA" x="56" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VZ-TiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Lm8jiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VZ-jiAEeKDAMEjnOLmPA"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VZ-ziAEeKDAMEjnOLmPA" id="(1.0,0.475)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_JDih0LU6EeWmy72C-w00OQ" id="(0.0,0.475)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VZ_DiAEeKDAMEjnOLmPA" type="4013" source="_k0VZDjiAEeKDAMEjnOLmPA" target="_k0VYVziAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ_TiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_f-5fwLU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VZ_jiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VZ_ziAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_f_kOILU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaADiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaATiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gAKEALU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaAjiAEeKDAMEjnOLmPA" x="-56" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaAziAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gArocLU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaBDiAEeKDAMEjnOLmPA" x="55" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VaBTiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Lm-TiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VaBjiAEeKDAMEjnOLmPA"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_KRimALU6EeWmy72C-w00OQ" id="(1.0,0.475)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_KRjNELU6EeWmy72C-w00OQ" id="(0.0,0.475)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VaBziAEeKDAMEjnOLmPA" type="4013" source="_k0VY_DiAEeKDAMEjnOLmPA" target="_k0VYRTiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaCDiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gEo7YLU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaCTiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaCjiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gE-5oLU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaCziAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaDDiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gFU34LU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaDTiAEeKDAMEjnOLmPA" x="-56" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaDjiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gFq2ILU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaDziAEeKDAMEjnOLmPA" x="55" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VaEDiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnADiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VaETiAEeKDAMEjnOLmPA"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_Kv3gwLU6EeWmy72C-w00OQ" id="(1.0,0.475)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_Kv4H0LU6EeWmy72C-w00OQ" id="(0.0,0.475)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VaEjiAEeKDAMEjnOLmPA" type="4013" source="_k0VZWDiAEeKDAMEjnOLmPA" target="_k0VYzziAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaEziAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_f9TkULU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaFDiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaFTiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_f9rXwLU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaFjiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaFziAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_f-FAYLU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaGDiAEeKDAMEjnOLmPA" x="-29" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaGTiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_f-fQELU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaGjiAEeKDAMEjnOLmPA" x="29" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VaGziAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnBziAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VaHDiAEeKDAMEjnOLmPA"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VaHTiAEeKDAMEjnOLmPA" id="(1.0,0.475)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_O8X9cLU6EeWmy72C-w00OQ" id="(0.0,0.475)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VaHjiAEeKDAMEjnOLmPA" type="4013" source="_k0VZajiAEeKDAMEjnOLmPA" target="_k0VY5ziAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaHziAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gGBbcLU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaIDiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaITiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gGXZsLU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaIjiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaIziAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gGt_ALU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaJDiAEeKDAMEjnOLmPA" x="-30" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaJTiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_gHEkULU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaJjiAEeKDAMEjnOLmPA" x="30" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VaJziAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnDjiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VaKDiAEeKDAMEjnOLmPA" points="[156, 483, -643984, -643984]$[221, 483, -643984, -643984]$[221, 495, -643984, -643984]$[287, 495, -643984, -643984]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_PbHu8LU6EeWmy72C-w00OQ" id="(1.0,0.45)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_PbHu8bU6EeWmy72C-w00OQ" id="(0.75,1.0)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VaKTiAEeKDAMEjnOLmPA" type="4013" source="_k0VYITiAEeKDAMEjnOLmPA" target="_k0VZfDiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaKjiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_BCuGALU6EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaKziAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaLDiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_BDTU0LU6EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaLTiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaLjiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_BD5xwLU6EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaLziAEeKDAMEjnOLmPA" x="-24" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaMDiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_BEgOsLU6EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaMTiAEeKDAMEjnOLmPA" x="24" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VaMjiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnFTiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VaMziAEeKDAMEjnOLmPA" points="[872, 283, -643984, -643984]$[922, 283, -643984, -643984]$[922, 293, -643984, -643984]$[972, 293, -643984, -643984]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_D_DUQLU6EeWmy72C-w00OQ" id="(1.0,0.6)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_D_D7ULU6EeWmy72C-w00OQ" id="(0.0,0.5)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VaNDiAEeKDAMEjnOLmPA" type="4013" source="_k0VYMziAEeKDAMEjnOLmPA" target="_k0VZjjiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaNTiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_BfAZYLU6EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaNjiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaNziAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_BfndYLU6EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaODiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaOTiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_BgGlkLU6EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaOjiAEeKDAMEjnOLmPA" x="-24" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaOziAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_BghcULU6EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaPDiAEeKDAMEjnOLmPA" x="24" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VaPTiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnHDiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VaPjiAEeKDAMEjnOLmPA" points="[872, 323, -643984, -643984]$[922, 323, -643984, -643984]$[922, 346, -643984, -643984]$[972, 346, -643984, -643984]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_s7K6MLU_EeWmy72C-w00OQ" id="(1.0,0.5)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_s7LhQLU_EeWmy72C-w00OQ" id="(0.0,0.75)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VaPziAEeKDAMEjnOLmPA" type="4013" source="_k0VYmTiAEeKDAMEjnOLmPA" target="_k0VZsjiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaQDiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_yW_RYLU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaQTiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaQjiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_yXjSELU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaQziAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaRDiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_yX7FgLU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaRTiAEeKDAMEjnOLmPA" x="-22" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaRjiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_yYSR4LU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaRziAEeKDAMEjnOLmPA" x="22" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VaSDiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnIziAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VaSTiAEeKDAMEjnOLmPA" points="[774, 534, -643984, -643984]$[873, 534, -643984, -643984]$[873, 474, -643984, -643984]$[972, 474, -643984, -643984]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VaSjiAEeKDAMEjnOLmPA" id="(0.2,0.55)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VaSziAEeKDAMEjnOLmPA" type="4013" source="_k0VY2ziAEeKDAMEjnOLmPA" target="_k0VZoDiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaTDiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_jBFeYLU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaTTiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaTjiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_jBwMwLU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaTziAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaUDiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_jCGyELU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaUTiAEeKDAMEjnOLmPA" x="-83" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaUjiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_jCyukLU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaUziAEeKDAMEjnOLmPA" x="83" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VaVDiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnKjiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VaVTiAEeKDAMEjnOLmPA" points="[482, 416, -643984, -643984]$[727, 416, -643984, -643984]$[727, 351, -643984, -643984]$[972, 351, -643984, -643984]"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VaVjiAEeKDAMEjnOLmPA" id="(0.5,0.8)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VaVziAEeKDAMEjnOLmPA" type="4013" source="_k0VZxDiAEeKDAMEjnOLmPA" target="_k0VYsTiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaWDiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_f44-YLU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaWTiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaWjiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_f5pzYLU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaWziAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaXDiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_f6SFgLU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaXTiAEeKDAMEjnOLmPA" x="-63" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaXjiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_f637YLU5EeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaXziAEeKDAMEjnOLmPA" x="3" y="-40"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VaYDiAEeKDAMEjnOLmPA" fontName="Segoe UI"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnMTiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VaYTiAEeKDAMEjnOLmPA" points="[156, 489, -643984, -643984]$[216, 489, -643984, -643984]$[216, 541, -643984, -643984]$[524, 541, -643984, -643984]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_T_w0RLU5EeWmy72C-w00OQ" type="StereotypeCommentLink" source="_k0VYCTiAEeKDAMEjnOLmPA" target="_T_w0QLU5EeWmy72C-w00OQ">
+      <styles xmi:type="notation:FontStyle" xmi:id="_T_w0RbU5EeWmy72C-w00OQ"/>
+      <styles xmi:type="notation:EObjectValueStyle" xmi:id="_T_w0SbU5EeWmy72C-w00OQ" name="BASE_ELEMENT">
+        <eObjectValue xmi:type="uml:Class" href="YouthChallenge.uml#_k0LmxDiAEeKDAMEjnOLmPA"/>
+      </styles>
+      <element xsi:nil="true"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_T_w0RrU5EeWmy72C-w00OQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_T_w0R7U5EeWmy72C-w00OQ"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_T_w0SLU5EeWmy72C-w00OQ"/>
+    </edges>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_k0VaYjiAEeKDAMEjnOLmPA" type="CompositeStructure" name="WifiBot" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_k0VaYziAEeKDAMEjnOLmPA" type="2073" fontName="Segoe UI" fontHeight="12" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VaZDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VaZTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VaZjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VaZziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VaaDiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VaaTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_F8hIEKELEeKLUqX9IJq2Gg" source="PapyrusHyperLink_Diagram" references="_rc51sKEKEeKLUqX9IJq2Gg">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_F8hIEaELEeKLUqX9IJq2Gg" key="tooltip_text" value="WifibotEnvironmentDiagram"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_F8hIEqELEeKLUqX9IJq2Gg" key="diagram_name" value="WifibotEnvironmentDiagram"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_F8hIE6ELEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VaajiAEeKDAMEjnOLmPA" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VaaziAEeKDAMEjnOLmPA" type="7073">
+        <children xmi:type="notation:Shape" xmi:id="_k0VabDiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" fillColor="15053796" gradient="16777215, 16777215, 0" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VabTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VabjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VabziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VacDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VacTiAEeKDAMEjnOLmPA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VacjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VacziAEeKDAMEjnOLmPA" source="PapyrusHyperLink_Diagram" references="_k0ee0DiAEeKDAMEjnOLmPA">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VadDiAEeKDAMEjnOLmPA" key="tooltip_text" value="PathPlannerA4"/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VadTiAEeKDAMEjnOLmPA" key="diagram_name" value="PathPlannerA4"/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VadjiAEeKDAMEjnOLmPA" key="is_default_navigation" value="false"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_k0VadziAEeKDAMEjnOLmPA" type="5126">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_YkPf4KEFEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0ee0DiAEeKDAMEjnOLmPA">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_YkPf4aEFEeKNa6EfGASSWw" key="tooltip_text" value="A4-PathPlanner"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_YkPf4qEFEeKNa6EfGASSWw" key="diagram_name" value="A4-PathPlanner"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_YkPf46EFEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
+            </eAnnotations>
+          </children>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VaeDiAEeKDAMEjnOLmPA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VaeTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VaejiAEeKDAMEjnOLmPA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VaeziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VafDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VafTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VafjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VafziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VagDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VagTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VagjiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VagziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_P8yVYKBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VahTiAEeKDAMEjnOLmPA" x="25"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VahjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VahziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoFTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VaiDiAEeKDAMEjnOLmPA" x="-10" y="25"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VaiTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VaijiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VaiziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VajDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VajTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VajjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VajziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VakDiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VakTiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_RK3SEKBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VakziAEeKDAMEjnOLmPA" x="-56"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0ValDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ValTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoGTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ValjiAEeKDAMEjnOLmPA" x="196" y="110"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0ValziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VamDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VamTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VamjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VamziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VanDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VanTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VanjiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VanziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QYgBAKBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaoTiAEeKDAMEjnOLmPA" x="-86"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VaojiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VaoziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoHTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VapDiAEeKDAMEjnOLmPA" x="196" y="55"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VapTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VapjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VapziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VaqDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VaqTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VaqjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VaqziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VarDiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VarTiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QzLK0KBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VarziAEeKDAMEjnOLmPA" x="-36" y="5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VasDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VasTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoIjiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VasjiAEeKDAMEjnOLmPA" x="196" y="85"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_RAVOsrU5EeWmy72C-w00OQ" type="6054">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_RAVOs7U5EeWmy72C-w00OQ" y="5"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlFTiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VasziAEeKDAMEjnOLmPA" x="1320" y="270" width="206" height="136"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VatDiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" fillColor="15053796" gradient="16777215, 16777215, 0" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VatTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VatjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VatziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VauDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VauTiAEeKDAMEjnOLmPA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VaujiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_bY1ucKEFEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0efoDiAEeKDAMEjnOLmPA">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_bY1ucaEFEeKNa6EfGASSWw" key="tooltip_text" value="A5-MissionGenerator"/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_bY1ucqEFEeKNa6EfGASSWw" key="diagram_name" value="A5-MissionGenerator"/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_bY1uc6EFEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_k0VauziAEeKDAMEjnOLmPA" type="5126">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_0qi4sKEEEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0efoDiAEeKDAMEjnOLmPA">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_0qi4saEEEeKNa6EfGASSWw" key="tooltip_text" value="A5-MissionGenerator"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_0qi4sqEEEeKNa6EfGASSWw" key="diagram_name" value="A5-MissionGenerator"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_0qi4s6EEEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
+            </eAnnotations>
+          </children>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VavDiAEeKDAMEjnOLmPA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VavTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VavjiAEeKDAMEjnOLmPA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VavziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VawDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VawTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VawjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VawziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VaxDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VaxTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VaxjiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VaxziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_RwH7QKBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VayTiAEeKDAMEjnOLmPA" x="25"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VayjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VayziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Ln-DiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VazDiAEeKDAMEjnOLmPA" x="-11" y="34" width="20" height="20"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_RAV1wLU5EeWmy72C-w00OQ" type="6054">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_RAV1wbU5EeWmy72C-w00OQ" y="5"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlFjiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VazTiAEeKDAMEjnOLmPA" x="1620" y="290" width="211"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VazjiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" fillColor="15053796" gradient="16777215, 16777215, 0" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VazziAEeKDAMEjnOLmPA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Va0DiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Va0TiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Va0jiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Va0ziAEeKDAMEjnOLmPA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Va1DiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="__W3G4KEDEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0VhEziAEeKDAMEjnOLmPA">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__W3G4aEDEeKNa6EfGASSWw" key="tooltip_text" value="NavigatorA3"/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__W3G4qEDEeKNa6EfGASSWw" key="diagram_name" value="A3-Navigator"/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="__W3G46EDEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_k0Va2TiAEeKDAMEjnOLmPA" type="5126">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_-GZkkKEDEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0VhEziAEeKDAMEjnOLmPA">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_-GZkkaEDEeKNa6EfGASSWw" key="tooltip_text" value="A3-Navigator"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_-GZkkqEDEeKNa6EfGASSWw" key="diagram_name" value="A3-Navigator"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_-GZkk6EDEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
+            </eAnnotations>
+          </children>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_k0Va2jiAEeKDAMEjnOLmPA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_k0Va2ziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0Va3DiAEeKDAMEjnOLmPA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0Va3TiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Va3jiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Va3ziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Va4DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Va4TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Va4jiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Va4ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0Va5DiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Va5TiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OWRDgKBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Va5ziAEeKDAMEjnOLmPA" x="-41"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0Va6DiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Va6TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoVziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0Va6jiAEeKDAMEjnOLmPA" x="131" y="35"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0Va6ziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Va7DiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Va7TiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Va7jiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Va7ziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Va8DiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Va8TiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0Va8jiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Va8ziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NypZEKBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Va9TiAEeKDAMEjnOLmPA" x="20"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0Va9jiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Va9ziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoWziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0Va-DiAEeKDAMEjnOLmPA" x="-10" y="25" width="20" height="20"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0Va-TiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Va-jiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Va-ziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Va_DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Va_TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Va_jiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Va_ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbADiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbATiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Ox-vIKBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbAziAEeKDAMEjnOLmPA" x="-36" y="5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbBDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbBTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoYDiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbBjiAEeKDAMEjnOLmPA" x="131" y="65"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VbBziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbCDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbCTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbCjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbCziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbDDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbDTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbDjiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbDziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_PJX7cKBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbETiAEeKDAMEjnOLmPA" x="-51" y="5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbEjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbEziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoYTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbFDiAEeKDAMEjnOLmPA" x="131" y="90"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VbFTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbFjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbFziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbGDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbGTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbGjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbGziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbHDiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbHTiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Pf4W8KBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbHziAEeKDAMEjnOLmPA" x="-51" y="5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbIDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbITiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoYjiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbIjiAEeKDAMEjnOLmPA" x="131" y="120"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_RAV1wrU5EeWmy72C-w00OQ" type="6054">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_RAV1w7U5EeWmy72C-w00OQ" y="5"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlFziAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbIziAEeKDAMEjnOLmPA" x="1010" y="265" width="141" height="146"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VbJDiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" fillColor="15053796" gradient="16777215, 16777215, 0" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbJTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbJjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbJziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbKDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbKTiAEeKDAMEjnOLmPA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbKjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_clx2MKBWEeKY66-xYT6OCw" source="PapyrusHyperLink_Diagram" references="_k0VfojiAEeKDAMEjnOLmPA">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_clx2MaBWEeKY66-xYT6OCw" key="tooltip_text" value="PilotA2"/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_clx2MqBWEeKY66-xYT6OCw" key="diagram_name" value="A2-Pilot"/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_clx2M6BWEeKY66-xYT6OCw" key="is_default_navigation" value="true"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_k0VbLziAEeKDAMEjnOLmPA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VbMDiAEeKDAMEjnOLmPA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VbMTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbMjiAEeKDAMEjnOLmPA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VbMziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbNDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbNTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbNjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbNziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbODiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbOTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbOjiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbOziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NVSusKBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbPTiAEeKDAMEjnOLmPA" x="-66" y="5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbPjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbPziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LorDiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbQDiAEeKDAMEjnOLmPA" x="196" y="40"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VbQTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbQjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbQziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbRDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbRTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbRjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbRziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbSDiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbSTiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_StqhkKBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbSziAEeKDAMEjnOLmPA" x="20" y="5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbTDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbTTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LosDiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbTjiAEeKDAMEjnOLmPA" x="-10" y="235"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VbaziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbbDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbbTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbbjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbbziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbcDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbcTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbcjiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbcziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MlwvMKBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbdTiAEeKDAMEjnOLmPA" x="-51" y="5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbdjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbdziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LouDiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbeDiAEeKDAMEjnOLmPA" x="196" y="140" width="20" height="20"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VbeTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbejiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbeziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbfDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbfTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbfjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbfziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbgDiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbgTiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MMkzIKBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbgziAEeKDAMEjnOLmPA" x="-36"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbhDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbhTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LouTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbhjiAEeKDAMEjnOLmPA" x="196" y="295"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_RAV1xLU5EeWmy72C-w00OQ" type="6054">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_RAV1xbU5EeWmy72C-w00OQ" y="5"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlGDiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbhziAEeKDAMEjnOLmPA" x="505" y="200" width="206" height="341"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VbiDiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" fillColor="15053796" gradient="16777215, 16777215, 0" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbiTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbijiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbiziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbjDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbjTiAEeKDAMEjnOLmPA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbjjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_8k4AEKEGEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0VfGDiAEeKDAMEjnOLmPA">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8k4AEaEGEeKNa6EfGASSWw" key="tooltip_text" value="ServoingsA1"/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8k4AEqEGEeKNa6EfGASSWw" key="diagram_name" value="A1-Servoings"/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8k4AE6EGEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_k0VbkziAEeKDAMEjnOLmPA" type="5126">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_7W8NUKEGEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0VfGDiAEeKDAMEjnOLmPA">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7W8NUaEGEeKNa6EfGASSWw" key="tooltip_text" value="A1-Servoings"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7W8NUqEGEeKNa6EfGASSWw" key="diagram_name" value="A1-Servoings"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7W8NU6EGEeKNa6EfGASSWw" key="is_default_navigation" value="false"/>
+            </eAnnotations>
+          </children>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VblDiAEeKDAMEjnOLmPA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VblTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbljiAEeKDAMEjnOLmPA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VblziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbmDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbmTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbmjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbmziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbnDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbnTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbnjiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbnziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_SV9zQKBWEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VboTiAEeKDAMEjnOLmPA" x="-176" y="-8"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbojiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VboziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lo-ziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbpDiAEeKDAMEjnOLmPA" x="151" y="28"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_RAV1xrU5EeWmy72C-w00OQ" type="6054">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_RAV1x7U5EeWmy72C-w00OQ" y="5"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlGTiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbpTiAEeKDAMEjnOLmPA" x="80" y="410" width="161"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VbpjiAEeKDAMEjnOLmPA" type="3070" fontHeight="8" fillColor="8047085" gradient="16777215, 16777215, 0" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbpziAEeKDAMEjnOLmPA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbqDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbqTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbqjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbqziAEeKDAMEjnOLmPA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbrDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_pSV_cKEGEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0eicDiAEeKDAMEjnOLmPA">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pSV_caEGEeKNa6EfGASSWw" key="tooltip_text" value="P1Sensors"/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pSV_cqEGEeKNa6EfGASSWw" key="diagram_name" value="P1-Sensors"/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_pSV_c6EGEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_k0VbsTiAEeKDAMEjnOLmPA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VbsjiAEeKDAMEjnOLmPA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VbsziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbtDiAEeKDAMEjnOLmPA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VbtTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbtjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbtziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbuDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbuTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbujiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbuziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbvDiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbvTiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_vPR9YKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbvziAEeKDAMEjnOLmPA" x="-156" y="6"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbwDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbwTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LndjiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VbwjiAEeKDAMEjnOLmPA" x="251" y="25"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VbwziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbxDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbxTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbxjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbxziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbyDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VbyTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbyjiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VbyziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_3hoOEKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbzTiAEeKDAMEjnOLmPA" x="-156" y="6"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VbzjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VbzziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnejiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0Vb0DiAEeKDAMEjnOLmPA" x="251" y="55"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0Vb0TiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vb0jiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vb0ziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vb1DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vb1TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vb1jiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vb1ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vb2DiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vb2TiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_1caOAKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vb2ziAEeKDAMEjnOLmPA" x="-81" y="6"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vb3DiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vb3TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnfjiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0Vb3jiAEeKDAMEjnOLmPA" x="251" y="270"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0Vb3ziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vb4DiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vb4TiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vb4jiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vb4ziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vb5DiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vb5TiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vb5jiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vb5ziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_1xtvoKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vb6TiAEeKDAMEjnOLmPA" x="-46" y="5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vb6jiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vb6ziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LngjiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0Vb7DiAEeKDAMEjnOLmPA" x="251" y="220"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0Vb7TiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vb7jiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vb7ziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vb8DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vb8TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vb8jiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vb8ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vb9DiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vb9TiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_3KPBwKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vb9ziAEeKDAMEjnOLmPA" x="-71" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vb-DiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vb-TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnhjiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0Vb-jiAEeKDAMEjnOLmPA" x="251" y="87"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0Vb-ziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vb_DiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vb_TiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vb_jiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vb_ziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcADiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcATiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcAjiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcAziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2fA6gKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcBTiAEeKDAMEjnOLmPA" x="-76" y="5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcBjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcBziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnkDiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcCDiAEeKDAMEjnOLmPA" x="251" y="155"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VcCTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcCjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcCziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcDDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcDTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcDjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcDziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcEDiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcETiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_20n-IKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcEziAEeKDAMEjnOLmPA" x="-51" y="5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcFDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcFTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnkTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcFjiAEeKDAMEjnOLmPA" x="251" y="120"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VcFziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcGDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcGTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcGjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcGziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcHDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcHTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcHjiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcHziAEeKDAMEjnOLmPA" x="-136" y="6"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcIDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcITiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnkjiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcIjiAEeKDAMEjnOLmPA" x="251" y="390"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VcIziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcJDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcJTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcJjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcJziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcKDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcKTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcKjiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcKziAEeKDAMEjnOLmPA" x="-111" y="-2"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcLDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcLTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnkziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcLjiAEeKDAMEjnOLmPA" x="251" y="425"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VcLziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcMDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcMTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcMjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcMziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcNDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcNTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcNjiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcNziAEeKDAMEjnOLmPA" x="-141" y="4"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcODiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcOTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnlDiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcOjiAEeKDAMEjnOLmPA" x="251" y="455"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VcOziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcPDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcPTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcPjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcPziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcQDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcQTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcQjiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcQziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_2I0BAKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcRTiAEeKDAMEjnOLmPA" x="-96" y="5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcRjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcRziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnlTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcSDiAEeKDAMEjnOLmPA" x="251" y="190"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_RAV1yLU5EeWmy72C-w00OQ" type="6054">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_RAV1ybU5EeWmy72C-w00OQ" y="5"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlGjiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcSTiAEeKDAMEjnOLmPA" x="10" y="595" width="261" height="491"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VcSjiAEeKDAMEjnOLmPA" type="3070" fontHeight="8" fillColor="8047085" gradient="16777215, 16777215, 0" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcSziAEeKDAMEjnOLmPA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcTDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcTTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcTjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcTziAEeKDAMEjnOLmPA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcUDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_YwFuEKEGEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0VYCDiAEeKDAMEjnOLmPA">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_YwFuEaEGEeKNa6EfGASSWw" key="tooltip_text" value="ProximetrieP2"/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_YwFuEqEGEeKNa6EfGASSWw" key="diagram_name" value="P2-Proximetrie"/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_YwFuE6EGEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_k0VcVTiAEeKDAMEjnOLmPA" type="5126">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_XmCVwKEGEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0VYCDiAEeKDAMEjnOLmPA">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_XmCVwaEGEeKNa6EfGASSWw" key="tooltip_text" value="P2-Proximetrie"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_XmCVwqEGEeKNa6EfGASSWw" key="diagram_name" value="P2-Proximetrie"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_XmCVw6EGEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
+            </eAnnotations>
+          </children>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VcVjiAEeKDAMEjnOLmPA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VcVziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcWDiAEeKDAMEjnOLmPA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VcWTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcWjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcWziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcXDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcXTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcXjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcXziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcYDiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcYTiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_6gqLAKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcYziAEeKDAMEjnOLmPA" x="20" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcZDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcZTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmxjiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcZjiAEeKDAMEjnOLmPA" x="-10" y="25"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VcZziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcaDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcaTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcajiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcaziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcbDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcbTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcbjiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcbziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_62HdoKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VccTiAEeKDAMEjnOLmPA" x="20"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VccjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VccziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmyjiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcdDiAEeKDAMEjnOLmPA" x="-10" y="60"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VcdTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcdjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcdziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VceDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VceTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcejiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VceziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcfDiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcfTiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_9Q8hUKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcfziAEeKDAMEjnOLmPA" x="20" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcgDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcgTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmzjiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcgjiAEeKDAMEjnOLmPA" x="-10" y="270"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VcgziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VchDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VchTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VchjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VchziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VciDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VciTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcijiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VciziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_88rhgKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcjTiAEeKDAMEjnOLmPA" x="20" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcjjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcjziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm0jiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VckDiAEeKDAMEjnOLmPA" x="-10" y="225"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VckTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VckjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VckziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VclDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VclTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcljiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VclziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcmDiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcmTiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_7TCDIKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcmziAEeKDAMEjnOLmPA" x="20" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcnDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcnTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm1jiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcnjiAEeKDAMEjnOLmPA" x="-10" y="88"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VcnziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcoDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcoTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcojiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcoziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcpDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcpTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcpjiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcpziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_75UnEKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcqTiAEeKDAMEjnOLmPA" x="20" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcqjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcqziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm3TiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcrDiAEeKDAMEjnOLmPA" x="-10" y="125"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VcrTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcrjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcrziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcsDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcsTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcsjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcsziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VctDiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VctTiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8P-MgKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VctziAEeKDAMEjnOLmPA" x="20" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcuDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcuTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm3jiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcujiAEeKDAMEjnOLmPA" x="-10" y="161"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VcuziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcvDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcvTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcvjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcvziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcwDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcwTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcwjiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcwziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_-UmWsKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="28"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcxTiAEeKDAMEjnOLmPA" x="-96"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VcxjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VcxziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm3ziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VcyDiAEeKDAMEjnOLmPA" x="191" y="115"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VcyTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VcyjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VcyziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VczDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VczTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VczjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VczziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vc0DiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vc0TiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_9n5BsKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vc0ziAEeKDAMEjnOLmPA" x="-56" y="5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vc1DiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vc1TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm4DiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0Vc1jiAEeKDAMEjnOLmPA" x="191" y="180"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0Vc1ziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vc2DiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vc2TiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vc2jiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vc2ziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vc3DiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vc3TiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vc3jiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vc3ziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_99DZYKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vc4TiAEeKDAMEjnOLmPA" x="-91" y="5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vc4jiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vc4ziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm4TiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0Vc5DiAEeKDAMEjnOLmPA" x="191" y="145"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0Vc5TiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vc5jiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vc5ziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vc6DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vc6TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vc6jiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vc6ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vc7DiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vc7TiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_-zvw0KBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="28"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vc7ziAEeKDAMEjnOLmPA" x="-91" y="10"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vc8DiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vc8TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm4jiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0Vc8jiAEeKDAMEjnOLmPA" x="191" y="70" width="20" height="20"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0Vc8ziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vc9DiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vc9TiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vc9jiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vc9ziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vc-DiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vc-TiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vc-jiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vc-ziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_8pT5kKBVEeKY66-xYT6OCw" key="CustomAppearance_MaskValue" value="20"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vc_TiAEeKDAMEjnOLmPA" x="20"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vc_jiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vc_ziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm4ziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdADiAEeKDAMEjnOLmPA" x="-10" y="195"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_RAV1yrU5EeWmy72C-w00OQ" type="6054">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_RAV1y7U5EeWmy72C-w00OQ" y="5"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlGziAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdATiAEeKDAMEjnOLmPA" x="515" y="590" width="201" height="296"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VdAjiAEeKDAMEjnOLmPA" type="3070" fontHeight="8" fillColor="8047085" gradient="16777215, 16777215, 0" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdAziAEeKDAMEjnOLmPA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdBDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdBTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdBjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdBziAEeKDAMEjnOLmPA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdCDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_rVQH0KEFEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0ehlDiAEeKDAMEjnOLmPA">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_rVQH0aEFEeKNa6EfGASSWw" key="tooltip_text" value="GlobalP4"/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_rVQH0qEFEeKNa6EfGASSWw" key="diagram_name" value="P4-Global"/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_rVQH06EFEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_k0VdDTiAEeKDAMEjnOLmPA" type="5126">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_lvL3MKEFEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0ehlDiAEeKDAMEjnOLmPA">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lvL3MaEFEeKNa6EfGASSWw" key="tooltip_text" value="P4-Global"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lvL3MqEFEeKNa6EfGASSWw" key="diagram_name" value="P4-Global"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_lvL3M6EFEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
+            </eAnnotations>
+          </children>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VdDjiAEeKDAMEjnOLmPA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VdDziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdEDiAEeKDAMEjnOLmPA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VdETiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdEjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdEziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdFDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdFTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdFjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdFziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdGDiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdGTiAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdGjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdGziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmBjiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdHDiAEeKDAMEjnOLmPA" x="-10" y="60"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VdHTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdHjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdHziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdIDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdITiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdIjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdIziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdJDiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdJTiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdJjiAEeKDAMEjnOLmPA" key="CustomAppearance_MaskValue" value="52"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdJziAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdKDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdKTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmBziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdKjiAEeKDAMEjnOLmPA" x="-10" y="30"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VdKziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdLDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdLTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdLjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdLziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdMDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdMTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdMjiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdMziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdNDiAEeKDAMEjnOLmPA" key="CustomAppearance_MaskValue" value="52"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdNTiAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdNjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdNziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmCDiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdODiAEeKDAMEjnOLmPA" x="-10" y="100"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VdOTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdOjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdOziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdPDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdPTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdPjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdPziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdQDiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdQTiAEeKDAMEjnOLmPA" x="-94" y="5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdQjiAEeKDAMEjnOLmPA" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdQziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmCTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdRDiAEeKDAMEjnOLmPA" x="164" y="75"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_RAV1zLU5EeWmy72C-w00OQ" type="6054">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_RAV1zbU5EeWmy72C-w00OQ" y="5"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlHDiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdRTiAEeKDAMEjnOLmPA" x="1340" y="635" width="174" height="143"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VdRjiAEeKDAMEjnOLmPA" type="3070" fontHeight="8" fillColor="8047085" gradient="16777215, 16777215, 0" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdRziAEeKDAMEjnOLmPA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdSDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdSTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdSjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdSziAEeKDAMEjnOLmPA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdTDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_k0VdTTiAEeKDAMEjnOLmPA" type="5126">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Nh4JMKEGEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0ef6TiAEeKDAMEjnOLmPA">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Nh4JMaEGEeKNa6EfGASSWw" key="tooltip_text" value="P3-Local"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Nh4JMqEGEeKNa6EfGASSWw" key="diagram_name" value="P3-Local"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Nh4JM6EGEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
+            </eAnnotations>
+          </children>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VdTjiAEeKDAMEjnOLmPA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VdTziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdUDiAEeKDAMEjnOLmPA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VdUTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdUjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdUziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdVDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdVTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdVjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdVziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdWDiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdWTiAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdWjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdWziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmUTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdXDiAEeKDAMEjnOLmPA" x="-10" y="60"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VdXTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdXjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdXziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdYDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdYTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdYjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdYziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdZDiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdZTiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdZjiAEeKDAMEjnOLmPA" key="CustomAppearance_MaskValue" value="52"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdZziAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdaDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdaTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmUjiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdajiAEeKDAMEjnOLmPA" x="-10" y="240"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VdaziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdbDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdbTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdbjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdbziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdcDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdcTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdcjiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdcziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VddDiAEeKDAMEjnOLmPA" key="CustomAppearance_MaskValue" value="52"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VddTiAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VddjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VddziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmUziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdeDiAEeKDAMEjnOLmPA" x="-10" y="205"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VdeTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdejiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdeziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdfDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdfTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdfjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdfziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdgDiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdgTiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdgjiAEeKDAMEjnOLmPA" key="CustomAppearance_MaskValue" value="52"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdgziAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdhDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdhTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmVDiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdhjiAEeKDAMEjnOLmPA" x="-10" y="170"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VdhziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdiDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdiTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdijiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdiziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdjDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdjTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdjjiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdjziAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdkDiAEeKDAMEjnOLmPA" key="CustomAppearance_MaskValue" value="52"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdkTiAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdkjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdkziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmVTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdlDiAEeKDAMEjnOLmPA" x="-10" y="105" width="20" height="20"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VdlTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdljiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdlziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdmDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdmTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdmjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdmziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdnDiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdnTiAEeKDAMEjnOLmPA" x="-91" y="5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdnjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdnziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmVjiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdoDiAEeKDAMEjnOLmPA" x="191" y="95"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VdoTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdojiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdoziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdpDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdpTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdpjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdpziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdqDiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VdqTiAEeKDAMEjnOLmPA" source="CustomAppearance_Annotation">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VdqjiAEeKDAMEjnOLmPA" key="CustomAppearance_MaskValue" value="52"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdqziAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VdrDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdrTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmVziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdrjiAEeKDAMEjnOLmPA" x="-10" y="134" width="20" height="20"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_RAV1zrU5EeWmy72C-w00OQ" type="6054">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_RAV1z7U5EeWmy72C-w00OQ" y="5"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LlHTiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdrziAEeKDAMEjnOLmPA" x="985" y="600" width="201" height="276"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VdsDiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdsTiAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_RAVOsLU5EeWmy72C-w00OQ" type="6089">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_RAVOsbU5EeWmy72C-w00OQ" y="5"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LlFDiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VdsjiAEeKDAMEjnOLmPA" x="30" y="75" width="1841" height="1323"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_REof4LU5EeWmy72C-w00OQ" type="StereotypeComment">
+      <styles xmi:type="notation:TitleStyle" xmi:id="_REof4bU5EeWmy72C-w00OQ" showTitle="true"/>
+      <styles xmi:type="notation:EObjectValueStyle" xmi:id="_REof47U5EeWmy72C-w00OQ" name="BASE_ELEMENT">
+        <eObjectValue xmi:type="uml:Class" href="YouthChallenge.uml#_k0LlFDiAEeKDAMEjnOLmPA"/>
+      </styles>
+      <element xsi:nil="true"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_REof4rU5EeWmy72C-w00OQ" x="230" y="75"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0VdsziAEeKDAMEjnOLmPA"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdgH7bEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Model" href="YouthChallenge.uml#_k0Lj4DiAEeKDAMEjnOLmPA"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <styles xmi:type="notation:StringValueStyle" xmi:id="_RAV10LU5EeWmy72C-w00OQ" name="diagram_compatibility_version" stringValue="1.1.0"/>
+    <element xmi:type="uml:Model" href="YouthChallenge.uml#_k0Lj4DiAEeKDAMEjnOLmPA"/>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VdtDiAEeKDAMEjnOLmPA" type="4013" source="_k0VavziAEeKDAMEjnOLmPA" target="_k0ValziAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VdtTiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdtjiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VdtziAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VduDiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VduTiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdujiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VduziAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdvDiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VdvTiAEeKDAMEjnOLmPA" fontName="Segoe UI"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlHjiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VdvjiAEeKDAMEjnOLmPA" points="[7, 17, 7, -26]$[7, 61, 7, 18]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VdvziAEeKDAMEjnOLmPA" type="4013" source="_k0VaeziAEeKDAMEjnOLmPA" target="_k0Va3TiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VdwDiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdwTiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VdwjiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdwziAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VdxDiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdxTiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VdxjiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdxziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VdyDiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlJTiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VdyTiAEeKDAMEjnOLmPA"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VdyjiAEeKDAMEjnOLmPA" id="(0.0,0.475)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VdyziAEeKDAMEjnOLmPA" id="(1.0,0.475)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VdzDiAEeKDAMEjnOLmPA" type="4013" source="_k0Va6ziAEeKDAMEjnOLmPA" target="_k0VbMziAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VdzTiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VdzjiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VdzziAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd0DiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd0TiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd0jiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd0ziAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd1DiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0Vd1TiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlLDiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0Vd1jiAEeKDAMEjnOLmPA" points="[-1, -7, 283, 49]$[-41, -7, 243, 49]$[-41, -56, 243, 0]$[-280, -56, 4, 0]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0Vd1ziAEeKDAMEjnOLmPA" id="(0.1,0.35)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0Vd2DiAEeKDAMEjnOLmPA" id="(0.8,0.55)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0Vd2TiAEeKDAMEjnOLmPA" type="4013" source="_k0VbQTiAEeKDAMEjnOLmPA" target="_k0VblziAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd2jiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd2ziAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd3DiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd3TiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd3jiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd3ziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd4DiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd4TiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0Vd4jiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlMziAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0Vd4ziAEeKDAMEjnOLmPA" points="[2, 10, -27, -109]$[29, 129, 0, 10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0Vd5DiAEeKDAMEjnOLmPA" type="4013" source="_k0VbtTiAEeKDAMEjnOLmPA" target="_k0VcWTiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd5TiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd5jiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd5ziAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd6DiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd6TiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd6jiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd6ziAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd7DiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0Vd7TiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlOjiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0Vd7jiAEeKDAMEjnOLmPA" points="[10, -2, -99, 13]$[106, -5, -3, 10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0Vd7ziAEeKDAMEjnOLmPA" type="4013" source="_k0VbwziAEeKDAMEjnOLmPA" target="_k0VcZziAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd8DiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd8TiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd8jiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd8ziAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd9DiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd9TiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd9jiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd9ziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0Vd-DiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlQTiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0Vd-TiAEeKDAMEjnOLmPA" points="[10, -1, -99, 8]$[105, -19, -4, -10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0Vd-jiAEeKDAMEjnOLmPA" type="4013" source="_k0Vb7TiAEeKDAMEjnOLmPA" target="_k0VckTiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd-ziAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd_DiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd_TiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vd_jiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vd_ziAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeADiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeATiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeAjiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VeAziAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlSDiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VeBDiAEeKDAMEjnOLmPA" points="[10, -6, -99, -2]$[105, -14, -4, -10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VeBTiAEeKDAMEjnOLmPA" type="4013" source="_k0VcCTiAEeKDAMEjnOLmPA" target="_k0VcnziAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeBjiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeBziAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeCDiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeCTiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeCjiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeCziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeDDiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeDTiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VeDjiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlTziAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VeDziAEeKDAMEjnOLmPA" points="[10, 0, -99, 0]$[99, 0, -10, 0]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VeEDiAEeKDAMEjnOLmPA" type="4013" source="_k0Vb-ziAEeKDAMEjnOLmPA" target="_k0VcrTiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeETiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeEjiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeEziAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeFDiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeFTiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeFjiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeFziAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeGDiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VeGTiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlVjiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VeGjiAEeKDAMEjnOLmPA" points="[10, -2, -99, -3]$[110, -9, 1, -10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VeGziAEeKDAMEjnOLmPA" type="4013" source="_k0Vb0TiAEeKDAMEjnOLmPA" target="_k0VcdTiAEeKDAMEjnOLmPA" lineColor="12560536">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeHDiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeHTiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeHjiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeHziAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeIDiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeITiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeIjiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeIziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VeJDiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlXTiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VeJTiAEeKDAMEjnOLmPA"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VeJjiAEeKDAMEjnOLmPA" type="4013" source="_k0Vb3ziAEeKDAMEjnOLmPA" target="_k0VcgziAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeJziAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeKDiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeKTiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeKjiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeKziAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeLDiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeLTiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeLjiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VeLziAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlZDiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VeMDiAEeKDAMEjnOLmPA" points="[10, 5, -99, 0]$[99, 5, -10, 0]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VeMTiAEeKDAMEjnOLmPA" type="4013" source="_k0Vb3ziAEeKDAMEjnOLmPA" target="_k0VbeTiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeMjiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeMziAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeNDiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeNTiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeNjiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeNziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeODiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeOTiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VeOjiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlaziAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VeOziAEeKDAMEjnOLmPA" points="[10, 0, -420, 321]$[164, 0, -266, 321]$[164, -260, -266, 61]$[469, -260, 39, 61]$[469, -321, 39, 0]$[450, -321, 20, 0]"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VePDiAEeKDAMEjnOLmPA" id="(0.0,0.475)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VePTiAEeKDAMEjnOLmPA" type="4013" source="_k0VcyTiAEeKDAMEjnOLmPA" target="_k0VbaziAEeKDAMEjnOLmPA" lineColor="10265827">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VePjiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VePziAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeQDiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeQTiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeQjiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeQziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeRDiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeRTiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VeRjiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlcjiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VeRziAEeKDAMEjnOLmPA" points="[1, 9, 15, 430]$[120, 9, 134, 430]$[120, -421, 134, 0]$[-4, -421, 10, 0]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VeSDiAEeKDAMEjnOLmPA" id="(0.95,0.3)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VeYDiAEeKDAMEjnOLmPA" type="4013" source="_k0VcuziAEeKDAMEjnOLmPA" target="_k0VbBziAEeKDAMEjnOLmPA" lineColor="10011046">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeYTiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeYjiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeYziAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeZDiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeZTiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeZjiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeZziAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeaDiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VeaTiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlhziAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VeajiAEeKDAMEjnOLmPA" points="[10, 0, -425, 350]$[196, 0, -239, 350]$[196, -245, -239, 105]$[519, -245, 84, 105]$[519, -350, 84, 0]$[445, -350, 10, 0]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VeaziAEeKDAMEjnOLmPA" type="4013" source="_k0VcyTiAEeKDAMEjnOLmPA" target="_k0VbFTiAEeKDAMEjnOLmPA" lineColor="10265827" lineWidth="2">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VebDiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VebTiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VebjiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VebziAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VecDiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VecTiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VecjiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VecziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VedDiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LljjiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VedTiAEeKDAMEjnOLmPA" points="[10, 0, -433, 382]$[129, 0, -314, 382]$[129, -240, -314, 142]$[494, -240, 51, 142]$[494, -359, 51, 23]$[494, -382, 51, 0]$[445, -382, 2, 0]"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VedjiAEeKDAMEjnOLmPA" id="(0.9,0.65)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VedziAEeKDAMEjnOLmPA" type="4013" source="_k0VdlTiAEeKDAMEjnOLmPA" target="_k0Va-TiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeeDiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeeTiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeejiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeeziAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VefDiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VefTiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VefjiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VefziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VegDiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LllTiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VegTiAEeKDAMEjnOLmPA" points="[10, 0, 45, 365]$[89, 0, 124, 365]$[89, -175, 124, 190]$[89, -335, 124, 30]$[89, -365, 124, 0]$[-25, -365, 10, 0]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VegjiAEeKDAMEjnOLmPA" type="4013" source="_k0Vb3ziAEeKDAMEjnOLmPA" target="_k0VdaziAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VegziAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VehDiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VehTiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VehjiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VehziAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeiDiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeiTiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeijiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VeiziAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlnDiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VejDiAEeKDAMEjnOLmPA" points="[10, 0, -694, 11]$[164, 0, -540, 11]$[164, 80, -540, 91]$[594, 80, -110, 91]$[594, -11, -110, 0]$[704, -11, 0, 0]"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VejTiAEeKDAMEjnOLmPA" id="(0.0,0.475)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VejjiAEeKDAMEjnOLmPA" type="4013" source="_k0Vb0TiAEeKDAMEjnOLmPA" target="_k0VdXTiAEeKDAMEjnOLmPA" lineColor="12560536">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VejziAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VekDiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VekTiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VekjiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VekziAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VelDiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VelTiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeljiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VelziAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LloziAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VemDiAEeKDAMEjnOLmPA" points="[0, 0, -694, 25]$[101, 0, -593, 25]$[101, 81, -593, 106]$[629, 81, -65, 106]$[629, -19, -65, 6]$[694, -19, 0, 6]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VemTiAEeKDAMEjnOLmPA" id="(1.0,0.475)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VemjiAEeKDAMEjnOLmPA" id="(0.0,0.45)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VemziAEeKDAMEjnOLmPA" type="4013" source="_k0VcyTiAEeKDAMEjnOLmPA" target="_k0VdeTiAEeKDAMEjnOLmPA" lineColor="10265827">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VenDiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VenTiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VenjiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VenziAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeoDiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeoTiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeojiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeoziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VepDiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlqjiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VepTiAEeKDAMEjnOLmPA"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VepjiAEeKDAMEjnOLmPA" id="(0.05,0.6)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VepziAEeKDAMEjnOLmPA" type="4013" source="_k0VcuziAEeKDAMEjnOLmPA" target="_k0VdhziAEeKDAMEjnOLmPA" lineColor="10011046">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeqDiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeqTiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeqjiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeqziAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VerDiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VerTiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VerjiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VerziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VesDiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlsTiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VesTiAEeKDAMEjnOLmPA"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VesjiAEeKDAMEjnOLmPA" id="(1.0,0.475)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VesziAEeKDAMEjnOLmPA" id="(0.0,0.475)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VetDiAEeKDAMEjnOLmPA" type="4013" source="_k0Vc5TiAEeKDAMEjnOLmPA" target="_k0VdUTiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VetTiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VetjiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VetziAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeuDiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeuTiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeujiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeuziAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VevDiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VevTiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LluDiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VevjiAEeKDAMEjnOLmPA"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VevziAEeKDAMEjnOLmPA" id="(0.15,0.2)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VewDiAEeKDAMEjnOLmPA" id="(0.05,0.5)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VewTiAEeKDAMEjnOLmPA" type="4013" source="_k0Vc1ziAEeKDAMEjnOLmPA" target="_k0VdoTiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VewjiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VewziAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VexDiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VexTiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VexjiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VexziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VeyDiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VeyTiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VeyjiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlvziAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VeyziAEeKDAMEjnOLmPA"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VezDiAEeKDAMEjnOLmPA" id="(1.0,0.475)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VezTiAEeKDAMEjnOLmPA" id="(0.15,0.6)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VezjiAEeKDAMEjnOLmPA" type="4013" source="_k0VcuziAEeKDAMEjnOLmPA" target="_k0VdHTiAEeKDAMEjnOLmPA" lineColor="10011046">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VezziAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve0DiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve0TiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve0jiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve0ziAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve1DiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve1TiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve1jiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0Ve1ziAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlxjiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0Ve2DiAEeKDAMEjnOLmPA" points="[0, 0, -614, 40]$[184, 0, -430, 40]$[184, -245, -430, -205]$[589, -245, -25, -205]$[589, -135, -25, -95]$[589, -40, -25, 0]$[604, -40, -10, 0]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0Ve2TiAEeKDAMEjnOLmPA" id="(1.0,0.5)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0Ve2jiAEeKDAMEjnOLmPA" type="4013" source="_k0Vb0TiAEeKDAMEjnOLmPA" target="_k0VdKziAEeKDAMEjnOLmPA" lineColor="12560536" lineWidth="2">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve2ziAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve3DiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve3TiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve3jiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve3ziAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve4DiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve4TiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve4jiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0Ve4ziAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LlzTiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0Ve5DiAEeKDAMEjnOLmPA" points="[18, 0, -1049, 138]$[117, 0, -950, 138]$[117, 75, -950, 213]$[1002, 75, -65, 213]$[1002, -138, -65, 0]$[1067, -138, 0, 0]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0Ve5TiAEeKDAMEjnOLmPA" id="(0.1,0.75)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0Ve5jiAEeKDAMEjnOLmPA" id="(0.0,0.35)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0Ve5ziAEeKDAMEjnOLmPA" type="4013" source="_k0VdlTiAEeKDAMEjnOLmPA" target="_k0VdETiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve6DiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve6TiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve6jiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve6ziAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve7DiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve7TiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve7jiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve7ziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0Ve8DiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Ll1DiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0Ve8TiAEeKDAMEjnOLmPA"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0Ve8jiAEeKDAMEjnOLmPA" id="(0.475,1.0)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0Ve8ziAEeKDAMEjnOLmPA" id="(0.2,0.55)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0Ve9DiAEeKDAMEjnOLmPA" type="4013" source="_k0VcuziAEeKDAMEjnOLmPA" target="_k0VaiTiAEeKDAMEjnOLmPA" lineColor="10011046">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve9TiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve9jiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve9ziAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve-DiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve-TiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve-jiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Ve-ziAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Ve_DiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0Ve_TiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Ll2ziAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0Ve_jiAEeKDAMEjnOLmPA" points="[10, 0, -798, 333]$[194, 0, -614, 333]$[194, -245, -614, 88]$[854, -245, 46, 88]$[854, -325, 46, 8]$[820, -325, 12, 8]"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0Ve_ziAEeKDAMEjnOLmPA" id="(0.9,0.45)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VfADiAEeKDAMEjnOLmPA" type="4013" source="_k0VdOTiAEeKDAMEjnOLmPA" target="_k0VapTiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfATiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfAjiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfAziAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfBDiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfBTiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfBjiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfBziAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfCDiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VfCTiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Ll4jiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VfCjiAEeKDAMEjnOLmPA" points="[0, 0, 8, 355]$[78, 0, 86, 355]$[78, -105, 86, 250]$[79, -348, 87, 7]$[12, -348, 20, 7]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VfCziAEeKDAMEjnOLmPA" id="(1.0,0.475)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VfDDiAEeKDAMEjnOLmPA" id="(0.0,0.475)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VfDTiAEeKDAMEjnOLmPA" type="4013" source="_k0VcOziAEeKDAMEjnOLmPA" target="_k0Vc8ziAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfDjiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfDziAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfEDiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfETiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfEjiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfEziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfFDiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfFTiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VfFjiAEeKDAMEjnOLmPA" fontName="Segoe UI"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Ll6TiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VfFziAEeKDAMEjnOLmPA" points="[15, 3, -351, 3]$[364, 15, -2, 15]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_REof5LU5EeWmy72C-w00OQ" type="StereotypeCommentLink" source="_k0VaYziAEeKDAMEjnOLmPA" target="_REof4LU5EeWmy72C-w00OQ">
+      <styles xmi:type="notation:FontStyle" xmi:id="_REof5bU5EeWmy72C-w00OQ"/>
+      <styles xmi:type="notation:EObjectValueStyle" xmi:id="_REof6bU5EeWmy72C-w00OQ" name="BASE_ELEMENT">
+        <eObjectValue xmi:type="uml:Class" href="YouthChallenge.uml#_k0LlFDiAEeKDAMEjnOLmPA"/>
+      </styles>
+      <element xsi:nil="true"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_REof5rU5EeWmy72C-w00OQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_REof57U5EeWmy72C-w00OQ"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_REof6LU5EeWmy72C-w00OQ"/>
+    </edges>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_k0VfGDiAEeKDAMEjnOLmPA" type="CompositeStructure" name="A1-Servoings" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_k0VfGTiAEeKDAMEjnOLmPA" type="2073" fontName="Segoe UI" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfGjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfGziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfHDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfHTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfHjiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfHziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_QqzzkKEHEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0VaYjiAEeKDAMEjnOLmPA">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QqzzkaEHEeKNa6EfGASSWw" key="tooltip_text" value="WifiBot"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QqzzkqEHEeKNa6EfGASSWw" key="diagram_name" value="WifiBot"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Qqzzk6EHEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfJDiAEeKDAMEjnOLmPA" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VfJTiAEeKDAMEjnOLmPA" type="7073">
+        <children xmi:type="notation:Shape" xmi:id="_k0VfJjiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfJziAEeKDAMEjnOLmPA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfKDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfKTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfKjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfKziAEeKDAMEjnOLmPA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfLDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_k0VfLTiAEeKDAMEjnOLmPA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VfLjiAEeKDAMEjnOLmPA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VfLziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VfMDiAEeKDAMEjnOLmPA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VfMTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfMjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfMziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfNDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfNTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfNjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfNziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfODiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfOTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfOjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfOziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfPDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfPTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VfPjiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfPziAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VfQDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfQTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lo7TiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VfQjiAEeKDAMEjnOLmPA" x="-10" y="46"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VfQziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfRDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfRTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfRjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfRziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfSDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfSTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfSjiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfSziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfTDiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfTTiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfTjiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfTziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VfUDiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfUTiAEeKDAMEjnOLmPA" x="-246" y="-16"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VfUjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfUziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lo8TiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VfVDiAEeKDAMEjnOLmPA" x="321" y="46"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Lo_ziAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VfVTiAEeKDAMEjnOLmPA" x="50" y="20" width="331" height="116"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VfVjiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfVziAEeKDAMEjnOLmPA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfWDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfWTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfWjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfWziAEeKDAMEjnOLmPA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfXDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_k0VfXTiAEeKDAMEjnOLmPA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VfXjiAEeKDAMEjnOLmPA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VfXziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VfYDiAEeKDAMEjnOLmPA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VfYTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfYjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfYziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfZDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfZTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfZjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfZziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfaDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfaTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfajiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfaziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfbDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfbTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VfbjiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfbziAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VfcDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfcTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lo9jiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VfcjiAEeKDAMEjnOLmPA" x="-11" y="45" width="20" height="20"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LpADiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VfcziAEeKDAMEjnOLmPA" x="435" y="20" width="318" height="116"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VfdDiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VfdTiAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0VfdjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfdziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfeDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfeTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfejiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfeziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VffDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VffTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VffjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VffziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfgDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfgTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfgjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VfgziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfhDiAEeKDAMEjnOLmPA" x="15" y="25"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VfhTiAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfhjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lo-ziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VfhziAEeKDAMEjnOLmPA" x="-11" y="104" width="20" height="20"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0Lo-jiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VfiDiAEeKDAMEjnOLmPA" x="70" y="40" width="796" height="196"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0VfiTiAEeKDAMEjnOLmPA"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdgX7bEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0Lo6ziAEeKDAMEjnOLmPA"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0Lo6ziAEeKDAMEjnOLmPA"/>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VfijiAEeKDAMEjnOLmPA" type="4013" source="_k0VfYTiAEeKDAMEjnOLmPA" target="_k0VfQziAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfiziAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfjDiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfjTiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfjjiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfjziAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfkDiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfkTiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfkjiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VfkziAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LpATiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VflDiAEeKDAMEjnOLmPA"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VflTiAEeKDAMEjnOLmPA" id="(0.0,0.475)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0VfljiAEeKDAMEjnOLmPA" id="(1.0,0.475)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VflziAEeKDAMEjnOLmPA" type="4013" source="_k0VfdjiAEeKDAMEjnOLmPA" target="_k0VfMTiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfmDiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfmTiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfmjiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfmziAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfnDiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfnTiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfnjiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfnziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VfoDiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LpCDiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VfoTiAEeKDAMEjnOLmPA" points="[3, 10, -27, -88]$[32, 108, 2, 10]"/>
+    </edges>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_k0VfojiAEeKDAMEjnOLmPA" type="CompositeStructure" name="A2-Pilot" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_k0VfoziAEeKDAMEjnOLmPA" type="2073" fontName="Segoe UI" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfpDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfpTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfpjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfpziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfqDiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfqTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_57YVoKEDEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0VaYjiAEeKDAMEjnOLmPA">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_57YVoaEDEeKNa6EfGASSWw" key="tooltip_text" value="WifiBot"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_57YVoqEDEeKNa6EfGASSWw" key="diagram_name" value="WifiBot"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_57YVo6EDEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VfqjiAEeKDAMEjnOLmPA" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VfqziAEeKDAMEjnOLmPA" type="7073">
+        <children xmi:type="notation:Shape" xmi:id="_k0VfrDiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfrTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfrjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfrziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfsDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfsTiAEeKDAMEjnOLmPA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfsjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_k0VfsziAEeKDAMEjnOLmPA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VftDiAEeKDAMEjnOLmPA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VftTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VftjiAEeKDAMEjnOLmPA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VftziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfuDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfuTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfujiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfuziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfvDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfvTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfvjiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfvziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfwDiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfwTiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfwjiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfwziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VfxDiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfxTiAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VfxjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VfxziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoiTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VfyDiAEeKDAMEjnOLmPA" x="-10" y="25"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VfyTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfyjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfyziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfzDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfzTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VfzjiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VfzziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf0DiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf0TiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf0jiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf0ziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vf1DiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf1TiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="0"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vf1jiAEeKDAMEjnOLmPA" type="5125">
+              <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vf1ziAEeKDAMEjnOLmPA" source="QualifiedName">
+                <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf2DiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="2"/>
+              </eAnnotations>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vf2TiAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vf2jiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vf2ziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LojTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0Vf3DiAEeKDAMEjnOLmPA" x="-10" y="55"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0Vf3TiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vf3jiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf3ziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vf4DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf4TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vf4jiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf4ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vf5DiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf5TiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf5jiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf5ziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf6DiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf6TiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vf6jiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vf6ziAEeKDAMEjnOLmPA" x="-157" y="24"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vf7DiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vf7TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LokTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0Vf7jiAEeKDAMEjnOLmPA" x="296" y="83"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0Vf7ziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vf8DiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf8TiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vf8jiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf8ziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vf9DiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf9TiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vf9jiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf9ziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf-DiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf-TiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf-jiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vf-ziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vf_DiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vf_TiAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0Vf_jiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vf_ziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LolTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VgADiAEeKDAMEjnOLmPA" x="-10" y="85"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VgATiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgAjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgAziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgBDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgBTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgBjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgBziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgCDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgCTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgCjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgCziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgDDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgDTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VgDjiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgDziAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VgEDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgETiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LomTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VgEjiAEeKDAMEjnOLmPA" x="-10" y="115"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VgEziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgFDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgFTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgFjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgFziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgGDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgGTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgGjiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgGziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgHDiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgHTiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgHjiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgHziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VgIDiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgITiAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VgIjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgIziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LonTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VgJDiAEeKDAMEjnOLmPA" x="-10" y="145"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LotDiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VgJTiAEeKDAMEjnOLmPA" x="161" y="13" width="306" height="186"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0VgJjiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgJziAEeKDAMEjnOLmPA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgKDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgKTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgKjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgKziAEeKDAMEjnOLmPA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgLDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_k0VgLTiAEeKDAMEjnOLmPA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VgLjiAEeKDAMEjnOLmPA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VgLziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VgMDiAEeKDAMEjnOLmPA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VgMTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgMjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgMziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgNDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgNTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgNjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgNziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgODiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgOTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgOjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgOziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgPDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgPTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VgPjiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgPziAEeKDAMEjnOLmPA" x="-156" y="21"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VgQDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgQTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LooziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VgQjiAEeKDAMEjnOLmPA" x="220" y="76" width="20" height="20"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VgQziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgRDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgRTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgRjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgRziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgSDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgSTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgSjiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgSziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgTDiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgTTiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgTjiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgTziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VgUDiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgUTiAEeKDAMEjnOLmPA" x="20" y="-20"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VgUjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgUziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LopziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VgVDiAEeKDAMEjnOLmPA" x="-10" y="83"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LotTiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VgVTiAEeKDAMEjnOLmPA" x="525" y="8" width="231" height="186"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VgVjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VgVziAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0VgWDiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgWTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgWjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgWziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgXDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgXTiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgXjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgXziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgYDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgYTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgYjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgYziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgZDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VgZTiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgZjiAEeKDAMEjnOLmPA" x="25" y="10"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VgZziAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgaDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LorDiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VgaTiAEeKDAMEjnOLmPA" x="-10" y="76" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0VgajiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgaziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgbDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgbTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgbjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgbziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgcDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgcTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgcjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgcziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgdDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgdTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgdjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VgdziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgeDiAEeKDAMEjnOLmPA" x="-166" y="20"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VgeTiAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgejiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LosDiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VgeziAEeKDAMEjnOLmPA" x="931" y="110"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0VgoDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgoTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgojiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgoziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgpDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgpTiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgpjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgpziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgqDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgqTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgqjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgqziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgrDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VgrTiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgrjiAEeKDAMEjnOLmPA" x="25" y="13"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VgrziAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgsDiAEeKDAMEjnOLmPA" x="20" y="-6"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LouDiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VgsTiAEeKDAMEjnOLmPA" x="-10" y="166" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0VgsjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgsziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgtDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgtTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgtjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VgtziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VguDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VguTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgujiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VguziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgvDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgvTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VgvjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VgvziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgwDiAEeKDAMEjnOLmPA" x="25" y="13"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VgwTiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgwjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LouTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VgwziAEeKDAMEjnOLmPA" x="-10" y="196" width="20" height="20"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LoqziAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VgxDiAEeKDAMEjnOLmPA" x="25" y="60" width="941" height="311"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_RoksUKBXEeKY66-xYT6OCw" type="2109">
+      <children xmi:type="notation:DecorationNode" xmi:id="_RoksUqBXEeKY66-xYT6OCw" type="5192"/>
+      <element xmi:type="uml:Comment" href="YouthChallenge.uml#_k0LoiDiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_RoksUaBXEeKY66-xYT6OCw" x="30" y="420" width="421"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_XIPaAKBXEeKY66-xYT6OCw" type="2109">
+      <children xmi:type="notation:DecorationNode" xmi:id="_XIPaAqBXEeKY66-xYT6OCw" type="5192"/>
+      <element xmi:type="uml:Comment" href="YouthChallenge.uml#_k0LoojiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_XIPaAaBXEeKY66-xYT6OCw" x="545" y="415"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0VgxTiAEeKDAMEjnOLmPA"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdgn7bEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0LohjiAEeKDAMEjnOLmPA"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0LohjiAEeKDAMEjnOLmPA"/>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VgxjiAEeKDAMEjnOLmPA" type="4013" source="_k0Vf3TiAEeKDAMEjnOLmPA" target="_k0VgQziAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VgxziAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgyDiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VgyTiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgyjiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VgyziAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgzDiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VgzTiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VgzjiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VgzziAEeKDAMEjnOLmPA" fontName="Segoe UI"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LoujiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0Vg0DiAEeKDAMEjnOLmPA" points="[10, -5, -79, 36]$[99, -41, 10, 0]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0Vg0TiAEeKDAMEjnOLmPA" type="4013" source="_k0VgWDiAEeKDAMEjnOLmPA" target="_k0VftziAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vg0jiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vg0ziAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vg1DiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vg1TiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vg1jiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vg1ziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vg2DiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vg2TiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0Vg2jiAEeKDAMEjnOLmPA" fontName="Segoe UI"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LowTiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0Vg2ziAEeKDAMEjnOLmPA" points="[10, 5, -210, 0]$[210, 5, -10, 0]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0Vg3DiAEeKDAMEjnOLmPA" type="4013" source="_k0VgMTiAEeKDAMEjnOLmPA" target="_k0VgajiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vg3TiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vg3jiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vg3ziAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vg4DiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vg4TiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vg4jiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vg4ziAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vg5DiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0Vg5TiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LoyDiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0Vg5jiAEeKDAMEjnOLmPA" points="[10, 1, -240, 0]$[260, 1, 10, 0]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0Vg_TiAEeKDAMEjnOLmPA" type="4013" source="_k0VgoDiAEeKDAMEjnOLmPA" target="_k0VgATiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vg_jiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vg_ziAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VhADiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhATiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VhAjiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhAziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VhBDiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhBTiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VhBjiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Lo3TiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VhBziAEeKDAMEjnOLmPA" points="[10, 1, -156, 0]$[40, 1, -126, 0]$[75, 1, -91, 0]$[75, 1, -91, 0]$[156, 1, -10, 0]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0VhCDiAEeKDAMEjnOLmPA" type="4013" source="_k0VgsjiAEeKDAMEjnOLmPA" target="_k0VgEziAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VhCTiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhCjiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VhCziAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhDDiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VhDTiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhDjiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VhDziAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhEDiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0VhETiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Lo5DiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0VhEjiAEeKDAMEjnOLmPA" points="[10, -2, -156, 28]$[164, -40, -2, -10]"/>
+    </edges>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_k0VhEziAEeKDAMEjnOLmPA" type="CompositeStructure" name="A3-Navigator" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_k0VhFDiAEeKDAMEjnOLmPA" type="2073" fontName="Segoe UI" fontHeight="12" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhFTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhFjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhFziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhGDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhGTiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhGjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_f4uaIKEFEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0VaYjiAEeKDAMEjnOLmPA">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_f4uaIaEFEeKNa6EfGASSWw" key="tooltip_text" value="WifiBot"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_f4uaIqEFEeKNa6EfGASSWw" key="diagram_name" value="WifiBot"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_f4uaI6EFEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0VhGziAEeKDAMEjnOLmPA" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0VhHDiAEeKDAMEjnOLmPA" type="7073">
+        <children xmi:type="notation:Shape" xmi:id="_k0VhHTiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhHjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhHziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhIDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhITiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhIjiAEeKDAMEjnOLmPA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhIziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_k0VhJDiAEeKDAMEjnOLmPA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_k0VhJTiAEeKDAMEjnOLmPA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_k0VhJjiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VhJziAEeKDAMEjnOLmPA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VhKDiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhKTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhKjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhKziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhLDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhLTiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhLjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VhNTiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhNjiAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VhNziAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhODiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoQjiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VhOTiAEeKDAMEjnOLmPA" y="47"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VhOjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhOziAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhPDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhPTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhPjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhPziAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhQDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VhRziAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhSDiAEeKDAMEjnOLmPA" x="-87" y="-5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VhSTiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhSjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoRjiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VhSziAEeKDAMEjnOLmPA" x="305" y="84" width="20" height="20"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VhTDiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhTTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhTjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhTziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhUDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhUTiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhUjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VhWTiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhWjiAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VhWziAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhXDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoSjiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VhXTiAEeKDAMEjnOLmPA" y="76"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VhXjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhXziAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhYDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhYTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhYjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhYziAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhZDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VhaziAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhbDiAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VhbTiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhbjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoTjiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VhbziAEeKDAMEjnOLmPA" y="107"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0VhcDiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhcTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhcjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhcziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhdDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhdTiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhdjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VhfTiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhfjiAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0VhfziAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhgDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoUjiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VhgTiAEeKDAMEjnOLmPA" y="145"/>
+          </children>
+          <children xmi:type="notation:DecorationNode" xmi:id="_edncwrVFEeWmy72C-w00OQ" type="6054">
+            <layoutConstraint xmi:type="notation:Location" xmi:id="_edncw7VFEeWmy72C-w00OQ" y="5"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LoXziAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VhgjiAEeKDAMEjnOLmPA" x="145" y="20" width="316" height="183"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0VhgziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VhhDiAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0VhhTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" fontHeight="10" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhhjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhhziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhiDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhiTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhijiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhiziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VhkjiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhkziAEeKDAMEjnOLmPA" x="26" y="-15"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VhlDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhlTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoVziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VhljiAEeKDAMEjnOLmPA" x="-11" y="162" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0VhlziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhmDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhmTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhmjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhmziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhnDiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhnTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VhpDiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhpTiAEeKDAMEjnOLmPA" x="-90" y="-14"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VhpjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhpziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoWziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VhqDiAEeKDAMEjnOLmPA" x="629" y="198" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0VhqTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhqjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhqziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhrDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhrTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhrjiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhrziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VhtjiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhtziAEeKDAMEjnOLmPA" x="17" y="-12"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VhuDiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhuTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoYDiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VhujiAEeKDAMEjnOLmPA" x="-11" y="191" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0VhuziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhvDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhvTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhvjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhvziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhwDiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhwTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VhyDiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhyTiAEeKDAMEjnOLmPA" x="19" y="-11"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0VhyjiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0VhyziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoYTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0VhzDiAEeKDAMEjnOLmPA" x="-11" y="222" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0VhzTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0VhzjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0VhzziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vh0DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vh0TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0Vh0jiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0Vh0ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0Vh2jiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vh2ziAEeKDAMEjnOLmPA" x="24" y="-14"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0Vh3DiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vh3TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoYjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0Vh3jiAEeKDAMEjnOLmPA" x="-11" y="260" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_edncwLVFEeWmy72C-w00OQ" type="6089">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_edncwbVFEeWmy72C-w00OQ" y="5"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LoVjiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0Vh3ziAEeKDAMEjnOLmPA" x="55" y="35" width="640" height="345"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_efrSQLVFEeWmy72C-w00OQ" type="StereotypeComment">
+      <styles xmi:type="notation:TitleStyle" xmi:id="_efrSQbVFEeWmy72C-w00OQ" showTitle="true"/>
+      <styles xmi:type="notation:EObjectValueStyle" xmi:id="_efr5ULVFEeWmy72C-w00OQ" name="BASE_ELEMENT">
+        <eObjectValue xmi:type="uml:Class" href="YouthChallenge.uml#_k0LoVjiAEeKDAMEjnOLmPA"/>
+      </styles>
+      <element xsi:nil="true"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_efrSQrVFEeWmy72C-w00OQ" x="255" y="35"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0Vh4DiAEeKDAMEjnOLmPA"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdg37bEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0LoPziAEeKDAMEjnOLmPA"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <styles xmi:type="notation:StringValueStyle" xmi:id="_edncxLVFEeWmy72C-w00OQ" name="diagram_compatibility_version" stringValue="1.1.0"/>
+    <styles xmi:type="notation:EObjectListValueStyle" xmi:id="_xTxDYLVFEeWmy72C-w00OQ" name="css_stylesheets" eObjectListValue="_xTxqcLVFEeWmy72C-w00OQ"/>
+    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0LoPziAEeKDAMEjnOLmPA"/>
+    <edges xmi:type="notation:Connector" xmi:id="_k0Vh4TiAEeKDAMEjnOLmPA" type="4013" source="_k0VhOjiAEeKDAMEjnOLmPA" target="_k0VhlziAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vh4jiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vh4ziAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vh5DiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vh5TiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vh5jiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vh5ziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vh6DiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vh6TiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0Vh6jiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LoYziAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0Vh6ziAEeKDAMEjnOLmPA" points="[10, 1, -155, 0]$[175, 1, 10, 0]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0Vh7DiAEeKDAMEjnOLmPA" type="4013" source="_k0VhhTiAEeKDAMEjnOLmPA" target="_k0VhKDiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vh7TiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_n-cSwLVFEeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vh7jiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vh7ziAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_n-1UULVFEeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vh8DiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vh8TiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_n_CvsLVFEeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vh8jiAEeKDAMEjnOLmPA" x="-28" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vh8ziAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_n_PkALVFEeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vh9DiAEeKDAMEjnOLmPA" x="29" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0Vh9TiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LoajiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0Vh9jiAEeKDAMEjnOLmPA" points="[65, 110, -643984, -643984]$[130, 110, -643984, -643984]$[130, 170, -643984, -643984]$[195, 170, -643984, -643984]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0Vh9ziAEeKDAMEjnOLmPA" type="4013" source="_k0VhqTiAEeKDAMEjnOLmPA" target="_k0VhTDiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vh-DiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_npc6MLVFEeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vh-TiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vh-jiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_np_swLVFEeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vh-ziAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vh_DiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_nqXgMLVFEeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vh_TiAEeKDAMEjnOLmPA" x="-28" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0Vh_jiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_nqs3YLVFEeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0Vh_ziAEeKDAMEjnOLmPA" x="29" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0ViADiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LocTiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ViATiAEeKDAMEjnOLmPA" points="[65, 139, -643984, -643984]$[130, 139, -643984, -643984]$[130, 199, -643984, -643984]$[195, 199, -643984, -643984]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0ViAjiAEeKDAMEjnOLmPA" type="4013" source="_k0VhuziAEeKDAMEjnOLmPA" target="_k0VhXjiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ViAziAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_nS3mMLVFEeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ViBDiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ViBTiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_nTSc8LVFEeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ViBjiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ViBziAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_nThtgLVFEeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ViCDiAEeKDAMEjnOLmPA" x="-28" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ViCTiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_nTtTsLVFEeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ViCjiAEeKDAMEjnOLmPA" x="28" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0ViCziAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LoeDiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ViDDiAEeKDAMEjnOLmPA" points="[65, 164, -643984, -643984]$[130, 164, -643984, -643984]$[130, 222, -643984, -643984]$[195, 222, -643984, -643984]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0ViDTiAEeKDAMEjnOLmPA" type="4013" source="_k0VhzTiAEeKDAMEjnOLmPA" target="_k0VhcDiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ViDjiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_m0Sz0LVFEeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ViDziAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ViEDiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_m0tDgLVFEeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ViETiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ViEjiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_m1CasLVFEeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ViEziAEeKDAMEjnOLmPA" x="-28" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ViFDiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <styles xmi:type="notation:BooleanValueStyle" xmi:id="_m1XK0LVFEeWmy72C-w00OQ" name="IS_UPDATED_POSITION" booleanValue="true"/>
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ViFTiAEeKDAMEjnOLmPA" x="28" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0ViFjiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LofziAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ViFziAEeKDAMEjnOLmPA" points="[65, 193, -643984, -643984]$[130, 193, -643984, -643984]$[130, 250, -643984, -643984]$[195, 250, -643984, -643984]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_efr5UbVFEeWmy72C-w00OQ" type="StereotypeCommentLink" source="_k0VhFDiAEeKDAMEjnOLmPA" target="_efrSQLVFEeWmy72C-w00OQ">
+      <styles xmi:type="notation:FontStyle" xmi:id="_efr5UrVFEeWmy72C-w00OQ"/>
+      <styles xmi:type="notation:EObjectValueStyle" xmi:id="_efr5VrVFEeWmy72C-w00OQ" name="BASE_ELEMENT">
+        <eObjectValue xmi:type="uml:Class" href="YouthChallenge.uml#_k0LoVjiAEeKDAMEjnOLmPA"/>
+      </styles>
+      <element xsi:nil="true"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_efr5U7VFEeWmy72C-w00OQ" points="[0, 0, 0, 0]$[0, 0, 0, 0]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_efr5VLVFEeWmy72C-w00OQ"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_efr5VbVFEeWmy72C-w00OQ"/>
+    </edges>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_k0ee0DiAEeKDAMEjnOLmPA" type="CompositeStructure" name="A4-PathPlanner" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_k0ee0TiAEeKDAMEjnOLmPA" type="2073" fontName="Segoe UI" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ee0jiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee0ziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ee1DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee1TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ee1jiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee1ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ee2DiAEeKDAMEjnOLmPA" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0ee2TiAEeKDAMEjnOLmPA" type="7073">
+        <children xmi:type="notation:Shape" xmi:id="_k0ee2jiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ee2ziAEeKDAMEjnOLmPA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee3DiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ee3TiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee3jiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ee3ziAEeKDAMEjnOLmPA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee4DiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_k0ee4TiAEeKDAMEjnOLmPA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_k0ee4jiAEeKDAMEjnOLmPA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_k0ee4ziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ee5DiAEeKDAMEjnOLmPA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0ee5TiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ee5jiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee5ziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ee6DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee6TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ee6jiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee6ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ee7DiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee7TiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee7jiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee7ziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee8DiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee8TiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0ee8jiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ee8ziAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0ee9DiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ee9TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoBziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ee9jiAEeKDAMEjnOLmPA" x="-10" y="30"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0ee9ziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ee-DiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee-TiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ee-jiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee-ziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ee_DiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee_TiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ee_jiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ee_ziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efADiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efATiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efAjiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efAziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0efBDiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efBTiAEeKDAMEjnOLmPA" x="-84" y="5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0efBjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efBziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoCziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0efCDiAEeKDAMEjnOLmPA" x="171" y="55"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0efCTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efCjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efCziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efDDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efDTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efDjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efDziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efEDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efETiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efEjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efEziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efFDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efFTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0efFjiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efFziAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0efGDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efGTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoDziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0efGjiAEeKDAMEjnOLmPA" x="-10" y="70"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0efGziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efHDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efHTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efHjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efHziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efIDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efITiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0efIjiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efIziAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0efJDiAEeKDAMEjnOLmPA" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efJTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoEziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0efJjiAEeKDAMEjnOLmPA" x="-10" y="105"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LoITiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0efJziAEeKDAMEjnOLmPA" x="195" y="55" width="181" height="146"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0efKDiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0efKTiAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0efKjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efKziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efLDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efLTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efLjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efLziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efMDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efMTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efMjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efMziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efNDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efNTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efNjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0efNziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efODiAEeKDAMEjnOLmPA" x="-86" y="10"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0efOTiAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efOjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoFTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0efOziAEeKDAMEjnOLmPA" x="580" y="134" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0efPDiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efPTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efPjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efPziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efQDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efQTiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efQjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efQziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efRDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efRTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efRjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efRziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efSDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0efSTiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efSjiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0efSziAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efTDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoGTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0efTTiAEeKDAMEjnOLmPA" x="-10" y="200"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0efTjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efTziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efUDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efUTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efUjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efUziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efVDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efVTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efVjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efVziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efWDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efWTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efWjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0efWziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efXDiAEeKDAMEjnOLmPA" x="15" y="-15"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0efXTiAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efXjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoHTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0efXziAEeKDAMEjnOLmPA" x="-11" y="109" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0efYDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efYTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efYjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efYziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efZDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efZTiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efZjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efZziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efaDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efaTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efajiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efaziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efbDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0efbTiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efbjiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0efbziAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efcDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoIjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0efcTiAEeKDAMEjnOLmPA" x="-11" y="149" width="20" height="20"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LoFDiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0efcjiAEeKDAMEjnOLmPA" x="65" y="55" width="591" height="241"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0efcziAEeKDAMEjnOLmPA"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdhH7bEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0LoBDiAEeKDAMEjnOLmPA"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0LoBDiAEeKDAMEjnOLmPA"/>
+    <edges xmi:type="notation:Connector" xmi:id="_k0efdDiAEeKDAMEjnOLmPA" type="4013" source="_k0efTjiAEeKDAMEjnOLmPA" target="_k0ee5TiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0efdTiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efdjiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0efdziAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efeDiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0efeTiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efejiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0efeziAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0effDiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0effTiAEeKDAMEjnOLmPA" fontName="Segoe UI"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LoIziAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0effjiAEeKDAMEjnOLmPA" points="[10, 3, -291, -87]$[300, 100, -1, 10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0effziAEeKDAMEjnOLmPA" type="4013" source="_k0ee9ziAEeKDAMEjnOLmPA" target="_k0efKjiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0efgDiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efgTiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0efgjiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efgziAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0efhDiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efhTiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0efhjiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efhziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0efiDiAEeKDAMEjnOLmPA" fontName="Segoe UI"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LoKjiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0efiTiAEeKDAMEjnOLmPA" points="[10, 4, -121, -51]$[126, 45, -5, -10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0efijiAEeKDAMEjnOLmPA" type="4013" source="_k0efYDiAEeKDAMEjnOLmPA" target="_k0efCTiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0efiziAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efjDiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0efjTiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efjjiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0efjziAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efkDiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0efkTiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efkjiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0efkziAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LoMTiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0eflDiAEeKDAMEjnOLmPA" points="[10, -3, -190, 40]$[197, -53, -3, -10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0eflTiAEeKDAMEjnOLmPA" type="4013" source="_k0efPDiAEeKDAMEjnOLmPA" target="_k0efGziAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0efljiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eflziAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0efmDiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efmTiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0efmjiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efmziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0efnDiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efnTiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0efnjiAEeKDAMEjnOLmPA" fontName="Segoe UI"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LoODiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0efnziAEeKDAMEjnOLmPA" points="[10, -1, -190, 14]$[198, -5, -2, 10]"/>
+    </edges>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_k0efoDiAEeKDAMEjnOLmPA" type="CompositeStructure" name="A5-MissionGenerator" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_k0efoTiAEeKDAMEjnOLmPA" type="2073" fontName="Segoe UI" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efojiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efoziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efpDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efpTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efpjiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efpziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_dEk3gKEFEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0VaYjiAEeKDAMEjnOLmPA">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_dEk3gaEFEeKNa6EfGASSWw" key="tooltip_text" value="WifiBot"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_dEk3gqEFEeKNa6EfGASSWw" key="diagram_name" value="WifiBot"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_dEk3g6EFEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0efqDiAEeKDAMEjnOLmPA" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0efqTiAEeKDAMEjnOLmPA" type="7073">
+        <children xmi:type="notation:Shape" xmi:id="_k0efqjiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efqziAEeKDAMEjnOLmPA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efrDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efrTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efrjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efrziAEeKDAMEjnOLmPA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efsDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_k0efsTiAEeKDAMEjnOLmPA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_k0efsjiAEeKDAMEjnOLmPA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_k0efsziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eftDiAEeKDAMEjnOLmPA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0eftTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eftjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eftziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efuDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efuTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efujiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efuziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efvDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efvTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efvjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efvziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efwDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efwTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0efwjiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efwziAEeKDAMEjnOLmPA" x="-132"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0efxDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0efxTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Ln8ziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0efxjiAEeKDAMEjnOLmPA" x="227" y="65"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0Ln_DiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0efxziAEeKDAMEjnOLmPA" x="120" y="20" width="237" height="118"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0efyDiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0efyTiAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0efyjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efyziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efzDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efzTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0efzjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0efzziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ef0DiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ef0TiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ef0jiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ef0ziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ef1DiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ef1TiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ef1jiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ef1ziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ef2DiAEeKDAMEjnOLmPA" x="-131" y="10"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ef2TiAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ef2jiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Ln-DiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ef2ziAEeKDAMEjnOLmPA" x="531" y="110"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0Ln9ziAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ef3DiAEeKDAMEjnOLmPA" x="90" y="35" width="541" height="246"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0ef3TiAEeKDAMEjnOLmPA"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdhX7bEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0Ln8TiAEeKDAMEjnOLmPA"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0Ln8TiAEeKDAMEjnOLmPA"/>
+    <edges xmi:type="notation:Connector" xmi:id="_k0ef3jiAEeKDAMEjnOLmPA" type="4013" source="_k0eftTiAEeKDAMEjnOLmPA" target="_k0efyjiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ef3ziAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ef4DiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ef4TiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ef4jiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ef4ziAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ef5DiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ef5TiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ef5jiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0ef5ziAEeKDAMEjnOLmPA" fontName="Segoe UI"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Ln_TiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ef6DiAEeKDAMEjnOLmPA" points="[10, 1, -284, -49]$[284, 50, -10, 0]"/>
+    </edges>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_k0ef6TiAEeKDAMEjnOLmPA" type="CompositeStructure" name="P3-Local" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_k0ef6jiAEeKDAMEjnOLmPA" type="2073" fontName="Segoe UI" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ef6ziAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ef7DiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ef7TiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ef7jiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ef7ziAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ef8DiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ef8TiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OoDuIKEGEeKNa6EfGASSWw" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OoDuIaEGEeKNa6EfGASSWw" key="StereotypeList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OoDuIqEGEeKNa6EfGASSWw" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OoDuI6EGEeKNa6EfGASSWw" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OoDuJKEGEeKNa6EfGASSWw" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Qn6GAKEGEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0VaYjiAEeKDAMEjnOLmPA">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Qn6GAaEGEeKNa6EfGASSWw" key="tooltip_text" value="WifiBot"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Qn6GAqEGEeKNa6EfGASSWw" key="diagram_name" value="WifiBot"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Qn6GA6EGEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ef-ziAEeKDAMEjnOLmPA" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0ef_DiAEeKDAMEjnOLmPA" type="7073">
+        <children xmi:type="notation:Shape" xmi:id="_k0ef_TiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ef_jiAEeKDAMEjnOLmPA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ef_ziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egADiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egATiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egAjiAEeKDAMEjnOLmPA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egAziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_k0egBDiAEeKDAMEjnOLmPA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_k0egBTiAEeKDAMEjnOLmPA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_k0egBjiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0egBziAEeKDAMEjnOLmPA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0egCDiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egCTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egCjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egCziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egDDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egDTiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egDjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egDziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egEDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egETiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egEjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egEziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egFDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0egFTiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egFjiAEeKDAMEjnOLmPA" x="15" y="-10"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0egFziAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egGDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmRjiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0egGTiAEeKDAMEjnOLmPA" x="-10" y="40"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0egGjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egGziAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egHDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egHTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egHjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egHziAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egIDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egITiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egIjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egIziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egJDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egJTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egJjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0egJziAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egKDiAEeKDAMEjnOLmPA" x="-91" y="5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0egKTiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egKjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmSjiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0egKziAEeKDAMEjnOLmPA" x="256" y="40" width="20" height="20"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LmTziAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0egLDiAEeKDAMEjnOLmPA" x="50" y="174" width="266" height="66"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0egLTiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egLjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egLziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egMDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egMTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egMjiAEeKDAMEjnOLmPA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egMziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_k0egNDiAEeKDAMEjnOLmPA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_k0egNTiAEeKDAMEjnOLmPA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_k0egNjiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0egNziAEeKDAMEjnOLmPA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0egODiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egOTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egOjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egOziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egPDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egPTiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egPjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egPziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egQDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egQTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egQjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egQziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egRDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0egRTiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egRjiAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0egRziAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egSDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmKTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0egSTiAEeKDAMEjnOLmPA" x="-10" y="25"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0egSjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egSziAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egTDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egTTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egTjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egTziAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egUDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egUTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egUjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egUziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egVDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egVTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egVjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0egVziAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egWDiAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0egWTiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egWjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmLTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0egWziAEeKDAMEjnOLmPA" x="-10" y="50"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0egXDiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egXTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egXjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egXziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egYDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egYTiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egYjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egYziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egZDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egZTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egZjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egZziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egaDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0egaTiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egajiAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0egaziAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egbDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmMTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0egbTiAEeKDAMEjnOLmPA" x="-10" y="75"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0egbjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egbziAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egcDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egcTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egcjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egcziAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egdDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egdTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egdjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egdziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egeDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egeTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egejiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0egeziAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egfDiAEeKDAMEjnOLmPA" x="-166" y="5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0egfTiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egfjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmNTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0egfziAEeKDAMEjnOLmPA" x="374" y="190"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0eggDiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eggTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eggjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eggziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eghDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eghTiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eghjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eghziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egiDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egiTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egijiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egiziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egjDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0egjTiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egjjiAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0egjziAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egkDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmOTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0egkTiAEeKDAMEjnOLmPA" x="-10" y="105"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0egkjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egkziAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eglDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eglTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egljiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eglziAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egmDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egmTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egmjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egmziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egnDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egnTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egnjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0egnziAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egoDiAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0egoTiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egojiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmPTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0egoziAEeKDAMEjnOLmPA" x="-10" y="130"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0egpDiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egpTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egpjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egpziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egqDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egqTiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egqjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egqziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egrDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egrTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egrjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egrziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egsDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0egsTiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egsjiAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0egsziAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egtDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmQTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0egtTiAEeKDAMEjnOLmPA" x="-11" y="199" width="20" height="20"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LmUDiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0egtjiAEeKDAMEjnOLmPA" x="387" y="9" width="384" height="226"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0egtziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eguDiAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0eguTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egujiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eguziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egvDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egvTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egvjiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egvziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egwDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egwTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egwjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egwziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egxDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egxTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0egxjiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egxziAEeKDAMEjnOLmPA" x="25" y="-5"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0egyDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0egyTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmUTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0egyjiAEeKDAMEjnOLmPA" x="-10" y="180" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0egyziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egzDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egzTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0egzjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0egzziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eg0DiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg0TiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eg0jiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg0ziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg1DiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg1TiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg1jiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg1ziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eg2DiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eg2TiAEeKDAMEjnOLmPA" x="25" y="-4"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eg2jiAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eg2ziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmUjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eg3DiAEeKDAMEjnOLmPA" x="-11" y="154" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0eg3TiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eg3jiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg3ziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eg4DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg4TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eg4jiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg4ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eg5DiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg5TiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg5jiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg5ziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg6DiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg6TiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eg6jiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eg6ziAEeKDAMEjnOLmPA" x="25" y="-4"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eg7DiAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eg7TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmUziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eg7jiAEeKDAMEjnOLmPA" x="-11" y="124" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0eg7ziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eg8DiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg8TiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eg8jiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg8ziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eg9DiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg9TiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eg9jiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg9ziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg-DiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg-TiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg-jiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eg-ziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eg_DiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eg_TiAEeKDAMEjnOLmPA" x="25" y="-4"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eg_jiAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eg_ziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmVDiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ehADiAEeKDAMEjnOLmPA" x="-11" y="99" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0ehATiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehAjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehAziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehBDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehBTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehBjiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehBziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehCDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehCTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehCjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehCziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehDDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehDTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ehDjiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehDziAEeKDAMEjnOLmPA" x="25" y="-9"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ehEDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehETiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmVTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ehEjiAEeKDAMEjnOLmPA" x="-11" y="74" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0ehEziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehFDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehFTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehFjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehFziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehGDiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehGTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehGjiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehGziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehHDiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehHTiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehHjiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehHziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ehIDiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehITiAEeKDAMEjnOLmPA" x="-81" y="26"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ehIjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehIziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmVjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ehJDiAEeKDAMEjnOLmPA" x="880" y="239" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0ehJTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehJjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehJziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehKDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehKTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehKjiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehKziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehLDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehLTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehLjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehLziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehMDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehMTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ehMjiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehMziAEeKDAMEjnOLmPA" x="25" y="15"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ehNDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehNTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmVziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ehNjiAEeKDAMEjnOLmPA" x="-10" y="295" width="20" height="20"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LmTjiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ehNziAEeKDAMEjnOLmPA" x="15" y="5" width="891" height="416"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0ehODiAEeKDAMEjnOLmPA"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdhn7bEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0LmJjiAEeKDAMEjnOLmPA"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0LmJjiAEeKDAMEjnOLmPA"/>
+    <edges xmi:type="notation:Connector" xmi:id="_k0ehOTiAEeKDAMEjnOLmPA" type="4013" source="_k0egGjiAEeKDAMEjnOLmPA" target="_k0egpDiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehOjiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehOziAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehPDiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehPTiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehPjiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehPziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehQDiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehQTiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0ehQjiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LmWDiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ehQziAEeKDAMEjnOLmPA" points="[17, 13, -53, -40]$[67, 52, -3, -1]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0ehRDiAEeKDAMEjnOLmPA" id="(0.1,0.35)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0ehRTiAEeKDAMEjnOLmPA" id="(0.15,0.4)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0ehRjiAEeKDAMEjnOLmPA" type="4013" source="_k0eguTiAEeKDAMEjnOLmPA" target="_k0egkjiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehRziAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehSDiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehSTiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehSjiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehSziAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehTDiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehTTiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehTjiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0ehTziAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LmXziAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ehUDiAEeKDAMEjnOLmPA" points="[10, 0, -382, 0]$[65, 0, -327, 0]$[382, 0, -10, 0]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0ehUTiAEeKDAMEjnOLmPA" type="4013" source="_k0ehATiAEeKDAMEjnOLmPA" target="_k0egODiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehUjiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehUziAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehVDiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehVTiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehVjiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehVziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehWDiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehWTiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0ehWjiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LmZjiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ehWziAEeKDAMEjnOLmPA" points="[10, -1, -376, 13]$[382, -16, -4, -2]"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0ehXDiAEeKDAMEjnOLmPA" id="(0.2,0.35)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0ehXTiAEeKDAMEjnOLmPA" type="4013" source="_k0eg7ziAEeKDAMEjnOLmPA" target="_k0egSjiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehXjiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehXziAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehYDiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehYTiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehYjiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehYziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehZDiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehZTiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0ehZjiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LmbTiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ehZziAEeKDAMEjnOLmPA" points="[10, 1, -382, 0]$[65, 1, -327, 0]$[382, 1, -10, 0]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0ehaDiAEeKDAMEjnOLmPA" type="4013" source="_k0eg3TiAEeKDAMEjnOLmPA" target="_k0egXDiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehaTiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehajiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehaziAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehbDiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehbTiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehbjiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehbziAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehcDiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0ehcTiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LmdDiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ehcjiAEeKDAMEjnOLmPA" points="[10, -1, -382, 13]$[393, -24, 1, -10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0ehcziAEeKDAMEjnOLmPA" type="4013" source="_k0egyziAEeKDAMEjnOLmPA" target="_k0eggDiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehdDiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehdTiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehdjiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehdziAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0eheDiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eheTiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehejiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eheziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0ehfDiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LmeziAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ehfTiAEeKDAMEjnOLmPA" points="[10, -5, -382, 2]$[395, 3, 3, 10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0ehfjiAEeKDAMEjnOLmPA" type="4013" source="_k0egbjiAEeKDAMEjnOLmPA" target="_k0ehEziAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehfziAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehgDiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehgTiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehgjiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehgziAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehhDiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehhTiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehhjiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0ehhziAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LmgjiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ehiDiAEeKDAMEjnOLmPA" points="[10, -2, -105, -1]$[114, -11, -1, -10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0ehiTiAEeKDAMEjnOLmPA" type="4013" source="_k0ehJTiAEeKDAMEjnOLmPA" target="_k0egCDiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehijiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehiziAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehjDiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehjTiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehjjiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehjziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehkDiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehkTiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0ehkjiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LmiTiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ehkziAEeKDAMEjnOLmPA" points="[10, 0, -45, 40]$[31, 0, -24, 40]$[31, -40, -24, 0]$[45, -40, -10, 0]"/>
+    </edges>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_k0ehlDiAEeKDAMEjnOLmPA" type="CompositeStructure" name="P4-Global" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_k0ehlTiAEeKDAMEjnOLmPA" type="2073" fontName="Segoe UI" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehljiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehlziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehmDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehmTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehmjiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehmziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehnDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FQIq4FjYEeKfV8GUW17iZg" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FQIq4VjYEeKfV8GUW17iZg" key="StereotypeList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FQIq4ljYEeKfV8GUW17iZg" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FQIq41jYEeKfV8GUW17iZg" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_FQIq5FjYEeKfV8GUW17iZg" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_KKaeIKEGEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0VaYjiAEeKDAMEjnOLmPA">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_KKaeIaEGEeKNa6EfGASSWw" key="tooltip_text" value="WifiBot"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_KKaeIqEGEeKNa6EfGASSWw" key="diagram_name" value="WifiBot"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_KKaeI6EGEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ehojiAEeKDAMEjnOLmPA" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0ehoziAEeKDAMEjnOLmPA" type="7073">
+        <children xmi:type="notation:Shape" xmi:id="_k0ehpDiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehpTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehpjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehpziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehqDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehqTiAEeKDAMEjnOLmPA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehqjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_k0ehqziAEeKDAMEjnOLmPA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_k0ehrDiAEeKDAMEjnOLmPA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_k0ehrTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ehrjiAEeKDAMEjnOLmPA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0ehrziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehsDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehsTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehsjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehsziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehtDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehtTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehtjiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehtziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehuDiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehuTiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehujiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehuziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0ehvDiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehvTiAEeKDAMEjnOLmPA" x="-131"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0ehvjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehvziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Ll9DiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ehwDiAEeKDAMEjnOLmPA" x="501" y="100"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0ehwTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehwjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehwziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehxDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehxTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehxjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehxziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ehyDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehyTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehyjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehyziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehzDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ehzTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0ehzjiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ehzziAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0eh0DiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eh0TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Ll-DiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eh0jiAEeKDAMEjnOLmPA" x="-10" y="32"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0eh0ziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eh1DiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh1TiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eh1jiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh1ziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eh2DiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh2TiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eh2jiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh2ziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh3DiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh3TiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh3jiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh3ziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0eh4DiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eh4TiAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0eh4jiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eh4ziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Ll_DiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eh5DiAEeKDAMEjnOLmPA" x="-10" y="84"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0eh5TiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eh5jiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh5ziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eh6DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh6TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eh6jiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh6ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eh7DiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh7TiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh7jiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh7ziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh8DiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh8TiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0eh8jiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eh8ziAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0eh9DiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eh9TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmADiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eh9jiAEeKDAMEjnOLmPA" x="-10" y="155"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LmBTiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eh9ziAEeKDAMEjnOLmPA" x="120" y="34" width="511" height="188"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0eh-DiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eh-TiAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0eh-jiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eh-ziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh_DiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eh_TiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eh_jiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eh_ziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiADiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiATiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiAjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiAziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiBDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiBTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiBjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eiBziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiCDiAEeKDAMEjnOLmPA" x="25" y="-6"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eiCTiAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiCjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmBjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eiCziAEeKDAMEjnOLmPA" x="-11" y="106" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0eiDDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiDTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiDjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiDziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiEDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiETiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiEjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiEziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiFDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiFTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiFjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiFziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiGDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eiGTiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiGjiAEeKDAMEjnOLmPA" x="15" y="-3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eiGziAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiHDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmBziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eiHTiAEeKDAMEjnOLmPA" x="-11" y="158" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0eiHjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiHziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiIDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiITiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiIjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiIziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiJDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiJTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiJjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiJziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiKDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiKTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiKjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eiKziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiLDiAEeKDAMEjnOLmPA" x="25" y="-5"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eiLTiAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiLjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmCDiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eiLziAEeKDAMEjnOLmPA" x="-10" y="230" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0eiMDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiMTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiMjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiMziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiNDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiNTiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiNjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiNziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiODiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiOTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiOjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiOziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiPDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eiPTiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiPjiAEeKDAMEjnOLmPA" x="-86" y="-13"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eiPziAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiQDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmCTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eiQTiAEeKDAMEjnOLmPA" x="746" y="173" width="20" height="20"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LmBDiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eiQjiAEeKDAMEjnOLmPA" x="105" y="45" width="756" height="396"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0eiQziAEeKDAMEjnOLmPA"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdh37bEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0Ll8TiAEeKDAMEjnOLmPA"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0Ll8TiAEeKDAMEjnOLmPA"/>
+    <edges xmi:type="notation:Connector" xmi:id="_k0eiRDiAEeKDAMEjnOLmPA" type="4013" source="_k0eh-jiAEeKDAMEjnOLmPA" target="_k0ehwTiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiRTiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiRjiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiRziAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiSDiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiSTiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiSjiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiSziAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiTDiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0eiTTiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LmCjiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0eiTjiAEeKDAMEjnOLmPA" points="[10, -2, -115, -3]$[126, -9, 1, -10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0eiTziAEeKDAMEjnOLmPA" type="4013" source="_k0eiDDiAEeKDAMEjnOLmPA" target="_k0eh0ziAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiUDiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiUTiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiUjiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiUziAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiVDiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiVTiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiVjiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiVziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0eiWDiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LmETiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0eiWTiAEeKDAMEjnOLmPA" points="[10, 4, -115, 3]$[124, 11, -1, 10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0eiWjiAEeKDAMEjnOLmPA" type="4013" source="_k0eiHjiAEeKDAMEjnOLmPA" target="_k0eh5TiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiWziAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiXDiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiXTiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiXjiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiXziAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiYDiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiYTiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiYjiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0eiYziAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LmGDiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0eiZDiAEeKDAMEjnOLmPA" points="[10, -1, -115, -2]$[122, -9, -3, -10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0eiZTiAEeKDAMEjnOLmPA" type="4013" source="_k0ehrziAEeKDAMEjnOLmPA" target="_k0eiMDiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiZjiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiZziAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiaDiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiaTiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0eiajiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiaziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0eibDiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eibTiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0eibjiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LmHziAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0eibziAEeKDAMEjnOLmPA" points="[10, -6, -110, -4]$[123, -12, 3, -10]"/>
+    </edges>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_k0eicDiAEeKDAMEjnOLmPA" type="CompositeStructure" name="P1-Sensors" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_k0eicTiAEeKDAMEjnOLmPA" type="2073" fontName="Segoe UI" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eicjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eicziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eidDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eidTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eidjiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eidziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_1WqF4KEGEeKNa6EfGASSWw" source="PapyrusHyperLink_Diagram" references="_k0VaYjiAEeKDAMEjnOLmPA">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_1WqF4aEGEeKNa6EfGASSWw" key="tooltip_text" value="WifiBot"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_1WqF4qEGEeKNa6EfGASSWw" key="diagram_name" value="WifiBot"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_1WqF46EGEeKNa6EfGASSWw" key="is_default_navigation" value="true"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0eifDiAEeKDAMEjnOLmPA" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0eifTiAEeKDAMEjnOLmPA" type="7073">
+        <children xmi:type="notation:Shape" xmi:id="_k0eifjiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eifziAEeKDAMEjnOLmPA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eigDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eigTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eigjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eigziAEeKDAMEjnOLmPA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eihDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_k0eihTiAEeKDAMEjnOLmPA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_k0eihjiAEeKDAMEjnOLmPA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_k0eihziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eiiDiAEeKDAMEjnOLmPA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0eiiTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiijiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiiziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eijDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eijTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eijjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eijziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eikDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eikTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eikjiAEeKDAMEjnOLmPA" key="StereotypeList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eikziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eilDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eilTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0eiljiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eilziAEeKDAMEjnOLmPA" x="-271"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0eimDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eimTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnOjiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eimjiAEeKDAMEjnOLmPA" x="396" y="155"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0eimziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0einDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0einTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0einjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0einziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eioDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eioTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiojiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eioziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eipDiAEeKDAMEjnOLmPA" key="StereotypeList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eipTiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eipjiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eipziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0eiqDiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiqTiAEeKDAMEjnOLmPA" x="-301" y="5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0eiqjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiqziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnPjiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eirDiAEeKDAMEjnOLmPA" x="396" y="125"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0eirTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eirjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eirziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eisDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eisTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eisjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eisziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eitDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eitTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eitjiAEeKDAMEjnOLmPA" key="StereotypeList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eitziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiuDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiuTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0eiujiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eiuziAEeKDAMEjnOLmPA" x="-221" y="4"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0eivDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eivTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnQjiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eivjiAEeKDAMEjnOLmPA" x="396" y="85"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0eivziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiwDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiwTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eiwjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiwziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eixDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eixTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eixjiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eixziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiyDiAEeKDAMEjnOLmPA" key="StereotypeList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiyTiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiyjiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eiyziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0eizDiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eizTiAEeKDAMEjnOLmPA" x="-166" y="-1"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0eizjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eizziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnRjiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ei0DiAEeKDAMEjnOLmPA" x="396" y="30"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0ei0TiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ei0jiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei0ziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ei1DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei1TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ei1jiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei1ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ei2DiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei2TiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei2jiAEeKDAMEjnOLmPA" key="StereotypeList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei2ziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei3DiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei3TiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0ei3jiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ei3ziAEeKDAMEjnOLmPA" x="-186" y="4"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0ei4DiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ei4TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnSjiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ei4jiAEeKDAMEjnOLmPA" x="396" y="55"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LnijiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ei4ziAEeKDAMEjnOLmPA" x="50" y="5" width="406" height="172"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0ei5DiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ei5TiAEeKDAMEjnOLmPA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei5jiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ei5ziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei6DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ei6TiAEeKDAMEjnOLmPA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei6jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_k0ei6ziAEeKDAMEjnOLmPA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_k0ei7DiAEeKDAMEjnOLmPA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_k0ei7TiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ei7jiAEeKDAMEjnOLmPA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0ei7ziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ei8DiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei8TiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ei8jiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei8ziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ei9DiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei9TiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ei9jiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei9ziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei-DiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei-TiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei-jiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ei-ziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0ei_DiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ei_TiAEeKDAMEjnOLmPA" x="-101" y="1"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0ei_jiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ei_ziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnYDiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejADiAEeKDAMEjnOLmPA" x="176" y="30"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LniziAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejATiAEeKDAMEjnOLmPA" x="470" y="350" width="186"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0ejAjiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejAziAEeKDAMEjnOLmPA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejBDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejBTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejBjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejBziAEeKDAMEjnOLmPA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejCDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_k0ejCTiAEeKDAMEjnOLmPA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_k0ejCjiAEeKDAMEjnOLmPA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_k0ejCziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejDDiAEeKDAMEjnOLmPA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0ejDTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejDjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejDziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejEDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejETiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejEjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejEziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejFDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejFTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejFjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejFziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejGDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejGTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejGjiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejGziAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejHDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejHTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnTziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejHjiAEeKDAMEjnOLmPA" x="-10" y="42"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0ejHziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejIDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejITiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejIjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejIziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejJDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejJTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejJjiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejJziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejKDiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejKTiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejKjiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejKziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejLDiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejLTiAEeKDAMEjnOLmPA" x="25" y="3"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejLjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejLziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnUziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejMDiAEeKDAMEjnOLmPA" x="-10" y="17"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0ejMTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejMjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejMziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejNDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejNTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejNjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejNziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejODiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejOTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejOjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejOziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejPDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejPTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejPjiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejPziAEeKDAMEjnOLmPA" x="-311" y="-5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejQDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejQTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnVziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejQjiAEeKDAMEjnOLmPA" x="381" y="95"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0ejQziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejRDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejRTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejRjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejRziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejSDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejSTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejSjiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejSziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejTDiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejTTiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejTjiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejTziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejUDiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejUTiAEeKDAMEjnOLmPA" x="-306" y="16"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejUjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejUziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnWziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejVDiAEeKDAMEjnOLmPA" x="380" y="54" width="20" height="20"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LnjDiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejVTiAEeKDAMEjnOLmPA" x="265" y="210" width="391" height="122"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0ejVjiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejVziAEeKDAMEjnOLmPA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejWDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejWTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejWjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejWziAEeKDAMEjnOLmPA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejXDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_k0ejXTiAEeKDAMEjnOLmPA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_k0ejXjiAEeKDAMEjnOLmPA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_k0ejXziAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejYDiAEeKDAMEjnOLmPA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0ejYTiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejYjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejYziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejZDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejZTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejZjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejZziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejaDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejaTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejajiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejaziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejbDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejbTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejbjiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejbziAEeKDAMEjnOLmPA" x="-101" y="1"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejcDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejcTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnZTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejcjiAEeKDAMEjnOLmPA" x="185" y="55" width="20" height="20"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LnjTiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejcziAEeKDAMEjnOLmPA" x="475" y="575" width="196"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0ejdDiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejdTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejdjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejdziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejeDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejeTiAEeKDAMEjnOLmPA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejejiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_k0ejeziAEeKDAMEjnOLmPA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_k0ejfDiAEeKDAMEjnOLmPA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_k0ejfTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejfjiAEeKDAMEjnOLmPA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0ejfziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejgDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejgTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejgjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejgziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejhDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejhTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejhjiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejhziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejiDiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejiTiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejijiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejiziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejjDiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejjTiAEeKDAMEjnOLmPA" x="-126"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejjjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejjziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnajiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejkDiAEeKDAMEjnOLmPA" x="190" y="70"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0ejkTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejkjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejkziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejlDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejlTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejljiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejlziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejmDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejmTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejmjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejmziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejnDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejnTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejnjiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejnziAEeKDAMEjnOLmPA" x="-136" y="2"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejoDiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejoTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnbjiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejojiAEeKDAMEjnOLmPA" x="215" y="31" width="20" height="20"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LnjjiAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejoziAEeKDAMEjnOLmPA" x="440" y="465" width="226"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_k0ejpDiAEeKDAMEjnOLmPA" type="3070" fontName="Segoe UI" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejpTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejpjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejpziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejqDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejqTiAEeKDAMEjnOLmPA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejqjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_k0ejqziAEeKDAMEjnOLmPA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_k0ejrDiAEeKDAMEjnOLmPA" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_k0ejrTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejrjiAEeKDAMEjnOLmPA"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0ejrziAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejsDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejsTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejsjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejsziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejtDiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejtTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejtjiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejtziAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejuDiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejuTiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejujiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejuziAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejvDiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejvTiAEeKDAMEjnOLmPA" x="-91" y="5"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejvjiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejvziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LncDiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ejwDiAEeKDAMEjnOLmPA" x="211" y="70"/>
+          </children>
+          <children xmi:type="notation:Shape" xmi:id="_k0ejwTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejwjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejwziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejxDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejxTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejxjiAEeKDAMEjnOLmPA" source="QualifiedName">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejxziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+            </eAnnotations>
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ejyDiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejyTiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejyjiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejyziAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejzDiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ejzTiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+            </eAnnotations>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0ejzjiAEeKDAMEjnOLmPA" type="5125">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ejzziAEeKDAMEjnOLmPA" x="-126" y="1"/>
+            </children>
+            <children xmi:type="notation:DecorationNode" xmi:id="_k0ej0DiAEeKDAMEjnOLmPA" visible="false" type="6029">
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ej0TiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+            </children>
+            <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LndDiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ej0jiAEeKDAMEjnOLmPA" x="211" y="44" width="20" height="20"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LnjziAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ej0ziAEeKDAMEjnOLmPA" x="451" y="680" width="221" height="101"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0ej1DiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ej1TiAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0ej1jiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ej1ziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej2DiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ej2TiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej2jiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ej2ziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej3DiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ej3TiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej3jiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej3ziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej4DiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej4TiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej4jiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ej4ziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ej5DiAEeKDAMEjnOLmPA" x="-291" y="22"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ej5TiAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ej5jiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LndjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ej5ziAEeKDAMEjnOLmPA" x="835" y="343" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0ej6DiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ej6TiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej6jiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ej6ziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej7DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ej7TiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej7jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ej7ziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej8DiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej8TiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej8jiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej8ziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej9DiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ej9TiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ej9jiAEeKDAMEjnOLmPA" x="-301" y="-20"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ej9ziAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ej-DiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnejiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ej-TiAEeKDAMEjnOLmPA" x="835" y="302" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0ej-jiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ej-ziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej_DiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ej_TiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ej_jiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ej_ziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekADiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekATiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekAjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekAziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekBDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekBTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekBjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekBziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekCDiAEeKDAMEjnOLmPA" x="-96" y="10"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekCTiAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekCjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnfjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ekCziAEeKDAMEjnOLmPA" x="835" y="418" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0ekDDiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekDTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekDjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekDziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekEDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekETiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekEjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekEziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekFDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekFTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekFjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekFziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekGDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekGTiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekGjiAEeKDAMEjnOLmPA" x="-101" y="10"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekGziAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekHDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LngjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ekHTiAEeKDAMEjnOLmPA" x="836" y="670"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0ekHjiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekHziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekIDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekITiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekIjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekIziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekJDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekJTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekJjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekJziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekKDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekKTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekKjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekKziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekLDiAEeKDAMEjnOLmPA" x="-131" y="11"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekLTiAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekLjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnhjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ekLziAEeKDAMEjnOLmPA" x="835" y="573" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0ekMDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekMTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekMjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekMziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekNDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekNTiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekNjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekNziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekODiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekOTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekOjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekOziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekPDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekPTiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekPjiAEeKDAMEjnOLmPA" x="-126" y="-8"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekPziAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekQDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnkDiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ekQTiAEeKDAMEjnOLmPA" x="836" y="753" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0ekQjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekQziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekRDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekRTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekRjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekRziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekSDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekSTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekSjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekSziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekTDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekTTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekTjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekTziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekUDiAEeKDAMEjnOLmPA" x="-86" y="-10"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekUTiAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekUjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnkTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ekUziAEeKDAMEjnOLmPA" x="836" y="780" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0ekVDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekVTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekVjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekVziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekWDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekWTiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekWjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekWziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekXDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekXTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekXjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekXziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekYDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekYTiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekYjiAEeKDAMEjnOLmPA" x="-136" y="-6"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekYziAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekZDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnkjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ekZTiAEeKDAMEjnOLmPA" x="836" y="536" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0ekZjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekZziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekaDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekaTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekajiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekaziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekbDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekbTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekbjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekbziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekcDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekcTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekcjiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekcziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekdDiAEeKDAMEjnOLmPA" x="-116" y="-6"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekdTiAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekdjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnkziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ekdziAEeKDAMEjnOLmPA" x="835" y="73" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0ekeDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekeTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekejiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekeziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekfDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekfTiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekfjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekfziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekgDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekgTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekgjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekgziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekhDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekhTiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekhjiAEeKDAMEjnOLmPA" x="-136" y="-9"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekhziAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekiDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnlDiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ekiTiAEeKDAMEjnOLmPA" x="835" y="98" width="20" height="20"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0ekijiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekiziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekjDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekjTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekjjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekjziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekkDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ekkTiAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekkjiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekkziAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eklDiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eklTiAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ekljiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eklziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekmDiAEeKDAMEjnOLmPA" x="-186" y="-9"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ekmTiAEeKDAMEjnOLmPA" visible="false" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekmjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnlTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ekmziAEeKDAMEjnOLmPA" x="835" y="128" width="20" height="20"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LndTiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eknDiAEeKDAMEjnOLmPA" x="-320" y="20" width="846" height="851"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0eknTiAEeKDAMEjnOLmPA"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdiH7bEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0LnODiAEeKDAMEjnOLmPA"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0LnODiAEeKDAMEjnOLmPA"/>
+    <edges xmi:type="notation:Connector" xmi:id="_k0eknjiAEeKDAMEjnOLmPA" type="4013" source="_k0ejQziAEeKDAMEjnOLmPA" target="_k0ej6DiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0eknziAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekoDiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekoTiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekojiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekoziAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekpDiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekpTiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekpjiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0ekpziAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnljiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ekqDiAEeKDAMEjnOLmPA" points="[10, -2, -169, 0]$[175, -2, -4, 0]"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0ekqTiAEeKDAMEjnOLmPA" id="(0.2,0.5)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0ekqjiAEeKDAMEjnOLmPA" type="4013" source="_k0ejMTiAEeKDAMEjnOLmPA" target="_k0ej1jiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekqziAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekrDiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekrTiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekrjiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekrziAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eksDiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0eksTiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eksjiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0eksziAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnnTiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ektDiAEeKDAMEjnOLmPA" points="[10, 3, -175, -2]$[186, -5, 1, -10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0ektTiAEeKDAMEjnOLmPA" type="4013" source="_k0ei7ziAEeKDAMEjnOLmPA" target="_k0ej-jiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ektjiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ektziAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekuDiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekuTiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekujiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekuziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekvDiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekvTiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0ekvjiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnpDiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ekvziAEeKDAMEjnOLmPA" points="[10, -1, -167, 11]$[175, -13, -2, -1]"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0ekwDiAEeKDAMEjnOLmPA" id="(0.1,0.4)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0ekwTiAEeKDAMEjnOLmPA" type="4013" source="_k0ejfziAEeKDAMEjnOLmPA" target="_k0ekHjiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekwjiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekwziAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekxDiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekxTiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekxjiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekxziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekyDiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekyTiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0ekyjiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnqziAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ekyziAEeKDAMEjnOLmPA" points="[10, -1, -165, 0]$[84, -1, -91, 0]$[165, -1, -10, 0]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0ekzDiAEeKDAMEjnOLmPA" type="4013" source="_k0ejwTiAEeKDAMEjnOLmPA" target="_k0ekMDiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekzTiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ekzjiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ekzziAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek0DiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek0TiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek0jiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek0ziAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek1DiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0ek1TiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnsjiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ek1jiAEeKDAMEjnOLmPA" points="[10, 0, -159, -4]$[170, -6, 1, -10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0ek1ziAEeKDAMEjnOLmPA" type="4013" source="_k0ejrziAEeKDAMEjnOLmPA" target="_k0ekQjiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek2DiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek2TiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek2jiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek2ziAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek3DiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek3TiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek3jiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek3ziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0ek4DiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnuTiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ek4TiAEeKDAMEjnOLmPA" points="[10, 6, -159, 1]$[168, 15, -1, 10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0ek4jiAEeKDAMEjnOLmPA" type="4013" source="_k0ejYTiAEeKDAMEjnOLmPA" target="_k0ekDDiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek4ziAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek5DiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek5TiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek5jiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek5ziAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek6DiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek6TiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek6jiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0ek6ziAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnwDiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ek7DiAEeKDAMEjnOLmPA" points="[10, -6, -160, -5]$[169, -11, -1, -10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0ek7TiAEeKDAMEjnOLmPA" type="4013" source="_k0ejkTiAEeKDAMEjnOLmPA" target="_k0ekVDiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek7jiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek7ziAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek8DiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek8TiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek8jiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek8ziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek9DiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek9TiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0ek9jiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnxziAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0ek9ziAEeKDAMEjnOLmPA" points="[10, 0, -165, -3]$[172, -7, -3, -10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0ek-DiAEeKDAMEjnOLmPA" type="4013" source="_k0eimziAEeKDAMEjnOLmPA" target="_k0ejHziAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek-TiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek-jiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek-ziAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek_DiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek_TiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ek_jiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0ek_ziAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elADiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0elATiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0LnzjiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0elAjiAEeKDAMEjnOLmPA" points="[5, -1, 201, -91]$[37, -1, 233, -91]$[37, 53, 233, -37]$[-226, 53, -30, -37]$[-226, 90, -30, 0]$[-206, 90, -10, 0]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0elAziAEeKDAMEjnOLmPA" id="(0.75,0.85)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0elBDiAEeKDAMEjnOLmPA" type="4013" source="_k0eiiTiAEeKDAMEjnOLmPA" target="_k0ejDTiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0elBTiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elBjiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0elBziAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elCDiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0elCTiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elCjiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0elCziAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elDDiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0elDTiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Ln1TiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0elDjiAEeKDAMEjnOLmPA" points="[4, -5, 207, -97]$[22, -5, 225, -97]$[22, 17, 225, -75]$[-242, 17, -39, -75]$[-242, 93, -39, 1]$[-207, 93, -4, 1]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0elDziAEeKDAMEjnOLmPA" id="(0.8,0.65)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0elEDiAEeKDAMEjnOLmPA" id="(0.2,0.65)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0elETiAEeKDAMEjnOLmPA" type="4013" source="_k0eirTiAEeKDAMEjnOLmPA" target="_k0ekijiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0elEjiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elEziAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0elFDiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elFTiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0elFjiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elFziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0elGDiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elGTiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0elGjiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Ln3DiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0elGziAEeKDAMEjnOLmPA" points="[10, 0, -375, -34]$[380, 24, -5, -10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0elHDiAEeKDAMEjnOLmPA" type="4013" source="_k0ei0TiAEeKDAMEjnOLmPA" target="_k0ekeDiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0elHTiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elHjiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0elHziAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elIDiAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0elITiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elIjiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0elIziAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elJDiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0elJTiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Ln4ziAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0elJjiAEeKDAMEjnOLmPA" points="[10, 0, -375, -17]$[385, 7, 0, -10]"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0elJziAEeKDAMEjnOLmPA" type="4013" source="_k0eivziAEeKDAMEjnOLmPA" target="_k0ekZjiAEeKDAMEjnOLmPA" lineColor="0">
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0elKDiAEeKDAMEjnOLmPA" visible="false" type="6025">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elKTiAEeKDAMEjnOLmPA" y="60"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0elKjiAEeKDAMEjnOLmPA" visible="false" type="6050">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elKziAEeKDAMEjnOLmPA" y="-20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0elLDiAEeKDAMEjnOLmPA" visible="false" type="6051">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elLTiAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0elLjiAEeKDAMEjnOLmPA" visible="false" type="6052">
+        <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elLziAEeKDAMEjnOLmPA" y="20"/>
+      </children>
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0elMDiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xmi:type="uml:Connector" href="YouthChallenge.uml#_k0Ln6jiAEeKDAMEjnOLmPA"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0elMTiAEeKDAMEjnOLmPA" points="[10, -3, -375, 1]$[385, 6, 0, 10]"/>
+    </edges>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_k0elMjiAEeKDAMEjnOLmPA" type="CompositeStructure" name="P2_Proximetry_Systems" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_k0elMziAEeKDAMEjnOLmPA" type="2073" fontHeight="8" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elNDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elNTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elNjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elNziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elODiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elOTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0elOjiAEeKDAMEjnOLmPA" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0elOziAEeKDAMEjnOLmPA" type="7073">
+        <children xmi:type="notation:Shape" xmi:id="_k0elPDiAEeKDAMEjnOLmPA" type="3070" fontHeight="8" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elPTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elPjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elPziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elQDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elQTiAEeKDAMEjnOLmPA" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elQjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_k0elQziAEeKDAMEjnOLmPA" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_k0elRDiAEeKDAMEjnOLmPA" visible="false" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_k0elRTiAEeKDAMEjnOLmPA"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elRjiAEeKDAMEjnOLmPA"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_k0LmqziAEeKDAMEjnOLmPA"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elRziAEeKDAMEjnOLmPA" x="20" y="157" width="191"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0elSDiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elSTiAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0elSjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elSziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elTDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elTTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elTjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elTziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elUDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0elUTiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elUjiAEeKDAMEjnOLmPA" x="-106"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0elUziAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elVDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmkziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elVTiAEeKDAMEjnOLmPA" x="426" y="35"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0elVjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elVziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elWDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elWTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elWjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elWziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elXDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0elXTiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elXjiAEeKDAMEjnOLmPA" x="-101"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0elXziAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elYDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmlziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elYTiAEeKDAMEjnOLmPA" x="426" y="175"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0elYjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elYziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elZDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elZTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elZjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elZziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elaDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0elaTiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elajiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0elaziAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elbDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmmziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elbTiAEeKDAMEjnOLmPA" x="-10" y="145"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0elbjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elbziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elcDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elcTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elcjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elcziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eldDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eldTiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eldjiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eldziAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eleDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmnziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eleTiAEeKDAMEjnOLmPA" x="-10" y="50"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0elejiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eleziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elfDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elfTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elfjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elfziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elgDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0elgTiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elgjiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0elgziAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elhDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmoziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elhTiAEeKDAMEjnOLmPA" x="-10" y="75"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0elhjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elhziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eliDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eliTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elijiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eliziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eljDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eljTiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eljjiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eljziAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elkDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmpziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elkTiAEeKDAMEjnOLmPA" x="-10" y="115"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LmkTiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elkjiAEeKDAMEjnOLmPA" x="25" y="30" width="436" height="321"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0elkziAEeKDAMEjnOLmPA" type="2109" fontHeight="8" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ellDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ellTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elljiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ellziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elmDiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elmTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0elmjiAEeKDAMEjnOLmPA" type="5192"/>
+      <element xmi:type="uml:Comment" href="YouthChallenge.uml#_k0LmkjiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elmziAEeKDAMEjnOLmPA" x="480" y="75" width="461"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0elnDiAEeKDAMEjnOLmPA" type="2073" fontHeight="8" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elnTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elnjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elnziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eloDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eloTiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elojiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0eloziAEeKDAMEjnOLmPA" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0elpDiAEeKDAMEjnOLmPA" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0elpTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elpjiAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0elpziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elqDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elqTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elqjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elqziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elrDiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elrTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0elrjiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elrziAEeKDAMEjnOLmPA" x="-106" y="5"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0elsDiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elsTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmsDiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elsjiAEeKDAMEjnOLmPA" x="326" y="36"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0elsziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eltDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eltTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eltjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eltziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eluDiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eluTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0elujiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eluziAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0elvDiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elvTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmtDiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elvjiAEeKDAMEjnOLmPA" x="-10" y="31"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0elvziAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elwDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elwTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elwjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elwziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elxDiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elxTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0elxjiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elxziAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0elyDiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0elyTiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmuDiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elyjiAEeKDAMEjnOLmPA" x="-10" y="51"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LmrjiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0elyziAEeKDAMEjnOLmPA" x="60" y="394" width="336"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0elzDiAEeKDAMEjnOLmPA" type="2109" fontHeight="8" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elzTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0elzjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0elzziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0el0DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0el0TiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0el0jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0el0ziAEeKDAMEjnOLmPA" type="5192"/>
+      <element xmi:type="uml:Comment" href="YouthChallenge.uml#_k0LmrziAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0el1DiAEeKDAMEjnOLmPA" x="532" y="414" width="374"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0el1TiAEeKDAMEjnOLmPA" type="2073" fontHeight="8" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0el1jiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0el1ziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0el2DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0el2TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0el2jiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0el2ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0el3DiAEeKDAMEjnOLmPA" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0el3TiAEeKDAMEjnOLmPA" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0el3jiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0el3ziAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0el4DiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0el4TiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0el4jiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0el4ziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0el5DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0el5TiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0el5jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0el5ziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0el6DiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0el6TiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0el6jiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmuziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0el6ziAEeKDAMEjnOLmPA" x="-10" y="67"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0el7DiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0el7TiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0el7jiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0el7ziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0el8DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0el8TiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0el8jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0el8ziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0el9DiAEeKDAMEjnOLmPA" x="-156" y="-15"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0el9TiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0el9jiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmvziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0el9ziAEeKDAMEjnOLmPA" x="218" y="67"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0el-DiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0el-TiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0el-jiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0el-ziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0el_DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0el_TiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0el_jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0el_ziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emADiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0emATiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emAjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmwziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emAziAEeKDAMEjnOLmPA" x="-10" y="37"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LmuTiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emBDiAEeKDAMEjnOLmPA" x="118" y="538" width="228"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0emBTiAEeKDAMEjnOLmPA" type="2109" fontHeight="8" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emBjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emBziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emCDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emCTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emCjiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emCziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0emDDiAEeKDAMEjnOLmPA" type="5192"/>
+      <element xmi:type="uml:Comment" href="YouthChallenge.uml#_k0LmujiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emDTiAEeKDAMEjnOLmPA" x="510" y="565" width="266"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0emDjiAEeKDAMEjnOLmPA" type="2073" fontHeight="8" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emDziAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emEDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emETiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emEjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emEziAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emFDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0emFTiAEeKDAMEjnOLmPA" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0emFjiAEeKDAMEjnOLmPA" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0emFziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emGDiAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0emGTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emGjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emGziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emHDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emHTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emHjiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emHziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0emIDiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emITiAEeKDAMEjnOLmPA" x="20" y="5"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0emIjiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emIziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmxjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emJDiAEeKDAMEjnOLmPA" x="-10" y="280"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0emJTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emJjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emJziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emKDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emKTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emKjiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emKziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0emLDiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emLTiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0emLjiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emLziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmyjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emMDiAEeKDAMEjnOLmPA" x="-10" y="250"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0emMTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emMjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emMziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emNDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emNTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emNjiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emNziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0emODiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emOTiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0emOjiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emOziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmzjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emPDiAEeKDAMEjnOLmPA" x="-10" y="25"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0emPTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emPjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emPziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emQDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emQTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emQjiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emQziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0emRDiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emRTiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0emRjiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emRziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm0jiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emSDiAEeKDAMEjnOLmPA" x="-10" y="55"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0emSTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emSjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emSziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emTDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emTTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emTjiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emTziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0emUDiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emUTiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0emUjiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emUziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm1jiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emVDiAEeKDAMEjnOLmPA" x="-10" y="100"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0emVTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emVjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emVziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emWDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emWTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emWjiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emWziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0emXDiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emXTiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0emXjiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emXziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm3TiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emYDiAEeKDAMEjnOLmPA" x="-10" y="150"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0emYTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emYjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emYziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emZDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emZTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emZjiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emZziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0emaDiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emaTiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0emajiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emaziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm3jiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0embDiAEeKDAMEjnOLmPA" x="-10" y="190"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0embTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0embjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0embziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emcDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emcTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emcjiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emcziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0emdDiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emdTiAEeKDAMEjnOLmPA" x="-101"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0emdjiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emdziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm3ziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emeDiAEeKDAMEjnOLmPA" x="291" y="60"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0emeTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emejiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emeziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emfDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emfTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emfjiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emfziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0emgDiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emgTiAEeKDAMEjnOLmPA" x="-101"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0emgjiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emgziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm4DiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emhDiAEeKDAMEjnOLmPA" x="291" y="90"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0emhTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emhjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emhziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emiDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emiTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emijiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emiziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0emjDiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emjTiAEeKDAMEjnOLmPA" x="-161" y="5"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0emjjiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emjziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm4TiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emkDiAEeKDAMEjnOLmPA" x="291" y="125"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0emkTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emkjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emkziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emlDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emlTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emljiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emlziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0emmDiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emmTiAEeKDAMEjnOLmPA" x="-116" y="5"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0emmjiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0emmziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm4jiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emnDiAEeKDAMEjnOLmPA" x="291" y="160"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0emnTiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emnjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emnziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emoDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emoTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emojiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emoziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0empDiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0empTiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0empjiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0empziAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Lm4ziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emqDiAEeKDAMEjnOLmPA" x="-10" y="225"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LmxDiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emqTiAEeKDAMEjnOLmPA" x="95" y="655" width="301" height="311"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0emqjiAEeKDAMEjnOLmPA" type="2109" fontHeight="8" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emqziAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emrDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emrTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emrjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emrziAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emsDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0emsTiAEeKDAMEjnOLmPA" type="5192"/>
+      <element xmi:type="uml:Comment" href="YouthChallenge.uml#_k0LmxTiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0emsjiAEeKDAMEjnOLmPA" x="530" y="795"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0emsziAEeKDAMEjnOLmPA"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdiX7bEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0LmkDiAEeKDAMEjnOLmPA"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0LmkDiAEeKDAMEjnOLmPA"/>
+    <edges xmi:type="notation:Connector" xmi:id="_k0emtDiAEeKDAMEjnOLmPA" type="4002" source="_k0elkziAEeKDAMEjnOLmPA" target="_k0elMziAEeKDAMEjnOLmPA" lineColor="0">
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0emtTiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xsi:nil="true"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0emtjiAEeKDAMEjnOLmPA" points="[-24, -2, 160, 9]$[-171, -12, 13, -1]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0emtziAEeKDAMEjnOLmPA" id="(0.036036036036036036,0.37)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0emuDiAEeKDAMEjnOLmPA" id="(0.9701834862385321,0.4984423676012461)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0emuTiAEeKDAMEjnOLmPA" type="4002" source="_k0elzDiAEeKDAMEjnOLmPA" target="_k0elnDiAEeKDAMEjnOLmPA" lineColor="0">
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0emujiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xsi:nil="true"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0emuziAEeKDAMEjnOLmPA" points="[-53, 2, 159, -9]$[-189, 15, 23, 4]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0emvDiAEeKDAMEjnOLmPA" id="(0.08006042296072508,0.48)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0emvTiAEeKDAMEjnOLmPA" id="(0.9315476190476191,0.79)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0emvjiAEeKDAMEjnOLmPA" type="4002" source="_k0emBTiAEeKDAMEjnOLmPA" target="_k0el1TiAEeKDAMEjnOLmPA" lineColor="0">
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0emvziAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xsi:nil="true"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0emwDiAEeKDAMEjnOLmPA" points="[-35, -2, 188, 9]$[-199, -14, 24, -3]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0emwTiAEeKDAMEjnOLmPA" id="(0.13157894736842105,0.23)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0emwjiAEeKDAMEjnOLmPA" id="(0.8947368421052632,0.39)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0emwziAEeKDAMEjnOLmPA" type="4002" source="_k0emqjiAEeKDAMEjnOLmPA" target="_k0emDjiAEeKDAMEjnOLmPA" lineColor="0">
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0emxDiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xsi:nil="true"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0emxTiAEeKDAMEjnOLmPA" points="[-6, 0, 205, -20]$[-195, 23, 16, 3]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0emxjiAEeKDAMEjnOLmPA" id="(0.06,0.5)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0emxziAEeKDAMEjnOLmPA" id="(0.946843853820598,0.594855305466238)"/>
+    </edges>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_k0emyDiAEeKDAMEjnOLmPA" type="CompositeStructure" name="P3_Local_Systems" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_k0emyTiAEeKDAMEjnOLmPA" type="2073" fontHeight="8" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emyjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emyziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emzDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emzTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0emzjiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0emzziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0em0DiAEeKDAMEjnOLmPA" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0em0TiAEeKDAMEjnOLmPA" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0em0jiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0em0ziAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0em1DiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0em1TiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0em1jiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0em1ziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0em2DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0em2TiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0em2jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0em2ziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0em3DiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0em3TiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0em3jiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmKTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0em3ziAEeKDAMEjnOLmPA" x="-10" y="105"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0em4DiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0em4TiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0em4jiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0em4ziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0em5DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0em5TiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0em5jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0em5ziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0em6DiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0em6TiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0em6jiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmLTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0em6ziAEeKDAMEjnOLmPA" x="-10" y="16"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0em7DiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0em7TiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0em7jiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0em7ziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0em8DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0em8TiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0em8jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0em8ziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0em9DiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0em9TiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0em9jiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmMTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0em9ziAEeKDAMEjnOLmPA" x="-10" y="41"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0em-DiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0em-TiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0em-jiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0em-ziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0em_DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0em_TiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0em_jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0em_ziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enADiAEeKDAMEjnOLmPA" x="-86" y="5"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0enATiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enAjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmNTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enAziAEeKDAMEjnOLmPA" x="172" y="160"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0enBDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enBTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enBjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enBziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enCDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enCTiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enCjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0enCziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enDDiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0enDTiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enDjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmOTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enDziAEeKDAMEjnOLmPA" x="-10" y="71"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0enEDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enETiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enEjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enEziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enFDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enFTiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enFjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0enFziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enGDiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0enGTiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enGjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmPTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enGziAEeKDAMEjnOLmPA" x="-10" y="135"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0enHDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enHTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enHjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enHziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enIDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enITiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enIjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0enIziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enJDiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0enJTiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enJjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmQTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enJziAEeKDAMEjnOLmPA" x="-10" y="195"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LmJziAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enKDiAEeKDAMEjnOLmPA" x="109" y="20" width="182" height="251"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0enKTiAEeKDAMEjnOLmPA" type="2109" fontHeight="8" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enKjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enKziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enLDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enLTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enLjiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enLziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0enMDiAEeKDAMEjnOLmPA" type="5192"/>
+      <element xmi:type="uml:Comment" href="YouthChallenge.uml#_k0LmKDiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enMTiAEeKDAMEjnOLmPA" x="444" y="118" width="472"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0enMjiAEeKDAMEjnOLmPA"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdin7bEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0LmJjiAEeKDAMEjnOLmPA"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0LmJjiAEeKDAMEjnOLmPA"/>
+    <edges xmi:type="notation:Connector" xmi:id="_k0enMziAEeKDAMEjnOLmPA" type="4002" source="_k0enKTiAEeKDAMEjnOLmPA" target="_k0emyTiAEeKDAMEjnOLmPA" lineColor="0">
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0enNDiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xsi:nil="true"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0enNTiAEeKDAMEjnOLmPA" points="[-33, -1, 187, 0]$[-186, 5, 34, 6]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0enNjiAEeKDAMEjnOLmPA" id="(0.049107142857142856,0.39)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0enNziAEeKDAMEjnOLmPA" id="(0.8131868131868132,0.5418326693227091)"/>
+    </edges>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_k0enODiAEeKDAMEjnOLmPA" type="CompositeStructure" name="P4_Globa_Systems" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_k0enOTiAEeKDAMEjnOLmPA" type="2073" fontHeight="8" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enOjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enOziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enPDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enPTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enPjiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enPziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0enQDiAEeKDAMEjnOLmPA" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0enQTiAEeKDAMEjnOLmPA" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0enQjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enQziAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0enRDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enRTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enRjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enRziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enSDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enSTiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enSjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0enSziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enTDiAEeKDAMEjnOLmPA" x="-98" y="5"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0enTTiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enTjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Ll9DiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enTziAEeKDAMEjnOLmPA" x="153" y="152"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0enUDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enUTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enUjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enUziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enVDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enVTiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enVjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0enVziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enWDiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0enWTiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enWjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Ll-DiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enWziAEeKDAMEjnOLmPA" x="-10" y="37"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0enXDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enXTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enXjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enXziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enYDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enYTiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enYjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0enYziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enZDiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0enZTiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enZjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0Ll_DiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enZziAEeKDAMEjnOLmPA" x="-10" y="67"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0enaDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enaTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enajiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enaziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enbDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enbTiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enbjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0enbziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0encDiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0encTiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0encjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LmADiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0encziAEeKDAMEjnOLmPA" x="-10" y="112"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0Ll8jiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0endDiAEeKDAMEjnOLmPA" x="138" y="128" width="163" height="193"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0endTiAEeKDAMEjnOLmPA" type="2109" fontHeight="8" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0endjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0endziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eneDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eneTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enejiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eneziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0enfDiAEeKDAMEjnOLmPA" type="5192"/>
+      <element xmi:type="uml:Comment" href="YouthChallenge.uml#_k0Ll8ziAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enfTiAEeKDAMEjnOLmPA" x="392" y="203" width="329"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0enfjiAEeKDAMEjnOLmPA"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdi37bEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0Ll8TiAEeKDAMEjnOLmPA"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0Ll8TiAEeKDAMEjnOLmPA"/>
+    <edges xmi:type="notation:Connector" xmi:id="_k0enfziAEeKDAMEjnOLmPA" type="4002" source="_k0endTiAEeKDAMEjnOLmPA" target="_k0enOTiAEeKDAMEjnOLmPA" lineColor="0">
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0engDiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xsi:nil="true"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0engTiAEeKDAMEjnOLmPA" points="[-20, 0, 104, 0]$[-111, 1, 13, 1]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0engjiAEeKDAMEjnOLmPA" id="(0.04065040650406504,0.31)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0engziAEeKDAMEjnOLmPA" id="(0.9202453987730062,0.5492227979274611)"/>
+    </edges>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_k0enhDiAEeKDAMEjnOLmPA" type="CompositeStructure" name="A4_PathPlanning_Systems" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_k0enhTiAEeKDAMEjnOLmPA" type="2073" fontHeight="8" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enhjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enhziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eniDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eniTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enijiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eniziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0enjDiAEeKDAMEjnOLmPA" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0enjTiAEeKDAMEjnOLmPA" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0enjjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enjziAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0enkDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enkTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enkjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enkziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enlDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enlTiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enljiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0enlziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enmDiAEeKDAMEjnOLmPA" x="16" y="-10"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0enmTiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enmjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoBziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enmziAEeKDAMEjnOLmPA" x="-10" y="40"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0ennDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ennTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0ennjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0ennziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enoDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enoTiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enojiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0enoziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enpDiAEeKDAMEjnOLmPA" x="-71"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0enpTiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enpjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoCziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enpziAEeKDAMEjnOLmPA" x="147" y="85"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0enqDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enqTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enqjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enqziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enrDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enrTiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enrjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0enrziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ensDiAEeKDAMEjnOLmPA" x="16" y="-5"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0ensTiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0ensjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoDziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0ensziAEeKDAMEjnOLmPA" x="-10" y="90"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0entDiAEeKDAMEjnOLmPA" type="3069" fontName="Segoe UI" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0entTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0entjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0entziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enuDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enuTiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enujiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enuziAEeKDAMEjnOLmPA" source="Stereotype_Annotation">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0envDiAEeKDAMEjnOLmPA" key="StereotypeWithQualifiedNameList" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0envTiAEeKDAMEjnOLmPA" key="StereotypeList" value="RobotML::DataFlowPort"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0envjiAEeKDAMEjnOLmPA" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0envziAEeKDAMEjnOLmPA" key="PropStereoDisplay" value=""/>
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enwDiAEeKDAMEjnOLmPA" key="StereotypePropertyLocation" value="Compartment"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0enwTiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enwjiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0enwziAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0enxDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoEziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enxTiAEeKDAMEjnOLmPA" x="-10" y="145" width="20" height="20"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LoBTiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0enxjiAEeKDAMEjnOLmPA" x="104" y="135" width="157" height="176"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0enxziAEeKDAMEjnOLmPA" type="2073" fontHeight="8" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enyDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enyTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enyjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enyziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0enzDiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0enzTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0enzjiAEeKDAMEjnOLmPA" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0enzziAEeKDAMEjnOLmPA" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0en0DiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0en0TiAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0en0jiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0en0ziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0en1DiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0en1TiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0en1jiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0en1ziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0en2DiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0en2TiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0en2jiAEeKDAMEjnOLmPA" x="-76" y="5"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0en2ziAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0en3DiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoFTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0en3TiAEeKDAMEjnOLmPA" x="194" y="64"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0en3jiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0en3ziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0en4DiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0en4TiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0en4jiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0en4ziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0en5DiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0en5TiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0en5jiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0en5ziAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0en6DiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoGTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0en6TiAEeKDAMEjnOLmPA" x="-10" y="19"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0en6jiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0en6ziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0en7DiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0en7TiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0en7jiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0en7ziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0en8DiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0en8TiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0en8jiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0en8ziAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0en9DiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoHTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0en9TiAEeKDAMEjnOLmPA" x="-10" y="49"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0en9jiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0en9ziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0en-DiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0en-TiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0en-jiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0en-ziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0en_DiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0en_TiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0en_jiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0en_ziAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoADiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoIjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eoATiAEeKDAMEjnOLmPA" x="-10" y="94"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LoFDiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eoAjiAEeKDAMEjnOLmPA" x="85" y="335" width="204" height="150"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0eoAziAEeKDAMEjnOLmPA" type="2109" fontHeight="8" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoBDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoBTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoBjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoBziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoCDiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoCTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0eoCjiAEeKDAMEjnOLmPA" type="5192"/>
+      <element xmi:type="uml:Comment" href="YouthChallenge.uml#_k0LoBjiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eoCziAEeKDAMEjnOLmPA" x="340" y="150" width="291"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0eoDDiAEeKDAMEjnOLmPA"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdjH7bEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0LoBDiAEeKDAMEjnOLmPA"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0LoBDiAEeKDAMEjnOLmPA"/>
+    <edges xmi:type="notation:Connector" xmi:id="_k0eoDTiAEeKDAMEjnOLmPA" type="4002" source="_k0eoAziAEeKDAMEjnOLmPA" target="_k0enhTiAEeKDAMEjnOLmPA" lineColor="0">
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0eoDjiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xsi:nil="true"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0eoDziAEeKDAMEjnOLmPA" points="[-53, -1, 173, 0]$[-217, -2, 9, -1]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0eoEDiAEeKDAMEjnOLmPA" id="(0.07290233837689133,0.41)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0eoETiAEeKDAMEjnOLmPA" id="(0.9426751592356688,0.49044585987261147)"/>
+    </edges>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_k0eoEjiAEeKDAMEjnOLmPA" type="CompositeStructure" name="A2_pilot_Systems" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_k0eoEziAEeKDAMEjnOLmPA" type="2073" fontHeight="8" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoFDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoFTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoFjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoFziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoGDiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoGTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0eoGjiAEeKDAMEjnOLmPA" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0eoGziAEeKDAMEjnOLmPA" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0eoHDiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eoHTiAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0eoHjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoHziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoIDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoITiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoIjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoIziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoJDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoJTiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoJjiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoJziAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoKDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoiTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eoKTiAEeKDAMEjnOLmPA" x="-10" y="25"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0eoKjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoKziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoLDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoLTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoLjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoLziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoMDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoMTiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoMjiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoMziAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoNDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LojTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eoNTiAEeKDAMEjnOLmPA" x="-10" y="160"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0eoNjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoNziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoODiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoOTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoOjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoOziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoPDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoPTiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoPjiAEeKDAMEjnOLmPA" x="-156" y="-5"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoPziAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoQDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LokTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eoQTiAEeKDAMEjnOLmPA" x="227" y="150"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0eoQjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoQziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoRDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoRTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoRjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoRziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoSDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoSTiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoSjiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoSziAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoTDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LolTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eoTTiAEeKDAMEjnOLmPA" x="-10" y="50"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0eoTjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoTziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoUDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoUTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoUjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoUziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoVDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoVTiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoVjiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoVziAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoWDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LomTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eoWTiAEeKDAMEjnOLmPA" x="-10" y="90"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0eoWjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoWziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoXDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoXTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoXjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoXziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoYDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoYTiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoYjiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoYziAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoZDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LonTiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eoZTiAEeKDAMEjnOLmPA" x="-10" y="125"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LohziAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eoZjiAEeKDAMEjnOLmPA" x="124" y="45" width="237" height="207"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0eoZziAEeKDAMEjnOLmPA" type="2073" fontHeight="8" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoaDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoaTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoajiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoaziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eobDiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eobTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0eobjiAEeKDAMEjnOLmPA" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0eobziAEeKDAMEjnOLmPA" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0eocDiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eocTiAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0eocjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eocziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eodDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eodTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eodjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eodziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoeDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoeTiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoejiAEeKDAMEjnOLmPA" x="-161" y="5"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoeziAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eofDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LooziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eofTiAEeKDAMEjnOLmPA" x="211" y="74"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0eofjiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eofziAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eogDiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eogTiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eogjiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eogziAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eohDiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eohTiAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eohjiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eohziAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoiDiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LopziAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eoiTiAEeKDAMEjnOLmPA" x="-10" y="44"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LooTiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eoijiAEeKDAMEjnOLmPA" x="120" y="305" width="221"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0eoiziAEeKDAMEjnOLmPA" type="2109" fontHeight="8" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eojDiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eojTiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eojjiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eojziAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eokDiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eokTiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0eokjiAEeKDAMEjnOLmPA" type="5192"/>
+      <element xmi:type="uml:Comment" href="YouthChallenge.uml#_k0LoiDiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eokziAEeKDAMEjnOLmPA" x="461" y="115" width="420"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0eolDiAEeKDAMEjnOLmPA" type="2109" fontHeight="8" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eolTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoljiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eolziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eomDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eomTiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eomjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0eomziAEeKDAMEjnOLmPA" type="5192"/>
+      <element xmi:type="uml:Comment" href="YouthChallenge.uml#_k0LoojiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eonDiAEeKDAMEjnOLmPA" x="435" y="305" width="341"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0eonTiAEeKDAMEjnOLmPA"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdjX7bEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0LohjiAEeKDAMEjnOLmPA"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0LohjiAEeKDAMEjnOLmPA"/>
+    <edges xmi:type="notation:Connector" xmi:id="_k0eonjiAEeKDAMEjnOLmPA" type="4002" source="_k0eoiziAEeKDAMEjnOLmPA" target="_k0eoEziAEeKDAMEjnOLmPA" lineColor="0">
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0eonziAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xsi:nil="true"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0eooDiAEeKDAMEjnOLmPA" points="[-46, -2, 137, 0]$[-146, 6, 37, 8]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0eooTiAEeKDAMEjnOLmPA" id="(0.08440366972477065,0.55)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0eoojiAEeKDAMEjnOLmPA" id="(0.8438818565400844,0.5942028985507246)"/>
+    </edges>
+    <edges xmi:type="notation:Connector" xmi:id="_k0eooziAEeKDAMEjnOLmPA" type="4002" source="_k0eolDiAEeKDAMEjnOLmPA" target="_k0eoZziAEeKDAMEjnOLmPA" lineColor="0">
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0eopDiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xsi:nil="true"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0eopTiAEeKDAMEjnOLmPA" points="[-32, 1, 110, 0]$[-126, -1, 16, -2]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0eopjiAEeKDAMEjnOLmPA" id="(0.093841642228739,0.4)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0eopziAEeKDAMEjnOLmPA" id="(0.9276018099547512,0.41)"/>
+    </edges>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_k0eoqDiAEeKDAMEjnOLmPA" type="CompositeStructure" name="A3_Navigator_Systems" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_k0eoqTiAEeKDAMEjnOLmPA" type="2073" fontHeight="8" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoqjiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoqziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eorDiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eorTiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eorjiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eorziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0eosDiAEeKDAMEjnOLmPA" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_k0eosTiAEeKDAMEjnOLmPA" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_k0eosjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eosziAEeKDAMEjnOLmPA"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0eotDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eotTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eotjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eotziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eouDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eouTiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoujiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eouziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eovDiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eovTiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eovjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoQjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eovziAEeKDAMEjnOLmPA" x="-10" y="69"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0eowDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eowTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eowjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eowziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoxDiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eoxTiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eoxjiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoxziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoyDiAEeKDAMEjnOLmPA" x="-116" y="-15"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eoyTiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eoyjiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoRjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eoyziAEeKDAMEjnOLmPA" x="172" y="104"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0eozDiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eozTiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eozjiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eozziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eo0DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eo0TiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eo0jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eo0ziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eo1DiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eo1TiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eo1jiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoSjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eo1ziAEeKDAMEjnOLmPA" x="-10" y="109"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0eo2DiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eo2TiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eo2jiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eo2ziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eo3DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eo3TiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eo3jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eo3ziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eo4DiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eo4TiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eo4jiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoTjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eo4ziAEeKDAMEjnOLmPA" x="-10" y="154"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_k0eo5DiAEeKDAMEjnOLmPA" type="3069" fontHeight="8" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eo5TiAEeKDAMEjnOLmPA" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eo5jiAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eo5ziAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eo6DiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eo6TiAEeKDAMEjnOLmPA" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eo6jiAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eo6ziAEeKDAMEjnOLmPA" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eo7DiAEeKDAMEjnOLmPA" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_k0eo7TiAEeKDAMEjnOLmPA" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_k0eo7jiAEeKDAMEjnOLmPA" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LoUjiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eo7ziAEeKDAMEjnOLmPA" x="-10" y="184"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LoQDiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eo8DiAEeKDAMEjnOLmPA" x="109" y="86" width="182" height="255"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_k0eo8TiAEeKDAMEjnOLmPA" type="2109" fontHeight="8" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eo8jiAEeKDAMEjnOLmPA" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eo8ziAEeKDAMEjnOLmPA" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eo9DiAEeKDAMEjnOLmPA" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eo9TiAEeKDAMEjnOLmPA" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0eo9jiAEeKDAMEjnOLmPA" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_k0eo9ziAEeKDAMEjnOLmPA" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_k0eo-DiAEeKDAMEjnOLmPA" type="5192"/>
+      <element xmi:type="uml:Comment" href="YouthChallenge.uml#_k0LoQTiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_k0eo-TiAEeKDAMEjnOLmPA" x="429" y="217" width="262"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_k0eo-jiAEeKDAMEjnOLmPA"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdjn7bEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0LoPziAEeKDAMEjnOLmPA"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0LoPziAEeKDAMEjnOLmPA"/>
+    <edges xmi:type="notation:Connector" xmi:id="_k0eo-ziAEeKDAMEjnOLmPA" type="4002" source="_k0eo8TiAEeKDAMEjnOLmPA" target="_k0eoqTiAEeKDAMEjnOLmPA" lineColor="0">
+      <styles xmi:type="notation:FontStyle" xmi:id="_k0eo_DiAEeKDAMEjnOLmPA" fontHeight="8"/>
+      <element xsi:nil="true"/>
+      <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_k0eo_TiAEeKDAMEjnOLmPA" points="[-51, 0, 175, 0]$[-189, 38, 37, 38]"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0eo_jiAEeKDAMEjnOLmPA" id="(0.10472279260780287,0.52)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_k0eo_ziAEeKDAMEjnOLmPA" id="(0.7967032967032966,0.7176470588235294)"/>
+    </edges>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_WaH_MDiuEeKFHpsdOC1X1Q" type="CompositeStructure" name="PlatformsDiagram" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_iCSVIDiuEeKFHpsdOC1X1Q" type="2073" fontName="Segoe UI" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_iCSVIjiuEeKFHpsdOC1X1Q" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_iCSVIziuEeKFHpsdOC1X1Q" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_iCSVJDiuEeKFHpsdOC1X1Q" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_iCSVJTiuEeKFHpsdOC1X1Q" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_iCSVJjiuEeKFHpsdOC1X1Q" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_iCSVJziuEeKFHpsdOC1X1Q" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_iFQwoDiuEeKFHpsdOC1X1Q" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_iFQwoTiuEeKFHpsdOC1X1Q" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_iFQwojiuEeKFHpsdOC1X1Q" key="StereotypeList" value="RobotML::RoboticMiddleware"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_iFQwoziuEeKFHpsdOC1X1Q" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_iFQwpDiuEeKFHpsdOC1X1Q" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_iFQwpTiuEeKFHpsdOC1X1Q" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_iCSVKDiuEeKFHpsdOC1X1Q" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_iCSVKTiuEeKFHpsdOC1X1Q" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_iCSVKjiuEeKFHpsdOC1X1Q"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_iCSVKziuEeKFHpsdOC1X1Q"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_iBPzUDiuEeKFHpsdOC1X1Q"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_iCSVITiuEeKFHpsdOC1X1Q" x="144" y="113"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_rlmecDiuEeKFHpsdOC1X1Q" type="2073" fontName="Segoe UI" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_rlmecjiuEeKFHpsdOC1X1Q" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_rlmecziuEeKFHpsdOC1X1Q" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_rlmedDiuEeKFHpsdOC1X1Q" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_rlmedTiuEeKFHpsdOC1X1Q" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_rlmedjiuEeKFHpsdOC1X1Q" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_rlmedziuEeKFHpsdOC1X1Q" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_rlwPcTiuEeKFHpsdOC1X1Q" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_u6pHoDiuEeKFHpsdOC1X1Q" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_u6pHoTiuEeKFHpsdOC1X1Q" key="StereotypeList" value="RobotML::BlenderMorse"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_u6pHojiuEeKFHpsdOC1X1Q" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_u6pHoziuEeKFHpsdOC1X1Q" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_u6pHpDiuEeKFHpsdOC1X1Q" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_rlmeeDiuEeKFHpsdOC1X1Q" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_rlmeeTiuEeKFHpsdOC1X1Q" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_rlmeejiuEeKFHpsdOC1X1Q"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_rlmeeziuEeKFHpsdOC1X1Q"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_rlJygDiuEeKFHpsdOC1X1Q"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_rlmecTiuEeKFHpsdOC1X1Q" x="348" y="116"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_HSZVoDivEeKFHpsdOC1X1Q" type="2073" fontName="Segoe UI" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSZVojivEeKFHpsdOC1X1Q" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSZVozivEeKFHpsdOC1X1Q" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSZVpDivEeKFHpsdOC1X1Q" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSZVpTivEeKFHpsdOC1X1Q" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSZVpjivEeKFHpsdOC1X1Q" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSZVpzivEeKFHpsdOC1X1Q" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_HSifkDivEeKFHpsdOC1X1Q" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSifkTivEeKFHpsdOC1X1Q" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSifkjivEeKFHpsdOC1X1Q" key="StereotypeList" value="RobotML::Platform"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSifkzivEeKFHpsdOC1X1Q" key="Stereotype_Presentation_Kind" value="HorizontalStereo"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSiflDivEeKFHpsdOC1X1Q" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_HSiflTivEeKFHpsdOC1X1Q" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_HSZVqDivEeKFHpsdOC1X1Q" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_HSZVqTivEeKFHpsdOC1X1Q" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_HSZVqjivEeKFHpsdOC1X1Q"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_HSZVqzivEeKFHpsdOC1X1Q"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_HR8psDivEeKFHpsdOC1X1Q"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_HSZVoTivEeKFHpsdOC1X1Q" x="145" y="225" width="326" height="136"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_WaH_MTiuEeKFHpsdOC1X1Q"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdj37bEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_O0YV0DiuEeKFHpsdOC1X1Q"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <element xmi:type="uml:Package" href="YouthChallenge.uml#_O0YV0DiuEeKFHpsdOC1X1Q"/>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_NzHQoDivEeKFHpsdOC1X1Q" type="CompositeStructure" name="ArchitectureDiagram" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_OxmSIDivEeKFHpsdOC1X1Q" type="2073" fontName="Segoe UI" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_OxmSIjivEeKFHpsdOC1X1Q" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OxmSIzivEeKFHpsdOC1X1Q" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_OxmSJDivEeKFHpsdOC1X1Q" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OxmSJTivEeKFHpsdOC1X1Q" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_OxmSJjivEeKFHpsdOC1X1Q" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_OxmSJzivEeKFHpsdOC1X1Q" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_OxmSKDivEeKFHpsdOC1X1Q" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_OxmSKTivEeKFHpsdOC1X1Q" type="7073">
+        <children xmi:type="notation:Shape" xmi:id="_QB74oDivEeKFHpsdOC1X1Q" type="3070" fontName="Segoe UI" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_QB74ojivEeKFHpsdOC1X1Q" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QB74ozivEeKFHpsdOC1X1Q" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_QB74pDivEeKFHpsdOC1X1Q" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QB74pTivEeKFHpsdOC1X1Q" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_QB74pjivEeKFHpsdOC1X1Q" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_QB74pzivEeKFHpsdOC1X1Q" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_QB74qDivEeKFHpsdOC1X1Q" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_QB74qTivEeKFHpsdOC1X1Q" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_QB74qjivEeKFHpsdOC1X1Q"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_QB74qzivEeKFHpsdOC1X1Q"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_QAl00DivEeKFHpsdOC1X1Q"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_QB74oTivEeKFHpsdOC1X1Q" x="20" y="20" height="81"/>
+        </children>
+        <children xmi:type="notation:Shape" xmi:id="_yv3QQDivEeKFHpsdOC1X1Q" type="3070" fontName="Segoe UI" lineColor="0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_yv3QQjivEeKFHpsdOC1X1Q" source="ShadowFigure">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_yv3QQzivEeKFHpsdOC1X1Q" key="ShadowFigure_Value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_yv3QRDivEeKFHpsdOC1X1Q" source="displayNameLabelIcon">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_yv3QRTivEeKFHpsdOC1X1Q" key="displayNameLabelIcon_value" value="false"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_yv3QRjivEeKFHpsdOC1X1Q" source="QualifiedName">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_yv3QRzivEeKFHpsdOC1X1Q" key="QualifiedNameDepth" value="1000"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_yv3QSDivEeKFHpsdOC1X1Q" type="5126"/>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_yv3QSTivEeKFHpsdOC1X1Q" type="7077">
+            <styles xmi:type="notation:TitleStyle" xmi:id="_yv3QSjivEeKFHpsdOC1X1Q"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_yv3QSzivEeKFHpsdOC1X1Q"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_yvakUDivEeKFHpsdOC1X1Q"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_yv3QQTivEeKFHpsdOC1X1Q" x="245" y="25"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_OxmSKjivEeKFHpsdOC1X1Q"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_OxmSKzivEeKFHpsdOC1X1Q"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_HR8psDivEeKFHpsdOC1X1Q"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_OxmSITivEeKFHpsdOC1X1Q" x="155" y="94" width="591" height="202"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_NzHQoTivEeKFHpsdOC1X1Q"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdkH7bEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_O0YV0DiuEeKFHpsdOC1X1Q"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <element xmi:type="uml:Package" href="YouthChallenge.uml#_O0YV0DiuEeKFHpsdOC1X1Q"/>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_LuVHIHBiEeKpO-l0NGAU9Q" type="CompositeStructure" name="Sensors_def" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_MbKX8HBiEeKpO-l0NGAU9Q" type="2073" fontName="Segoe UI" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MbXMQHBiEeKpO-l0NGAU9Q" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MbXMQXBiEeKpO-l0NGAU9Q" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MbXMQnBiEeKpO-l0NGAU9Q" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MbXMQ3BiEeKpO-l0NGAU9Q" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MbXMRHBiEeKpO-l0NGAU9Q" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MbXMRXBiEeKpO-l0NGAU9Q" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_MbXMRnBiEeKpO-l0NGAU9Q" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_MbXMR3BiEeKpO-l0NGAU9Q" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_MbXMSHBiEeKpO-l0NGAU9Q"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MbXMSXBiEeKpO-l0NGAU9Q"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LnOTiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MbKX8XBiEeKpO-l0NGAU9Q" x="115" y="87"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_MsVAcHBiEeKpO-l0NGAU9Q" type="2073" fontName="Segoe UI" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MsVngHBiEeKpO-l0NGAU9Q" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MsVngXBiEeKpO-l0NGAU9Q" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MsVngnBiEeKpO-l0NGAU9Q" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MsVng3BiEeKpO-l0NGAU9Q" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_MsVnhHBiEeKpO-l0NGAU9Q" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MsVnhXBiEeKpO-l0NGAU9Q" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_MsVnhnBiEeKpO-l0NGAU9Q" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_MsVnh3BiEeKpO-l0NGAU9Q" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_MsVniHBiEeKpO-l0NGAU9Q"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MsVniXBiEeKpO-l0NGAU9Q"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LnTjiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_MsVAcXBiEeKpO-l0NGAU9Q" x="211" y="269"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_M74fYHBiEeKpO-l0NGAU9Q" type="2073" fontName="Segoe UI" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_M75GcHBiEeKpO-l0NGAU9Q" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_M75GcXBiEeKpO-l0NGAU9Q" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_M75GcnBiEeKpO-l0NGAU9Q" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_M75Gc3BiEeKpO-l0NGAU9Q" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_M75GdHBiEeKpO-l0NGAU9Q" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_M75GdXBiEeKpO-l0NGAU9Q" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_M75GdnBiEeKpO-l0NGAU9Q" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_M75Gd3BiEeKpO-l0NGAU9Q" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_M75GeHBiEeKpO-l0NGAU9Q"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_M75GeXBiEeKpO-l0NGAU9Q"/>
+      </children>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_M8tl0HBiEeKpO-l0NGAU9Q" visible="false" type="AppliedStereotypeCompartement">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_M8tl0XBiEeKpO-l0NGAU9Q" showTitle="true"/>
+        <element xmi:type="RobotML:GPSSystem" href="YouthChallenge.uml#_k0LpHDiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_M8tl0nBiEeKpO-l0NGAU9Q"/>
+      </children>
+      <children xmi:type="notation:Shape" xmi:id="_UiYWsHBiEeKpO-l0NGAU9Q" type="3069" fontName="Segoe UI" lineColor="0">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_UiY9wHBiEeKpO-l0NGAU9Q" source="ShadowFigure">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_UiY9wXBiEeKpO-l0NGAU9Q" key="ShadowFigure_Value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_UiY9wnBiEeKpO-l0NGAU9Q" source="displayNameLabelIcon">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_UiY9w3BiEeKpO-l0NGAU9Q" key="displayNameLabelIcon_value" value="false"/>
+        </eAnnotations>
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_UiY9xHBiEeKpO-l0NGAU9Q" source="QualifiedName">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_UiY9xXBiEeKpO-l0NGAU9Q" key="QualifiedNameDepth" value="1000"/>
+        </eAnnotations>
+        <children xmi:type="notation:DecorationNode" xmi:id="_UiY9xnBiEeKpO-l0NGAU9Q" type="5125">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_UiY9x3BiEeKpO-l0NGAU9Q" x="25" y="3"/>
+        </children>
+        <children xmi:type="notation:DecorationNode" xmi:id="_UiZk0HBiEeKpO-l0NGAU9Q" type="6029">
+          <layoutConstraint xmi:type="notation:Location" xmi:id="_UiZk0XBiEeKpO-l0NGAU9Q" x="25" y="-10"/>
+        </children>
+        <element xmi:type="uml:Port" href="YouthChallenge.uml#_k0LnYDiAEeKDAMEjnOLmPA"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_UiYWsXBiEeKpO-l0NGAU9Q" x="90" y="60"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LnXziAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_M74fYXBiEeKpO-l0NGAU9Q" x="350" y="225"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_NHCmgHBiEeKpO-l0NGAU9Q" type="2073" fontName="Segoe UI" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NHDNkHBiEeKpO-l0NGAU9Q" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NHDNkXBiEeKpO-l0NGAU9Q" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NHDNknBiEeKpO-l0NGAU9Q" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NHDNk3BiEeKpO-l0NGAU9Q" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NHDNlHBiEeKpO-l0NGAU9Q" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NHDNlXBiEeKpO-l0NGAU9Q" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_NHDNlnBiEeKpO-l0NGAU9Q" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_NHDNl3BiEeKpO-l0NGAU9Q" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_NHDNmHBiEeKpO-l0NGAU9Q"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_NHDNmXBiEeKpO-l0NGAU9Q"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LnZDiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_NHCmgXBiEeKpO-l0NGAU9Q" x="55" y="365"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_NaJvwHBiEeKpO-l0NGAU9Q" type="2073" fontName="Segoe UI" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NaKW0HBiEeKpO-l0NGAU9Q" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NaKW0XBiEeKpO-l0NGAU9Q" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NaKW0nBiEeKpO-l0NGAU9Q" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NaKW03BiEeKpO-l0NGAU9Q" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_NaKW1HBiEeKpO-l0NGAU9Q" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_NaKW1XBiEeKpO-l0NGAU9Q" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_NaKW1nBiEeKpO-l0NGAU9Q" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_NaKW13BiEeKpO-l0NGAU9Q" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_NaKW2HBiEeKpO-l0NGAU9Q"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_NaKW2XBiEeKpO-l0NGAU9Q"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LnaTiAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_NaJvwXBiEeKpO-l0NGAU9Q" x="306" y="72"/>
+    </children>
+    <children xmi:type="notation:Shape" xmi:id="_Nq3sUHBiEeKpO-l0NGAU9Q" type="2073" fontName="Segoe UI" lineColor="0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Nq4TYHBiEeKpO-l0NGAU9Q" source="ShadowFigure">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Nq4TYXBiEeKpO-l0NGAU9Q" key="ShadowFigure_Value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Nq4TYnBiEeKpO-l0NGAU9Q" source="displayNameLabelIcon">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Nq4TY3BiEeKpO-l0NGAU9Q" key="displayNameLabelIcon_value" value="false"/>
+      </eAnnotations>
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Nq4TZHBiEeKpO-l0NGAU9Q" source="QualifiedName">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_Nq4TZXBiEeKpO-l0NGAU9Q" key="QualifiedNameDepth" value="1000"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_Nq4TZnBiEeKpO-l0NGAU9Q" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_Nq4TZ3BiEeKpO-l0NGAU9Q" type="7073">
+        <styles xmi:type="notation:TitleStyle" xmi:id="_Nq4TaHBiEeKpO-l0NGAU9Q"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Nq4TaXBiEeKpO-l0NGAU9Q"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_k0LnbziAEeKDAMEjnOLmPA"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_Nq3sUXBiEeKpO-l0NGAU9Q" x="525" y="397"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_LuVHIXBiEeKpO-l0NGAU9Q"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdkX7bEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Package" href="YouthChallenge.uml#_k0LnODiAEeKDAMEjnOLmPA"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWBfL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <element xmi:type="uml:Package" href="YouthChallenge.uml#_k0LnODiAEeKDAMEjnOLmPA"/>
+  </notation:Diagram>
+  <notation:Diagram xmi:id="_rc51sKEKEeKLUqX9IJq2Gg" type="CompositeStructure" name="WifibotEnvironmentDiagram" measurementUnit="Pixel">
+    <children xmi:type="notation:Shape" xmi:id="_sAx-0KEKEeKLUqX9IJq2Gg" type="2073" gradient="8905185, 16777215, 0">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_sG4m0KEKEeKLUqX9IJq2Gg" source="Stereotype_Annotation">
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sJHbcKEKEeKLUqX9IJq2Gg" key="StereotypeWithQualifiedNameList" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sJHbcaEKEeKLUqX9IJq2Gg" key="StereotypeList" value="RobotML::Environment"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sJHbcqEKEeKLUqX9IJq2Gg" key="Stereotype_Presentation_Kind" value="IconStereotype"/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sJHbc6EKEeKLUqX9IJq2Gg" key="PropStereoDisplay" value=""/>
+        <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sJHbdKEKEeKLUqX9IJq2Gg" key="StereotypePropertyLocation" value="Compartment"/>
+      </eAnnotations>
+      <children xmi:type="notation:DecorationNode" xmi:id="_sA7v0KEKEeKLUqX9IJq2Gg" type="5156"/>
+      <children xmi:type="notation:BasicCompartment" xmi:id="_sA7v0aEKEeKLUqX9IJq2Gg" type="7073">
+        <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_sA7v1KEKEeKLUqX9IJq2Gg" source="PapyrusCSSForceValue">
+          <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_sA7v1aEKEeKLUqX9IJq2Gg" key="showTitle" value="true"/>
+        </eAnnotations>
+        <children xmi:type="notation:Shape" xmi:id="_wPdlwKEKEeKLUqX9IJq2Gg" type="3070" gradient="10265827, 16777215, 0">
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_BBnUUKELEeKLUqX9IJq2Gg" source="PapyrusHyperLink_Diagram" references="_k0VaYjiAEeKDAMEjnOLmPA">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BBnUUaELEeKLUqX9IJq2Gg" key="tooltip_text" value="WifiBot"/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BBnUUqELEeKLUqX9IJq2Gg" key="diagram_name" value="WifiBot"/>
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_BBnUU6ELEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
+          </eAnnotations>
+          <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_Mym2IKELEeKLUqX9IJq2Gg" source="PapyrusCSSForceValue">
+            <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_MywnIKELEeKLUqX9IJq2Gg" key="gradient" value="true"/>
+          </eAnnotations>
+          <children xmi:type="notation:DecorationNode" xmi:id="_wPdlwqEKEeKLUqX9IJq2Gg" type="5126">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_-TL_MKEKEeKLUqX9IJq2Gg" source="PapyrusHyperLink_Diagram" references="_k0VaYjiAEeKDAMEjnOLmPA">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_-TL_MaEKEeKLUqX9IJq2Gg" key="tooltip_text" value="WifiBot"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_-TL_MqEKEeKLUqX9IJq2Gg" key="diagram_name" value="WifiBot"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_-TL_M6EKEeKLUqX9IJq2Gg" key="is_default_navigation" value="true"/>
+            </eAnnotations>
+          </children>
+          <children xmi:type="notation:BasicCompartment" xmi:id="_wPdlw6EKEeKLUqX9IJq2Gg" type="7077">
+            <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_wPdlxqEKEeKLUqX9IJq2Gg" source="PapyrusCSSForceValue">
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_wPdlx6EKEeKLUqX9IJq2Gg" key="showTitle" value="true"/>
+              <details xmi:type="ecore:EStringToStringMapEntry" xmi:id="_zroKoKEKEeKLUqX9IJq2Gg" key="visible" value="true"/>
+            </eAnnotations>
+            <styles xmi:type="notation:TitleStyle" xmi:id="_wPdlxKEKEeKLUqX9IJq2Gg"/>
+            <layoutConstraint xmi:type="notation:Bounds" xmi:id="_wPdlxaEKEeKLUqX9IJq2Gg"/>
+          </children>
+          <element xmi:type="uml:Property" href="YouthChallenge.uml#_wOk08KEKEeKLUqX9IJq2Gg"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_wPdlwaEKEeKLUqX9IJq2Gg" x="148" y="115"/>
+        </children>
+        <styles xmi:type="notation:TitleStyle" xmi:id="_sA7v0qEKEeKLUqX9IJq2Gg"/>
+        <layoutConstraint xmi:type="notation:Bounds" xmi:id="_sA7v06EKEeKLUqX9IJq2Gg"/>
+      </children>
+      <element xmi:type="uml:Class" href="YouthChallenge.uml#_r_SxEKEKEeKLUqX9IJq2Gg"/>
+      <layoutConstraint xmi:type="notation:Bounds" xmi:id="_sAx-0aEKEeKLUqX9IJq2Gg" x="137" y="70" width="449" height="381"/>
+    </children>
+    <styles xmi:type="notation:DiagramStyle" xmi:id="_rc51saEKEeKLUqX9IJq2Gg"/>
+    <styles xmi:type="style:PapyrusViewStyle" xmi:id="_jBRdkn7bEeSFyNbnLYDCkw">
+      <owner xmi:type="uml:Model" href="YouthChallenge.uml#_k0Lj4DiAEeKDAMEjnOLmPA"/>
+      <configuration xmi:type="configuration:PapyrusDiagram" href="platform:/plugin/org.eclipse.papyrus.robotml.diagram.common/viewpoints/robotml.configuration#_0kzWAPL_EeONXPQ2mbw9vA"/>
+    </styles>
+    <element xmi:type="uml:Model" href="YouthChallenge.uml#_k0Lj4DiAEeKDAMEjnOLmPA"/>
+  </notation:Diagram>
+  <css:ModelStyleSheets xmi:id="_EmqHEMysEeSbw_7Zqs0KhQ"/>
+  <css:EmbeddedStyleSheet xmi:id="_xTxqcLVFEeWmy72C-w00OQ" label="port" content="Port Port {maskLabel:name type;displayIcon:true;}"/>
+</xmi:XMI>
diff --git a/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.uml b/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.uml
index 7fedeec..271d2b6 100644
--- a/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.uml
+++ b/org.eclipse.papyrus.robotml.templaterepository/resource/YouthChallenge.uml
@@ -1,2345 +1,2351 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<xmi:XMI xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"  xmlns:RobotML="http://Papyrus/RobotML/1" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML">
-  <uml:Model xmi:id="_k0Lj4DiAEeKDAMEjnOLmPA" name="YouthChallengeModel">
-    <packageImport xmi:type="uml:PackageImport" xmi:id="_k0Lj4TiAEeKDAMEjnOLmPA">
-      <importedPackage xmi:type="uml:Package" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_dt_y4AHtEeCQQOKrhO_fIQ"/>
-    </packageImport>
-    <packagedElement xmi:type="uml:Package" xmi:id="_k0Lj4jiAEeKDAMEjnOLmPA" name="YouthChallenge DataTypes">
-      <packagedElement xmi:type="uml:Enumeration" xmi:id="_k0Lj4ziAEeKDAMEjnOLmPA" name="Mission_Type">
-        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0Lj5DiAEeKDAMEjnOLmPA" name="Explore"/>
-        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0Lj5TiAEeKDAMEjnOLmPA" name="Search"/>
-        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0Lj5jiAEeKDAMEjnOLmPA" name="Reach"/>
-        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0Lj5ziAEeKDAMEjnOLmPA" name="Identify"/>
-      </packagedElement>
-      <packagedElement xmi:type="uml:DataType" xmi:id="_k0Lj6DiAEeKDAMEjnOLmPA" name="Amer">
-        <ownedComment xmi:type="uml:Comment" xmi:id="_k0Lj6TiAEeKDAMEjnOLmPA" annotatedElement="_k0Lj6DiAEeKDAMEjnOLmPA">
-          <body>Un amer correspond a une balise composee d'une clonne et d'un solide d'une couleur </body>
-        </ownedComment>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lj6jiAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lj6ziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lj7DiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lj7TiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lj7jiAEeKDAMEjnOLmPA" name="color" visibility="public" type="_k0LkejiAEeKDAMEjnOLmPA" isUnique="false">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lj7ziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lj8DiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lj8TiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lj8jiAEeKDAMEjnOLmPA" name="geometry" visibility="public" type="_k0LkgDiAEeKDAMEjnOLmPA" isUnique="false">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lj8ziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lj9DiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lj9TiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:DataType" xmi:id="_k0Lj9jiAEeKDAMEjnOLmPA" name="Position">
-        <ownedComment xmi:type="uml:Comment" xmi:id="_k0Lj9ziAEeKDAMEjnOLmPA"/>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lj-DiAEeKDAMEjnOLmPA" name="x" visibility="public" isUnique="false">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lj-TiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lj-jiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lj-ziAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lj_DiAEeKDAMEjnOLmPA" name="y" visibility="public" isUnique="false">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lj_TiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lj_jiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lj_ziAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkADiAEeKDAMEjnOLmPA" name="alt" visibility="public" isUnique="false">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkATiAEeKDAMEjnOLmPA"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkAjiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkAziAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkBDiAEeKDAMEjnOLmPA" name="orientation" visibility="public" isUnique="false">
-          <ownedComment xmi:type="uml:Comment" xmi:id="_k0LkBTiAEeKDAMEjnOLmPA" annotatedElement="_k0LkBTiAEeKDAMEjnOLmPA">
-            <body>orientation en degrés [0;359] , entier positif, sens horaire 0 Nord </body>
-          </ownedComment>
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkBjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkBziAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkCDiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkCTiAEeKDAMEjnOLmPA" name="Position_Error">
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkCjiAEeKDAMEjnOLmPA" name="x_err" visibility="public" isUnique="false">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkCziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkDDiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkDTiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkDjiAEeKDAMEjnOLmPA" name="y_err" visibility="public" isUnique="false">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkDziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkEDiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkETiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkEjiAEeKDAMEjnOLmPA" name="alt_err" visibility="public" isUnique="false">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkEziAEeKDAMEjnOLmPA"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkFDiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkFTiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkFjiAEeKDAMEjnOLmPA" name="orientation_err" visibility="public" isUnique="false">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkFziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkGDiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkGTiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkGjiAEeKDAMEjnOLmPA" name="Path_Point">
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkGziAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkHDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkHTiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkHjiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkHziAEeKDAMEjnOLmPA" name="pos_error" visibility="public" type="_k0LkCTiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkIDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkITiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkIjiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkIziAEeKDAMEjnOLmPA" name="velocity" visibility="public">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LT9SN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkJDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkJTiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkJjiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkLDiAEeKDAMEjnOLmPA" name="Trajectory">
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkLTiAEeKDAMEjnOLmPA" name="x_t" visibility="public" isUnique="false">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkLjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkLziAEeKDAMEjnOLmPA" value="*"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkMDiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkMTiAEeKDAMEjnOLmPA" name="y_t" visibility="public" isUnique="false">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkMjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkMziAEeKDAMEjnOLmPA" value="*"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkNDiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkNTiAEeKDAMEjnOLmPA" name="v_t" visibility="public" isUnique="false">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkNjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkNziAEeKDAMEjnOLmPA" value="*"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkODiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkOTiAEeKDAMEjnOLmPA" name="sample_time" visibility="public" isUnique="false">
-          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_gyt4YAH-EeC_ZLzLQhW-TQ"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkOjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkOziAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkPDiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkPTiAEeKDAMEjnOLmPA" name="sample_nb" visibility="public" type="_k0LkkjiAEeKDAMEjnOLmPA" isUnique="false">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkPjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkPziAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkQDiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkSjiAEeKDAMEjnOLmPA" name="Goal">
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkSziAEeKDAMEjnOLmPA" name="mission_type" visibility="public" type="_k0Lj4ziAEeKDAMEjnOLmPA" isUnique="false">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkTDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkTTiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkTjiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkTziAEeKDAMEjnOLmPA" name="position" visibility="public" isUnique="false">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_lZ5bYKlhEeC0sZu-_Vgeyw"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkUDiAEeKDAMEjnOLmPA"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkUTiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkUjiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkUziAEeKDAMEjnOLmPA" name="position_error" visibility="public" isUnique="false">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_lZ5bYKlhEeC0sZu-_Vgeyw"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkVDiAEeKDAMEjnOLmPA"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkVTiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkVjiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkVziAEeKDAMEjnOLmPA" name="orientation" visibility="public" isUnique="false">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkWDiAEeKDAMEjnOLmPA"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkWTiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkWjiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkWziAEeKDAMEjnOLmPA" name="angular_aperture" visibility="public" isUnique="false">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkXDiAEeKDAMEjnOLmPA"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkXTiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkXjiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkXziAEeKDAMEjnOLmPA" name="distance" visibility="public">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUOSN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkYDiAEeKDAMEjnOLmPA"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkYTiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkYjiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkYziAEeKDAMEjnOLmPA" name="velocity_average" visibility="public">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LT9SN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkZDiAEeKDAMEjnOLmPA"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkZTiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkZjiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkZziAEeKDAMEjnOLmPA" name="amer_to_identify" visibility="public" type="_k0Lj6DiAEeKDAMEjnOLmPA" isUnique="false">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkaDiAEeKDAMEjnOLmPA"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkaTiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkajiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Enumeration" xmi:id="_k0LkejiAEeKDAMEjnOLmPA" name="Color">
-        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkeziAEeKDAMEjnOLmPA" name="White"/>
-        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkfDiAEeKDAMEjnOLmPA" name="Black"/>
-        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkfTiAEeKDAMEjnOLmPA" name="Red"/>
-        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkfjiAEeKDAMEjnOLmPA" name="Blue"/>
-        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkfziAEeKDAMEjnOLmPA" name="Green"/>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Enumeration" xmi:id="_k0LkgDiAEeKDAMEjnOLmPA" name="Geometry">
-        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkgTiAEeKDAMEjnOLmPA" name="Cube"/>
-        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkgjiAEeKDAMEjnOLmPA" name="Sphere"/>
-        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkgziAEeKDAMEjnOLmPA" name="Pyramid"/>
-      </packagedElement>
-      <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkkjiAEeKDAMEjnOLmPA" name="Nombre_Pos">
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkkziAEeKDAMEjnOLmPA" name="value" visibility="public" isUnique="false">
-          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_nCOuoAH-EeC_ZLzLQhW-TQ"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LklDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LklTiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkljiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkvDiAEeKDAMEjnOLmPA" name="Percent">
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkvTiAEeKDAMEjnOLmPA" name="value" visibility="public" isUnique="false">
-          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_nCOuoAH-EeC_ZLzLQhW-TQ"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkvjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkvziAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkwDiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:DataType" xmi:id="_k0Lk4jiAEeKDAMEjnOLmPA" name="Velocity_Error">
-        <ownedComment xmi:type="uml:Comment" xmi:id="_k0Lk4ziAEeKDAMEjnOLmPA"/>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk5DiAEeKDAMEjnOLmPA" name="velocity_linear_err" visibility="public" isUnique="false">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LT9SN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk5TiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk5jiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lk5ziAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk6DiAEeKDAMEjnOLmPA" name="velocity_angular_err" visibility="public" isUnique="false">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUUiN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk6TiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk6jiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lk6ziAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:DataType" xmi:id="_k0Lk7DiAEeKDAMEjnOLmPA" name="Amer_Relative">
-        <ownedComment xmi:type="uml:Comment" xmi:id="_k0Lk7TiAEeKDAMEjnOLmPA" annotatedElement="_k0Lk7DiAEeKDAMEjnOLmPA">
-          <body>Un amer correspond à une balise composée d'une clonne&#xD;
-et d'un solide d'une couleur </body>
-        </ownedComment>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk7jiAEeKDAMEjnOLmPA" name="relative_polar" visibility="public" type="_k0Lk-jiAEeKDAMEjnOLmPA" isUnique="false">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk7ziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk8DiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lk8TiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk8jiAEeKDAMEjnOLmPA" name="color" visibility="public" type="_k0LkejiAEeKDAMEjnOLmPA" isUnique="false">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk8ziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk9DiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lk9TiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk9jiAEeKDAMEjnOLmPA" name="geometry" visibility="public" type="_k0LkgDiAEeKDAMEjnOLmPA" isUnique="false">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk9ziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk-DiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lk-TiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:DataType" xmi:id="_k0Lk-jiAEeKDAMEjnOLmPA" name="Relative_Polar">
-        <ownedComment xmi:type="uml:Comment" xmi:id="_k0Lk-ziAEeKDAMEjnOLmPA"/>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk_DiAEeKDAMEjnOLmPA" name="distance" visibility="public" isUnique="false">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUOSN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk_TiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk_jiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lk_ziAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlADiAEeKDAMEjnOLmPA" name="angular" visibility="public" isUnique="false">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlATiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlAjiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LlAziAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlBDiAEeKDAMEjnOLmPA" name="site" visibility="public" isUnique="false">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlBTiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlBjiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LlBziAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:DataType" xmi:id="_k0LlCDiAEeKDAMEjnOLmPA" name="Map">
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlCTiAEeKDAMEjnOLmPA" name="map_meta_data">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_F5N8wAK2EeCsG_V0R865wA"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlCjiAEeKDAMEjnOLmPA" name="position">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_uUJZ4AH6EeC_ZLzLQhW-TQ"/>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:DataType" xmi:id="_k0LlCziAEeKDAMEjnOLmPA" name="Attribute_robot">
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlDDiAEeKDAMEjnOLmPA" name="voie">
-          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LlDTiAEeKDAMEjnOLmPA" name="voie" value="0.226"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlDjiAEeKDAMEjnOLmPA" name="empatement">
-          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LlDziAEeKDAMEjnOLmPA" name="empatement" value="0.17"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlEDiAEeKDAMEjnOLmPA" name="diam_roue">
-          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LlETiAEeKDAMEjnOLmPA" name="diam_roue" value="0.144"/>
-        </ownedAttribute>
-      </packagedElement>
-    </packagedElement>
-    <packagedElement xmi:type="uml:Package" xmi:id="_k0LlEjiAEeKDAMEjnOLmPA" name="YouthChallenge Interfaces"/>
-    <packagedElement xmi:type="uml:Package" xmi:id="_k0LlEziAEeKDAMEjnOLmPA" name="YouthChallenge SubSystems"/>
-    <packagedElement xmi:type="uml:Class" xmi:id="_k0LlFDiAEeKDAMEjnOLmPA" name="Wifibot">
-      <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlFTiAEeKDAMEjnOLmPA" name="pathPlanner" type="_k0LoFDiAEeKDAMEjnOLmPA"/>
-      <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlFjiAEeKDAMEjnOLmPA" name="missionGenerator" type="_k0Ln9ziAEeKDAMEjnOLmPA"/>
-      <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlFziAEeKDAMEjnOLmPA" name="navigator" type="_k0LoVjiAEeKDAMEjnOLmPA"/>
-      <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlGDiAEeKDAMEjnOLmPA" name="pilot" type="_k0LoqziAEeKDAMEjnOLmPA"/>
-      <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlGTiAEeKDAMEjnOLmPA" name="servoing" type="_k0Lo-jiAEeKDAMEjnOLmPA"/>
-      <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlGjiAEeKDAMEjnOLmPA" name="sensors" type="_k0LndTiAEeKDAMEjnOLmPA"/>
-      <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlGziAEeKDAMEjnOLmPA" name="proximetry" type="_k0LmxDiAEeKDAMEjnOLmPA"/>
-      <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlHDiAEeKDAMEjnOLmPA" name="global_map" type="_k0LmBDiAEeKDAMEjnOLmPA"/>
-      <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlHTiAEeKDAMEjnOLmPA" name="local_Map" type="_k0LmTjiAEeKDAMEjnOLmPA"/>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlHjiAEeKDAMEjnOLmPA" name="Connector0">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlHziAEeKDAMEjnOLmPA" partWithPort="_k0LlFjiAEeKDAMEjnOLmPA" role="_k0Ln-DiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlIDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlITiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlIjiAEeKDAMEjnOLmPA" partWithPort="_k0LlFTiAEeKDAMEjnOLmPA" role="_k0LoHTiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlIziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlJDiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlJTiAEeKDAMEjnOLmPA" name="Connector1">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlJjiAEeKDAMEjnOLmPA" partWithPort="_k0LlFTiAEeKDAMEjnOLmPA" role="_k0LoFTiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlJziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlKDiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlKTiAEeKDAMEjnOLmPA" partWithPort="_k0LlFziAEeKDAMEjnOLmPA" role="_k0LoVziAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlKjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlKziAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlLDiAEeKDAMEjnOLmPA" name="Connector2">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlLTiAEeKDAMEjnOLmPA" partWithPort="_k0LlFziAEeKDAMEjnOLmPA" role="_k0LoWziAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlLjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlLziAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlMDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGDiAEeKDAMEjnOLmPA" role="_k0LorDiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlMTiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlMjiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlMziAEeKDAMEjnOLmPA" name="Connector3">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlNDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGDiAEeKDAMEjnOLmPA" role="_k0LosDiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlNTiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlNjiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlNziAEeKDAMEjnOLmPA" partWithPort="_k0LlGTiAEeKDAMEjnOLmPA" role="_k0Lo-ziAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlODiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlOTiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlOjiAEeKDAMEjnOLmPA" name="Connector4">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlOziAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LndjiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlPDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlPTiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlPjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0LmxjiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlPziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlQDiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlQTiAEeKDAMEjnOLmPA" name="Connector5">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlQjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnejiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlQziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlRDiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlRTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0LmyjiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlRjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlRziAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlSDiAEeKDAMEjnOLmPA" name="Connector6">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlSTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnhjiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlSjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlSziAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlTDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm1jiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlTTiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlTjiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlTziAEeKDAMEjnOLmPA" name="Connector7">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlUDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnkTiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlUTiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlUjiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlUziAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3TiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlVDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlVTiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlVjiAEeKDAMEjnOLmPA" name="Connector8">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlVziAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnkDiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlWDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlWTiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlWjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3jiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlWziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlXDiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlXTiAEeKDAMEjnOLmPA" name="Connector9">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlXjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnfjiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlXziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlYDiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlYTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0LmzjiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlYjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlYziAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlZDiAEeKDAMEjnOLmPA" name="Connector10">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlZTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LngjiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlZjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlZziAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlaDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm0jiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlaTiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlajiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlaziAEeKDAMEjnOLmPA" name="Connector11">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlbDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LngjiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlbTiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlbjiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlbziAEeKDAMEjnOLmPA" partWithPort="_k0LlGDiAEeKDAMEjnOLmPA" role="_k0LouTiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlcDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlcTiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlcjiAEeKDAMEjnOLmPA" name="Connector12">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlcziAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4DiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LldDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LldTiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LldjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGDiAEeKDAMEjnOLmPA" role="_k0LouDiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LldziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LleDiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LleTiAEeKDAMEjnOLmPA" name="Connector13">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlejiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3ziAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LleziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlfDiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlfTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGDiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlfjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlfziAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlgDiAEeKDAMEjnOLmPA" name="Connector14">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlgTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4jiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlgjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlgziAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlhDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGDiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlhTiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlhjiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlhziAEeKDAMEjnOLmPA" name="Connector15">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LliDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3ziAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LliTiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlijiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LliziAEeKDAMEjnOLmPA" partWithPort="_k0LlFziAEeKDAMEjnOLmPA" role="_k0LoYTiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LljDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LljTiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LljjiAEeKDAMEjnOLmPA" name="Connector16">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LljziAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4DiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlkDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlkTiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlkjiAEeKDAMEjnOLmPA" partWithPort="_k0LlFziAEeKDAMEjnOLmPA" role="_k0LoYjiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlkziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LllDiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LllTiAEeKDAMEjnOLmPA" name="Connector17">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlljiAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmVjiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LllziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlmDiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlmTiAEeKDAMEjnOLmPA" partWithPort="_k0LlFziAEeKDAMEjnOLmPA" role="_k0LoYDiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlmjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlmziAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlnDiAEeKDAMEjnOLmPA" name="Connector18">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlnTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LngjiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlnjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlnziAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LloDiAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmUziAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LloTiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlojiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LloziAEeKDAMEjnOLmPA" name="Connector19">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlpDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnfjiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlpTiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlpjiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlpziAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmUjiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlqDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlqTiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlqjiAEeKDAMEjnOLmPA" name="Connector20">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlqziAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4DiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlrDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlrTiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlrjiAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmVDiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlrziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlsDiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlsTiAEeKDAMEjnOLmPA" name="Connector21">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlsjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3ziAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlsziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LltDiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LltTiAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmVTiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LltjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LltziAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LluDiAEeKDAMEjnOLmPA" name="Connector22">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LluTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4jiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlujiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LluziAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlvDiAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmUTiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlvTiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlvjiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlvziAEeKDAMEjnOLmPA" name="Connector23">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlwDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4TiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlwTiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlwjiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlwziAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmVziAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlxDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlxTiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlxjiAEeKDAMEjnOLmPA" name="Connector24">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlxziAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3ziAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlyDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlyTiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlyjiAEeKDAMEjnOLmPA" partWithPort="_k0LlHDiAEeKDAMEjnOLmPA" role="_k0LmBziAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlyziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlzDiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlzTiAEeKDAMEjnOLmPA" name="Connector25">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlzjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnfjiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlzziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll0DiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll0TiAEeKDAMEjnOLmPA" partWithPort="_k0LlHDiAEeKDAMEjnOLmPA" role="_k0LmCDiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll0jiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll0ziAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ll1DiAEeKDAMEjnOLmPA" name="Connector26">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll1TiAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmVjiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll1jiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll1ziAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll2DiAEeKDAMEjnOLmPA" partWithPort="_k0LlHDiAEeKDAMEjnOLmPA" role="_k0LmBjiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll2TiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll2jiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ll2ziAEeKDAMEjnOLmPA" name="Connector27">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll3DiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3ziAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll3TiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll3jiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll3ziAEeKDAMEjnOLmPA" partWithPort="_k0LlFTiAEeKDAMEjnOLmPA" role="_k0LoGTiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll4DiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll4TiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ll4jiAEeKDAMEjnOLmPA" name="Connector28">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll4ziAEeKDAMEjnOLmPA" partWithPort="_k0LlHDiAEeKDAMEjnOLmPA" role="_k0LmCTiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll5DiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll5TiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll5jiAEeKDAMEjnOLmPA" partWithPort="_k0LlFTiAEeKDAMEjnOLmPA" role="_k0LoIjiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll5ziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll6DiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ll6TiAEeKDAMEjnOLmPA" name="Connector29">
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll6jiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnlTiAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll6ziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll7DiAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll7TiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4ziAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll7jiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll7ziAEeKDAMEjnOLmPA" value="1"/>
-        </end>
-      </ownedConnector>
-    </packagedElement>
-    <packagedElement xmi:type="uml:Package" xmi:id="_k0Ll8DiAEeKDAMEjnOLmPA" name="P5_Semantic"/>
-    <packagedElement xmi:type="uml:Package" xmi:id="_k0Ll8TiAEeKDAMEjnOLmPA" name="P4_Global">
-      <packagedElement xmi:type="uml:Class" xmi:id="_k0Ll8jiAEeKDAMEjnOLmPA" name="Global_Map">
-        <ownedComment xmi:type="uml:Comment" xmi:id="_k0Ll8ziAEeKDAMEjnOLmPA" annotatedElement="_k0Ll8jiAEeKDAMEjnOLmPA">
-          <body>This module buid the absolute bitmap map (glob_map) of the scene, using the local map (loc-map).&#xD;
-the origine is the entry zone of the robot.</body>
-        </ownedComment>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Ll9DiAEeKDAMEjnOLmPA" name="glob_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll9TiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll9jiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Ll9ziAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Ll-DiAEeKDAMEjnOLmPA" name="loc_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll-TiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll-jiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Ll-ziAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Ll_DiAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll_TiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll_jiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Ll_ziAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmADiAEeKDAMEjnOLmPA" name="gps" visibility="public" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmATiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmAjiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmAziAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Class" xmi:id="_k0LmBDiAEeKDAMEjnOLmPA" name="P4_Global">
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LmBTiAEeKDAMEjnOLmPA" name="global_Map" type="_k0Ll8jiAEeKDAMEjnOLmPA"/>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmBjiAEeKDAMEjnOLmPA" name="loc_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmBziAEeKDAMEjnOLmPA" name="position" type="_k0Lj9jiAEeKDAMEjnOLmPA" aggregation="composite"/>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmCDiAEeKDAMEjnOLmPA" name="gps" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmCTiAEeKDAMEjnOLmPA" name="glob_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmCjiAEeKDAMEjnOLmPA" name="Connector1">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmCziAEeKDAMEjnOLmPA" role="_k0LmBjiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmDDiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmDTiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmDjiAEeKDAMEjnOLmPA" partWithPort="_k0LmBTiAEeKDAMEjnOLmPA" role="_k0Ll-DiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmDziAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmEDiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmETiAEeKDAMEjnOLmPA" name="Connector2">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmEjiAEeKDAMEjnOLmPA" role="_k0LmBziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmEziAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmFDiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmFTiAEeKDAMEjnOLmPA" partWithPort="_k0LmBTiAEeKDAMEjnOLmPA" role="_k0Ll_DiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmFjiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmFziAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmGDiAEeKDAMEjnOLmPA" name="Connector3">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmGTiAEeKDAMEjnOLmPA" role="_k0LmCDiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmGjiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmGziAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmHDiAEeKDAMEjnOLmPA" partWithPort="_k0LmBTiAEeKDAMEjnOLmPA" role="_k0LmADiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmHTiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmHjiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmHziAEeKDAMEjnOLmPA" name="Connector4">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmIDiAEeKDAMEjnOLmPA" partWithPort="_k0LmBTiAEeKDAMEjnOLmPA" role="_k0Ll9DiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmITiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmIjiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmIziAEeKDAMEjnOLmPA" role="_k0LmCTiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmJDiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmJTiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-      </packagedElement>
-    </packagedElement>
-    <packagedElement xmi:type="uml:Package" xmi:id="_k0LmJjiAEeKDAMEjnOLmPA" name="P3_Local">
-      <packagedElement xmi:type="uml:Class" xmi:id="_k0LmJziAEeKDAMEjnOLmPA" name="Local_Map">
-        <ownedComment xmi:type="uml:Comment" xmi:id="_k0LmKDiAEeKDAMEjnOLmPA" annotatedElement="_k0LmJziAEeKDAMEjnOLmPA">
-          <body>The Local Map module Build a Relative Cartesian 2D bitmap Map (loc_map) &#xD;
-The frame is centered on the robot (x &lt;=> forward).&#xD;
-it use proxi_map and all proprio and exteroceptive datas giving him the relative displacement.&#xD;
-This map have a MEMORY : the obstacles are placed and 'follow' the motion of the robot, either they are not directly seen by the robot.&#xD;
-It place also all the amer on it map.</body>
-        </ownedComment>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmKTiAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmKjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmKziAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmLDiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmLTiAEeKDAMEjnOLmPA" name="velocity" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmLjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmLziAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmMDiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmMTiAEeKDAMEjnOLmPA" name="accel_girat" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmMjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmMziAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmNDiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmNTiAEeKDAMEjnOLmPA" name="loc_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmNjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmNziAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmODiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmOTiAEeKDAMEjnOLmPA" name="gps" visibility="public" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmOjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmOziAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmPDiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmPTiAEeKDAMEjnOLmPA" name="proxi_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmPjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmPziAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmQDiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmQTiAEeKDAMEjnOLmPA" name="amer" visibility="public" type="_k0Lj6DiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmQjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmQziAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmRDiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Class" xmi:id="_k0LmRTiAEeKDAMEjnOLmPA" name="Amer_Loc">
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmRjiAEeKDAMEjnOLmPA" name="amer_relative" visibility="public" type="_k0Lk7DiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmRziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmSDiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmSTiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmSjiAEeKDAMEjnOLmPA" name="amer" visibility="public" type="_k0Lj6DiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmSziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmTDiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmTTiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Class" xmi:id="_k0LmTjiAEeKDAMEjnOLmPA" name="P3_Local">
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LmTziAEeKDAMEjnOLmPA" name="amer_Loc" type="_k0LmRTiAEeKDAMEjnOLmPA"/>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LmUDiAEeKDAMEjnOLmPA" name="local_Map" type="_k0LmJziAEeKDAMEjnOLmPA"/>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmUTiAEeKDAMEjnOLmPA" name="proxi_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmUjiAEeKDAMEjnOLmPA" name="gps" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmUziAEeKDAMEjnOLmPA" name="accel_girat" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmVDiAEeKDAMEjnOLmPA" name="velocity" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmVTiAEeKDAMEjnOLmPA" name="position" type="_k0Lj9jiAEeKDAMEjnOLmPA" aggregation="composite"/>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmVjiAEeKDAMEjnOLmPA" name="loc_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmVziAEeKDAMEjnOLmPA" name="amer_relative" type="_k0Lk7DiAEeKDAMEjnOLmPA" aggregation="composite"/>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmWDiAEeKDAMEjnOLmPA" name="Connector1">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmWTiAEeKDAMEjnOLmPA" partWithPort="_k0LmTziAEeKDAMEjnOLmPA" role="_k0LmSjiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmWjiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmWziAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmXDiAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmQTiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmXTiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmXjiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmXziAEeKDAMEjnOLmPA" name="Connector2">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmYDiAEeKDAMEjnOLmPA" role="_k0LmUTiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmYTiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmYjiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmYziAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmPTiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmZDiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmZTiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmZjiAEeKDAMEjnOLmPA" name="Connector3">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmZziAEeKDAMEjnOLmPA" role="_k0LmVTiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmaDiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmaTiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmajiAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmKTiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmaziAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmbDiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmbTiAEeKDAMEjnOLmPA" name="Connector4">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmbjiAEeKDAMEjnOLmPA" role="_k0LmVDiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmbziAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmcDiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmcTiAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmLTiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmcjiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmcziAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmdDiAEeKDAMEjnOLmPA" name="Connector5">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmdTiAEeKDAMEjnOLmPA" role="_k0LmUziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmdjiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmdziAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmeDiAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmMTiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmeTiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmejiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmeziAEeKDAMEjnOLmPA" name="Connector6">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmfDiAEeKDAMEjnOLmPA" role="_k0LmUjiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmfTiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmfjiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmfziAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmOTiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmgDiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmgTiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmgjiAEeKDAMEjnOLmPA" name="Connector7">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmgziAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmNTiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmhDiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmhTiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmhjiAEeKDAMEjnOLmPA" role="_k0LmVjiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmhziAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmiDiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmiTiAEeKDAMEjnOLmPA" name="Connector8">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmijiAEeKDAMEjnOLmPA" role="_k0LmVziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmiziAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmjDiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmjTiAEeKDAMEjnOLmPA" partWithPort="_k0LmTziAEeKDAMEjnOLmPA" role="_k0LmRjiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmjjiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmjziAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-      </packagedElement>
-    </packagedElement>
-    <packagedElement xmi:type="uml:Package" xmi:id="_k0LmkDiAEeKDAMEjnOLmPA" name="P2_Proxymetry">
-      <packagedElement xmi:type="uml:Class" xmi:id="_k0LmkTiAEeKDAMEjnOLmPA" name="Super_DKM">
-        <ownedComment xmi:type="uml:Comment" xmi:id="_k0LmkjiAEeKDAMEjnOLmPA" annotatedElement="_k0LmkTiAEeKDAMEjnOLmPA">
-          <body>Modele Cinematique Direct (MCD) - Direct Kinematics Model (DKM)&#xD;
-Transformation from articular space (left and right wheels speed) to operational space (cartesian velocity)&#xD;
-we call it &quot;Super&quot;-DKM because we not only use odometry speed, but also IMU and GPS inputs, and we output also cartesian position</body>
-        </ownedComment>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmkziAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmlDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmlTiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmljiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmlziAEeKDAMEjnOLmPA" name="velocity" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmmDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmmTiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmmjiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmmziAEeKDAMEjnOLmPA" name="velocity_angular_left_right" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUnSN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmnDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmnTiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmnjiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmnziAEeKDAMEjnOLmPA" name="odometer_linear_left_right" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUlCN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmoDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmoTiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmojiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmoziAEeKDAMEjnOLmPA" name="gps" visibility="public" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmpDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmpTiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmpjiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmpziAEeKDAMEjnOLmPA" name="accel_girat" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmqDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmqTiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmqjiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LmqziAEeKDAMEjnOLmPA" name="attribute" type="_k0LlCziAEeKDAMEjnOLmPA">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmrDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmrTiAEeKDAMEjnOLmPA" value="1"/>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Class" xmi:id="_k0LmrjiAEeKDAMEjnOLmPA" name="Proximetric_Map">
-        <ownedComment xmi:type="uml:Comment" xmi:id="_k0LmrziAEeKDAMEjnOLmPA" annotatedElement="_k0LmrjiAEeKDAMEjnOLmPA">
-          <body>Proximetric Map is a bitmap map, but in polar coordinate.&#xD;
-the polar 2D frame is linked to the robot (so relative). Origine x forward the robot, angle with trigonometric way/notation (unclocwise)&#xD;
-this Polar bitmap map is digitalized in Nrange cell from 0 to MaxRange, and in Nangle, from 0 to 2Pi.&#xD;
-Only measures from sensors are directly print on this map : no memory !</body>
-        </ownedComment>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmsDiAEeKDAMEjnOLmPA" name="proxi_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmsTiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmsjiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmsziAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmtDiAEeKDAMEjnOLmPA" name="laser_scan" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_zdwdIAKsEeCQReIOIWJ0nA"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmtTiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmtjiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmtziAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmuDiAEeKDAMEjnOLmPA" name="proxy_left_right" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUgSN8EeKwed7FEEF-4Q"/>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Class" xmi:id="_k0LmuTiAEeKDAMEjnOLmPA" name="Amer_Identif">
-        <ownedComment xmi:type="uml:Comment" xmi:id="_k0LmujiAEeKDAMEjnOLmPA" annotatedElement="_k0LmuTiAEeKDAMEjnOLmPA">
-          <body>This Module is able to find a amer in a image, and, using the CameraInfo of the cam, give a position of it, relatively from the robot. it delivers also the shape of the amer, and it color.</body>
-        </ownedComment>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmuziAEeKDAMEjnOLmPA" name="video" visibility="public" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmvDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmvTiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmvjiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmvziAEeKDAMEjnOLmPA" name="amer_relative" visibility="public" type="_k0Lk7DiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmwDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmwTiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmwjiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmwziAEeKDAMEjnOLmPA" name="calibrate" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_5d_eEAKoEeCQReIOIWJ0nA"/>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Class" xmi:id="_k0LmxDiAEeKDAMEjnOLmPA" name="P2_Proximetry">
-        <ownedComment xmi:type="uml:Comment" xmi:id="_k0LmxTiAEeKDAMEjnOLmPA" annotatedElement="_k0LmxDiAEeKDAMEjnOLmPA">
-          <body></body>
-        </ownedComment>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmxjiAEeKDAMEjnOLmPA" name="velocity_angular_left_right" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUnSN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmxziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmyDiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmyTiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmyjiAEeKDAMEjnOLmPA" name="odometer_linear_left_right" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUlCN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmyziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmzDiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmzTiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmzjiAEeKDAMEjnOLmPA" name="gps" visibility="public" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmzziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm0DiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lm0TiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm0jiAEeKDAMEjnOLmPA" name="accel_girat" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm0ziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm1DiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lm1TiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm1jiAEeKDAMEjnOLmPA" name="laser_scan" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_zdwdIAKsEeCQReIOIWJ0nA"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm1ziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm2DiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lm2TiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lm2jiAEeKDAMEjnOLmPA" name="superDKM" type="_k0LmkTiAEeKDAMEjnOLmPA"/>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lm2ziAEeKDAMEjnOLmPA" name="proximetric_Map" type="_k0LmrjiAEeKDAMEjnOLmPA"/>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lm3DiAEeKDAMEjnOLmPA" name="amer_Identif" type="_k0LmuTiAEeKDAMEjnOLmPA"/>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm3TiAEeKDAMEjnOLmPA" name="video" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm3jiAEeKDAMEjnOLmPA" name="calibrate" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_5d_eEAKoEeCQReIOIWJ0nA"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm3ziAEeKDAMEjnOLmPA" name="position" type="_k0Lj9jiAEeKDAMEjnOLmPA" aggregation="composite"/>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm4DiAEeKDAMEjnOLmPA" name="velocity" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm4TiAEeKDAMEjnOLmPA" name="amer_Relative" type="_k0Lk7DiAEeKDAMEjnOLmPA" aggregation="composite"/>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm4jiAEeKDAMEjnOLmPA" name="proxi_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm4ziAEeKDAMEjnOLmPA" name="proxy_left_right" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUgSN8EeKwed7FEEF-4Q"/>
-        </ownedAttribute>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lm5DiAEeKDAMEjnOLmPA" name="Connector1">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm5TiAEeKDAMEjnOLmPA" role="_k0Lm1jiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm5jiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm5ziAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm6DiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2ziAEeKDAMEjnOLmPA" role="_k0LmtDiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm6TiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm6jiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lm6ziAEeKDAMEjnOLmPA" name="Connector2">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm7DiAEeKDAMEjnOLmPA" role="_k0Lm0jiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm7TiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm7jiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm7ziAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmpziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm8DiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm8TiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lm8jiAEeKDAMEjnOLmPA" name="Connector3">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm8ziAEeKDAMEjnOLmPA" role="_k0LmzjiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm9DiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm9TiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm9jiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmoziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm9ziAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm-DiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lm-TiAEeKDAMEjnOLmPA" name="Connector4">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm-jiAEeKDAMEjnOLmPA" role="_k0LmyjiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm-ziAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm_DiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm_TiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmnziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm_jiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm_ziAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnADiAEeKDAMEjnOLmPA" name="Connector5">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnATiAEeKDAMEjnOLmPA" role="_k0LmxjiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnAjiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnAziAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnBDiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmmziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnBTiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnBjiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnBziAEeKDAMEjnOLmPA" name="Connector6">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnCDiAEeKDAMEjnOLmPA" role="_k0Lm3TiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnCTiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnCjiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnCziAEeKDAMEjnOLmPA" partWithPort="_k0Lm3DiAEeKDAMEjnOLmPA" role="_k0LmuziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnDDiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnDTiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnDjiAEeKDAMEjnOLmPA" name="Connector7">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnDziAEeKDAMEjnOLmPA" role="_k0Lm3jiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnEDiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnETiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnEjiAEeKDAMEjnOLmPA" partWithPort="_k0Lm3DiAEeKDAMEjnOLmPA" role="_k0LmwziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnEziAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnFDiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnFTiAEeKDAMEjnOLmPA" name="Connector8">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnFjiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmkziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnFziAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnGDiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnGTiAEeKDAMEjnOLmPA" role="_k0Lm3ziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnGjiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnGziAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnHDiAEeKDAMEjnOLmPA" name="Connector9">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnHTiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmlziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnHjiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnHziAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnIDiAEeKDAMEjnOLmPA" role="_k0Lm4DiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnITiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnIjiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnIziAEeKDAMEjnOLmPA" name="Connector10">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnJDiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2ziAEeKDAMEjnOLmPA" role="_k0LmsDiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnJTiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnJjiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnJziAEeKDAMEjnOLmPA" role="_k0Lm4jiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnKDiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnKTiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnKjiAEeKDAMEjnOLmPA" name="Connector11">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnKziAEeKDAMEjnOLmPA" partWithPort="_k0Lm3DiAEeKDAMEjnOLmPA" role="_k0LmvziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnLDiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnLTiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnLjiAEeKDAMEjnOLmPA" role="_k0Lm4TiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnLziAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnMDiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnMTiAEeKDAMEjnOLmPA" name="Connector12">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnMjiAEeKDAMEjnOLmPA" role="_k0Lm4ziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnMziAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnNDiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnNTiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2ziAEeKDAMEjnOLmPA" role="_k0LmuDiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnNjiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnNziAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-      </packagedElement>
-    </packagedElement>
-    <packagedElement xmi:type="uml:Package" xmi:id="_k0LnODiAEeKDAMEjnOLmPA" name="P1_Sensors">
-      <packagedElement xmi:type="uml:Class" xmi:id="_k0LnOTiAEeKDAMEjnOLmPA" name="WifiBot_Frame_Out">
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnOjiAEeKDAMEjnOLmPA" name="velocity_tics_left_right" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUZSN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnOziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnPDiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnPTiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnPjiAEeKDAMEjnOLmPA" name="odometer_tics_left_right" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUeCN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnPziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnQDiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnQTiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnQjiAEeKDAMEjnOLmPA" name="proxi_left_right" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUgSN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnQziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnRDiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnRTiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnRjiAEeKDAMEjnOLmPA" name="batt_level" visibility="public" type="_k0LkvDiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnRziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnSDiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnSTiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnSjiAEeKDAMEjnOLmPA" name="current_level" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUjyN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnSziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnTDiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnTTiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Class" xmi:id="_k0LnTjiAEeKDAMEjnOLmPA" name="Odometer">
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnTziAEeKDAMEjnOLmPA" name="velocity_tics_left_right" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUZSN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnUDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnUTiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnUjiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnUziAEeKDAMEjnOLmPA" name="odometer_tics_left_right" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUeCN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnVDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnVTiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnVjiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnVziAEeKDAMEjnOLmPA" name="velocity_angular_left_right" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUnSN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnWDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnWTiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnWjiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnWziAEeKDAMEjnOLmPA" name="odometer_linear_left_right" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUlCN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnXDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnXTiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnXjiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Class" xmi:id="_k0LnXziAEeKDAMEjnOLmPA" name="GPS_Haicom204">
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnYDiAEeKDAMEjnOLmPA" name="gps" visibility="public" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnYTiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnYjiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnYziAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Class" xmi:id="_k0LnZDiAEeKDAMEjnOLmPA" name="IMU_VectorNav100">
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnZTiAEeKDAMEjnOLmPA" name="accel_girat" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnZjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnZziAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnaDiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Class" xmi:id="_k0LnaTiAEeKDAMEjnOLmPA" name="LaserRange_Hokuyo30">
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnajiAEeKDAMEjnOLmPA" name="laser_scan" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_zdwdIAKsEeCQReIOIWJ0nA"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnaziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnbDiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnbTiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnbjiAEeKDAMEjnOLmPA" name="status" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qG6UsAILEeC_ZLzLQhW-TQ"/>
-        </ownedAttribute>
-        <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_KxjZAHBmEeKpO-l0NGAU9Q" name="OpaqueBehavior1"/>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Class" xmi:id="_k0LnbziAEeKDAMEjnOLmPA" name="Camera_FireWire">
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LncDiAEeKDAMEjnOLmPA" name="video" visibility="public" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LncTiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LncjiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LncziAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LndDiAEeKDAMEjnOLmPA" name="calibrate" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_5d_eEAKoEeCQReIOIWJ0nA"/>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Class" xmi:id="_k0LndTiAEeKDAMEjnOLmPA" name="P1_Sensors">
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LndjiAEeKDAMEjnOLmPA" name="velocity_angular_left_right" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUnSN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LndziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LneDiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LneTiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnejiAEeKDAMEjnOLmPA" name="odometer_linear_left_right" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUlCN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LneziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnfDiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnfTiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnfjiAEeKDAMEjnOLmPA" name="gps" visibility="public" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnfziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LngDiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LngTiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LngjiAEeKDAMEjnOLmPA" name="accel_girat" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LngziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnhDiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnhTiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnhjiAEeKDAMEjnOLmPA" name="laser_scan" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_zdwdIAKsEeCQReIOIWJ0nA"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnhziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LniDiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LniTiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LnijiAEeKDAMEjnOLmPA" name="wifibot_Frame_Out" type="_k0LnOTiAEeKDAMEjnOLmPA"/>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LniziAEeKDAMEjnOLmPA" name="GPS" type="_k0LnXziAEeKDAMEjnOLmPA"/>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LnjDiAEeKDAMEjnOLmPA" name="Odometer" type="_k0LnTjiAEeKDAMEjnOLmPA"/>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LnjTiAEeKDAMEjnOLmPA" name="IMU" type="_k0LnZDiAEeKDAMEjnOLmPA"/>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LnjjiAEeKDAMEjnOLmPA" name="LaserRange" type="_k0LnaTiAEeKDAMEjnOLmPA"/>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LnjziAEeKDAMEjnOLmPA" name="camera_FireWire" type="_k0LnbziAEeKDAMEjnOLmPA"/>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnkDiAEeKDAMEjnOLmPA" name="calibrate" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_5d_eEAKoEeCQReIOIWJ0nA"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnkTiAEeKDAMEjnOLmPA" name="video" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnkjiAEeKDAMEjnOLmPA" name="status" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qG6UsAILEeC_ZLzLQhW-TQ"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnkziAEeKDAMEjnOLmPA" name="batt_level" type="_k0LkvDiAEeKDAMEjnOLmPA" aggregation="composite"/>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnlDiAEeKDAMEjnOLmPA" name="current_level" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUjyN8EeKwed7FEEF-4Q"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnlTiAEeKDAMEjnOLmPA" name="proxi_Left_Right" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUgSN8EeKwed7FEEF-4Q"/>
-        </ownedAttribute>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnljiAEeKDAMEjnOLmPA" name="Connector1">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnlziAEeKDAMEjnOLmPA" partWithPort="_k0LnjDiAEeKDAMEjnOLmPA" role="_k0LnWziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnmDiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnmTiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnmjiAEeKDAMEjnOLmPA" role="_k0LnejiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnmziAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnnDiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnnTiAEeKDAMEjnOLmPA" name="Connector2">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnnjiAEeKDAMEjnOLmPA" partWithPort="_k0LnjDiAEeKDAMEjnOLmPA" role="_k0LnVziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnnziAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnoDiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnoTiAEeKDAMEjnOLmPA" role="_k0LndjiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnojiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnoziAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnpDiAEeKDAMEjnOLmPA" name="Connector3">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnpTiAEeKDAMEjnOLmPA" partWithPort="_k0LniziAEeKDAMEjnOLmPA" role="_k0LnYDiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnpjiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnpziAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnqDiAEeKDAMEjnOLmPA" role="_k0LnfjiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnqTiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnqjiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnqziAEeKDAMEjnOLmPA" name="Connector4">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnrDiAEeKDAMEjnOLmPA" partWithPort="_k0LnjjiAEeKDAMEjnOLmPA" role="_k0LnajiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnrTiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnrjiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnrziAEeKDAMEjnOLmPA" role="_k0LnhjiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnsDiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnsTiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnsjiAEeKDAMEjnOLmPA" name="Connector5">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnsziAEeKDAMEjnOLmPA" partWithPort="_k0LnjziAEeKDAMEjnOLmPA" role="_k0LndDiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LntDiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LntTiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LntjiAEeKDAMEjnOLmPA" role="_k0LnkDiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LntziAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnuDiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnuTiAEeKDAMEjnOLmPA" name="Connector6">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnujiAEeKDAMEjnOLmPA" partWithPort="_k0LnjziAEeKDAMEjnOLmPA" role="_k0LncDiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnuziAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnvDiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnvTiAEeKDAMEjnOLmPA" role="_k0LnkTiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnvjiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnvziAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnwDiAEeKDAMEjnOLmPA" name="Connector7">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnwTiAEeKDAMEjnOLmPA" partWithPort="_k0LnjTiAEeKDAMEjnOLmPA" role="_k0LnZTiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnwjiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnwziAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnxDiAEeKDAMEjnOLmPA" role="_k0LngjiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnxTiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnxjiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnxziAEeKDAMEjnOLmPA" name="Connector8">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnyDiAEeKDAMEjnOLmPA" partWithPort="_k0LnjjiAEeKDAMEjnOLmPA" role="_k0LnbjiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnyTiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnyjiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnyziAEeKDAMEjnOLmPA" role="_k0LnkjiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnzDiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnzTiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnzjiAEeKDAMEjnOLmPA" name="Connector9">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnzziAEeKDAMEjnOLmPA" partWithPort="_k0LnijiAEeKDAMEjnOLmPA" role="_k0LnPjiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln0DiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln0TiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln0jiAEeKDAMEjnOLmPA" partWithPort="_k0LnjDiAEeKDAMEjnOLmPA" role="_k0LnUziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln0ziAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln1DiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ln1TiAEeKDAMEjnOLmPA" name="Connector10">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln1jiAEeKDAMEjnOLmPA" partWithPort="_k0LnijiAEeKDAMEjnOLmPA" role="_k0LnOjiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln1ziAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln2DiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln2TiAEeKDAMEjnOLmPA" partWithPort="_k0LnjDiAEeKDAMEjnOLmPA" role="_k0LnTziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln2jiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln2ziAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ln3DiAEeKDAMEjnOLmPA" name="Connector11">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln3TiAEeKDAMEjnOLmPA" partWithPort="_k0LnijiAEeKDAMEjnOLmPA" role="_k0LnQjiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln3jiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln3ziAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln4DiAEeKDAMEjnOLmPA" role="_k0LnlTiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln4TiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln4jiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ln4ziAEeKDAMEjnOLmPA" name="Connector12">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln5DiAEeKDAMEjnOLmPA" partWithPort="_k0LnijiAEeKDAMEjnOLmPA" role="_k0LnSjiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln5TiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln5jiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln5ziAEeKDAMEjnOLmPA" role="_k0LnlDiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln6DiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln6TiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ln6jiAEeKDAMEjnOLmPA" name="Connector13">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln6ziAEeKDAMEjnOLmPA" partWithPort="_k0LnijiAEeKDAMEjnOLmPA" role="_k0LnRjiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln7DiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln7TiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln7jiAEeKDAMEjnOLmPA" role="_k0LnkziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln7ziAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln8DiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-      </packagedElement>
-    </packagedElement>
-    <packagedElement xmi:type="uml:Package" xmi:id="_k0Ln8TiAEeKDAMEjnOLmPA" name="A5_MissionGenerator">
-      <packagedElement xmi:type="uml:Class" xmi:id="_k0Ln8jiAEeKDAMEjnOLmPA" name="Mission">
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Ln8ziAEeKDAMEjnOLmPA" name="goal" visibility="public" type="_k0Lj4ziAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln9DiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln9TiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Ln9jiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Class" xmi:id="_k0Ln9ziAEeKDAMEjnOLmPA" name="A5_MissionGenerator">
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Ln-DiAEeKDAMEjnOLmPA" name="goal" visibility="public" type="_k0Lj4ziAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln-TiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln-jiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Ln-ziAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Ln_DiAEeKDAMEjnOLmPA" name="mission" type="_k0Ln8jiAEeKDAMEjnOLmPA"/>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ln_TiAEeKDAMEjnOLmPA" name="Connector0">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln_jiAEeKDAMEjnOLmPA" partWithPort="_k0Ln_DiAEeKDAMEjnOLmPA" role="_k0Ln8ziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln_ziAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoADiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoATiAEeKDAMEjnOLmPA" role="_k0Ln-DiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoAjiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoAziAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-      </packagedElement>
-    </packagedElement>
-    <packagedElement xmi:type="uml:Package" xmi:id="_k0LoBDiAEeKDAMEjnOLmPA" name="A4_PathPlanner">
-      <packagedElement xmi:type="uml:Class" xmi:id="_k0LoBTiAEeKDAMEjnOLmPA" name="Path_Planner">
-        <ownedComment xmi:type="uml:Comment" xmi:id="_k0LoBjiAEeKDAMEjnOLmPA" annotatedElement="_k0LoBTiAEeKDAMEjnOLmPA">
-          <body>this module deliver the path (waypoints) for the navigator. it use the global map to calculate these waypoints, taking into account the mission to do.</body>
-        </ownedComment>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoBziAEeKDAMEjnOLmPA" name="goal" visibility="public" type="_k0Lj4ziAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoCDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoCTiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoCjiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoCziAEeKDAMEjnOLmPA" name="path" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_p3vEcAK0EeCsG_V0R865wA"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoDDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoDTiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoDjiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoDziAEeKDAMEjnOLmPA" name="glob_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoEDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoETiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoEjiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoEziAEeKDAMEjnOLmPA" name="position" type="_k0Lj9jiAEeKDAMEjnOLmPA" aggregation="composite"/>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Class" xmi:id="_k0LoFDiAEeKDAMEjnOLmPA" name="A4_PathPlanner">
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoFTiAEeKDAMEjnOLmPA" name="path" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_p3vEcAK0EeCsG_V0R865wA"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoFjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoFziAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoGDiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoGTiAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoGjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoGziAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoHDiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoHTiAEeKDAMEjnOLmPA" name="goal" visibility="public" type="_k0Lj4ziAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoHjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoHziAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoIDiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LoITiAEeKDAMEjnOLmPA" name="path_Planner" type="_k0LoBTiAEeKDAMEjnOLmPA"/>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoIjiAEeKDAMEjnOLmPA" name="glob_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoIziAEeKDAMEjnOLmPA" name="Connector0">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoJDiAEeKDAMEjnOLmPA" role="_k0LoHTiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoJTiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoJjiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoJziAEeKDAMEjnOLmPA" partWithPort="_k0LoITiAEeKDAMEjnOLmPA" role="_k0LoBziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoKDiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoKTiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoKjiAEeKDAMEjnOLmPA" name="Connector1">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoKziAEeKDAMEjnOLmPA" partWithPort="_k0LoITiAEeKDAMEjnOLmPA" role="_k0LoCziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoLDiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoLTiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoLjiAEeKDAMEjnOLmPA" role="_k0LoFTiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoLziAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoMDiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoMTiAEeKDAMEjnOLmPA" name="Connector2">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoMjiAEeKDAMEjnOLmPA" role="_k0LoIjiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoMziAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoNDiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoNTiAEeKDAMEjnOLmPA" partWithPort="_k0LoITiAEeKDAMEjnOLmPA" role="_k0LoDziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoNjiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoNziAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoODiAEeKDAMEjnOLmPA" name="Connector3">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoOTiAEeKDAMEjnOLmPA" role="_k0LoGTiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoOjiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoOziAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoPDiAEeKDAMEjnOLmPA" partWithPort="_k0LoITiAEeKDAMEjnOLmPA" role="_k0LoEziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoPTiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoPjiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-      </packagedElement>
-    </packagedElement>
-    <packagedElement xmi:type="uml:Package" xmi:id="_k0LoPziAEeKDAMEjnOLmPA" name="A3_Navigator">
-      <packagedElement xmi:type="uml:Class" xmi:id="_k0LoQDiAEeKDAMEjnOLmPA" name="Navigator">
-        <ownedComment xmi:type="uml:Comment" xmi:id="_k0LoQTiAEeKDAMEjnOLmPA" annotatedElement="_k0LoQDiAEeKDAMEjnOLmPA">
-          <body>Navigator deliver local trajectory for the pilot, taking into account local map.&#xD;
-It must reach the various waypoints, considering the obstacles placed in the local map (loc_map)</body>
-        </ownedComment>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoQjiAEeKDAMEjnOLmPA" name="path" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_p3vEcAK0EeCsG_V0R865wA"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoQziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoRDiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoRTiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoRjiAEeKDAMEjnOLmPA" name="trajectory" visibility="public" type="_k0LkLDiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoRziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoSDiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoSTiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoSjiAEeKDAMEjnOLmPA" name="loc_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoSziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoTDiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoTTiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoTjiAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoTziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoUDiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoUTiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoUjiAEeKDAMEjnOLmPA" name="velocity" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoUziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoVDiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoVTiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Class" xmi:id="_k0LoVjiAEeKDAMEjnOLmPA" name="A3_Navigator">
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoVziAEeKDAMEjnOLmPA" name="path" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_p3vEcAK0EeCsG_V0R865wA"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoWDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoWTiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoWjiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoWziAEeKDAMEjnOLmPA" name="trajectory" visibility="public" type="_k0LkLDiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoXDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoXTiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoXjiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LoXziAEeKDAMEjnOLmPA" name="navigator" type="_k0LoQDiAEeKDAMEjnOLmPA"/>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoYDiAEeKDAMEjnOLmPA" name="loc_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoYTiAEeKDAMEjnOLmPA" name="position" type="_k0Lj9jiAEeKDAMEjnOLmPA" aggregation="composite"/>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoYjiAEeKDAMEjnOLmPA" name="velocity" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
-        </ownedAttribute>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoYziAEeKDAMEjnOLmPA" name="Connector1">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoZDiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoRjiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoZTiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoZjiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoZziAEeKDAMEjnOLmPA" role="_k0LoWziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoaDiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoaTiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoajiAEeKDAMEjnOLmPA" name="Connector2">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoaziAEeKDAMEjnOLmPA" role="_k0LoVziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LobDiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LobTiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LobjiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoQjiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LobziAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LocDiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LocTiAEeKDAMEjnOLmPA" name="Connector3">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LocjiAEeKDAMEjnOLmPA" role="_k0LoYDiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LocziAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LodDiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LodTiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoSjiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LodjiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LodziAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoeDiAEeKDAMEjnOLmPA" name="Connector4">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoeTiAEeKDAMEjnOLmPA" role="_k0LoYTiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoejiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoeziAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LofDiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoTjiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LofTiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LofjiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LofziAEeKDAMEjnOLmPA" name="Connector5">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LogDiAEeKDAMEjnOLmPA" role="_k0LoYjiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LogTiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LogjiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LogziAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoUjiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LohDiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LohTiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-      </packagedElement>
-    </packagedElement>
-    <packagedElement xmi:type="uml:Package" xmi:id="_k0LohjiAEeKDAMEjnOLmPA" name="A2_Pilot">
-      <packagedElement xmi:type="uml:Class" xmi:id="_k0LohziAEeKDAMEjnOLmPA" name="Pilot">
-        <ownedComment xmi:type="uml:Comment" xmi:id="_k0LoiDiAEeKDAMEjnOLmPA" annotatedElement="_k0LohziAEeKDAMEjnOLmPA">
-          <body>The pilot must calculate the set points in operating space, following the trajectory delivered by the navigator. &#xD;
-But the pilot must react to obstacles 'seen' in the proximetric map (prox_map), avoiding them.&#xD;
-</body>
-        </ownedComment>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoiTiAEeKDAMEjnOLmPA" name="trajectory" visibility="public" type="_k0LkLDiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoijiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoiziAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LojDiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LojTiAEeKDAMEjnOLmPA" name="prox_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LojjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LojziAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LokDiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LokTiAEeKDAMEjnOLmPA" name="op_set_point" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUVyN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LokjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LokziAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LolDiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LolTiAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoljiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LolziAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LomDiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LomTiAEeKDAMEjnOLmPA" name="velocity" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LomjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LomziAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LonDiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LonTiAEeKDAMEjnOLmPA" name="accel_girat" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LonjiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LonziAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LooDiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Class" xmi:id="_k0LooTiAEeKDAMEjnOLmPA" name="IKM">
-        <ownedComment xmi:type="uml:Comment" xmi:id="_k0LoojiAEeKDAMEjnOLmPA" annotatedElement="_k0LooTiAEeKDAMEjnOLmPA">
-          <body>Modele Cinématique Inverse (MCI) - Invert Kinematic Model (IKM)&#xD;
-transform the velocities from the operational space to the articular space (left and right wheels velocities)</body>
-        </ownedComment>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LooziAEeKDAMEjnOLmPA" name="art_set_point" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUDyN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LopDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LopTiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LopjiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LopziAEeKDAMEjnOLmPA" name="op_set_point" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUVyN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoqDiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoqTiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoqjiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Class" xmi:id="_k0LoqziAEeKDAMEjnOLmPA" name="A2_Pilot">
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LorDiAEeKDAMEjnOLmPA" name="trajectory" visibility="public" type="_k0LkLDiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LorTiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LorjiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LorziAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LosDiAEeKDAMEjnOLmPA" name="art_set_point" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUDyN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LosTiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LosjiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LosziAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LotDiAEeKDAMEjnOLmPA" name="Pilot" type="_k0LohziAEeKDAMEjnOLmPA"/>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LotTiAEeKDAMEjnOLmPA" name="IKM" type="_k0LooTiAEeKDAMEjnOLmPA"/>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LouDiAEeKDAMEjnOLmPA" name="velocity" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LouTiAEeKDAMEjnOLmPA" name="accel_girat" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
-        </ownedAttribute>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoujiAEeKDAMEjnOLmPA" name="Connector0">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LouziAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LokTiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LovDiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LovTiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LovjiAEeKDAMEjnOLmPA" partWithPort="_k0LotTiAEeKDAMEjnOLmPA" role="_k0LopziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LovziAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LowDiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LowTiAEeKDAMEjnOLmPA" name="Connector1">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LowjiAEeKDAMEjnOLmPA" role="_k0LorDiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LowziAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoxDiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoxTiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LoiTiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoxjiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoxziAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoyDiAEeKDAMEjnOLmPA" name="Connector2">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoyTiAEeKDAMEjnOLmPA" partWithPort="_k0LotTiAEeKDAMEjnOLmPA" role="_k0LooziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoyjiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoyziAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LozDiAEeKDAMEjnOLmPA" role="_k0LosDiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LozTiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LozjiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LozziAEeKDAMEjnOLmPA" name="Connector3">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo0DiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo0TiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo0jiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo0ziAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LojTiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo1DiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo1TiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lo1jiAEeKDAMEjnOLmPA" name="Connector4">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo1ziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo2DiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo2TiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo2jiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LolTiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo2ziAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo3DiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lo3TiAEeKDAMEjnOLmPA" name="Connector5">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo3jiAEeKDAMEjnOLmPA" role="_k0LouDiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo3ziAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo4DiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo4TiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LomTiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo4jiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo4ziAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lo5DiAEeKDAMEjnOLmPA" name="Connector6">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo5TiAEeKDAMEjnOLmPA" role="_k0LouTiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo5jiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo5ziAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo6DiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LonTiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo6TiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo6jiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-      </packagedElement>
-    </packagedElement>
-    <packagedElement xmi:type="uml:Package" xmi:id="_k0Lo6ziAEeKDAMEjnOLmPA" name="A1_Servoings">
-      <packagedElement xmi:type="uml:Class" xmi:id="_k0Lo7DiAEeKDAMEjnOLmPA" name="Servoings">
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lo7TiAEeKDAMEjnOLmPA" name="art_set_point" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUDyN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo7jiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo7ziAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lo8DiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lo8TiAEeKDAMEjnOLmPA" name="speed_tics_left_right" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUZSN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo8jiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo8ziAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lo9DiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Class" xmi:id="_k0Lo9TiAEeKDAMEjnOLmPA" name="WifiBot_Frame_In">
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lo9jiAEeKDAMEjnOLmPA" name="speed_tics_left_right" visibility="public" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUZSN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo9ziAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo-DiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lo-TiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-      </packagedElement>
-      <packagedElement xmi:type="uml:Class" xmi:id="_k0Lo-jiAEeKDAMEjnOLmPA" name="A1_Servoings">
-        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lo-ziAEeKDAMEjnOLmPA" name="art_set_point" visibility="private" isUnique="false" aggregation="composite">
-          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUDyN8EeKwed7FEEF-4Q"/>
-          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo_DiAEeKDAMEjnOLmPA" value="1"/>
-          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo_TiAEeKDAMEjnOLmPA" value="1"/>
-          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lo_jiAEeKDAMEjnOLmPA">
-            <value xsi:nil="true"/>
-          </defaultValue>
-        </ownedAttribute>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lo_ziAEeKDAMEjnOLmPA" name="Servoings" type="_k0Lo7DiAEeKDAMEjnOLmPA"/>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LpADiAEeKDAMEjnOLmPA" name="Frame_In" type="_k0Lo9TiAEeKDAMEjnOLmPA"/>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LpATiAEeKDAMEjnOLmPA" name="Connector1">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LpAjiAEeKDAMEjnOLmPA" partWithPort="_k0LpADiAEeKDAMEjnOLmPA" role="_k0Lo9jiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LpAziAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LpBDiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LpBTiAEeKDAMEjnOLmPA" partWithPort="_k0Lo_ziAEeKDAMEjnOLmPA" role="_k0Lo8TiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LpBjiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LpBziAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LpCDiAEeKDAMEjnOLmPA" name="Connector2">
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LpCTiAEeKDAMEjnOLmPA" role="_k0Lo-ziAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LpCjiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LpCziAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LpDDiAEeKDAMEjnOLmPA" partWithPort="_k0Lo_ziAEeKDAMEjnOLmPA" role="_k0Lo7TiAEeKDAMEjnOLmPA">
-            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LpDTiAEeKDAMEjnOLmPA" value="1"/>
-            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LpDjiAEeKDAMEjnOLmPA" value="1"/>
-          </end>
-        </ownedConnector>
-      </packagedElement>
-    </packagedElement>
-    <packagedElement xmi:type="uml:Package" xmi:id="_O0YV0DiuEeKFHpsdOC1X1Q" name="ExecutionPlatform">
-      <packagedElement xmi:type="uml:Class" xmi:id="_iBPzUDiuEeKFHpsdOC1X1Q" name="RTmaps"/>
-      <packagedElement xmi:type="uml:Class" xmi:id="_rlJygDiuEeKFHpsdOC1X1Q" name="Blender-Morse"/>
-      <packagedElement xmi:type="uml:Class" xmi:id="_HR8psDivEeKFHpsdOC1X1Q" name="Platform1">
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_QAl00DivEeKFHpsdOC1X1Q" name="RTmaps1" type="_iBPzUDiuEeKFHpsdOC1X1Q"/>
-        <ownedAttribute xmi:type="uml:Property" xmi:id="_yvakUDivEeKFHpsdOC1X1Q" name="Blender-Morse2" type="_rlJygDiuEeKFHpsdOC1X1Q"/>
-      </packagedElement>
-    </packagedElement>
-    <packagedElement xmi:type="uml:Package" xmi:id="_1c43MDivEeKFHpsdOC1X1Q" name="PlatformModel">
-      <packagedElement xmi:type="uml:Package" xmi:id="_1dVjIDivEeKFHpsdOC1X1Q" name="Platform1Platform">
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_1dVjITivEeKFHpsdOC1X1Q" name="RTmaps1" classifier="_iBPzUDiuEeKFHpsdOC1X1Q"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_1dVjIjivEeKFHpsdOC1X1Q" name="Blender-Morse2" classifier="_rlJygDiuEeKFHpsdOC1X1Q"/>
-      </packagedElement>
-    </packagedElement>
-    <packagedElement xmi:type="uml:Package" xmi:id="_Fs0CcDiwEeKFHpsdOC1X1Q" name="DeploymentPlans">
-      <packagedElement xmi:type="uml:Package" xmi:id="_Kta1kDiwEeKFHpsdOC1X1Q" name="WifibotDepPlan">
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KtkmkTiwEeKFHpsdOC1X1Q" name="mainInstance" classifier="_k0LlFDiAEeKDAMEjnOLmPA">
-          <slot xmi:type="uml:Slot" xmi:id="_KuUNcDiwEeKFHpsdOC1X1Q" definingFeature="_k0LlFTiAEeKDAMEjnOLmPA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_KuUNcTiwEeKFHpsdOC1X1Q" instance="_KttwgDiwEeKFHpsdOC1X1Q"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_KudXYTiwEeKFHpsdOC1X1Q" definingFeature="_k0LlFjiAEeKDAMEjnOLmPA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_KudXYjiwEeKFHpsdOC1X1Q" instance="_KuUNcjiwEeKFHpsdOC1X1Q"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_KunIYDiwEeKFHpsdOC1X1Q" definingFeature="_k0LlFziAEeKDAMEjnOLmPA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_KunIYTiwEeKFHpsdOC1X1Q" instance="_KudXYziwEeKFHpsdOC1X1Q"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_KunIaTiwEeKFHpsdOC1X1Q" definingFeature="_k0LlGDiAEeKDAMEjnOLmPA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_KunIajiwEeKFHpsdOC1X1Q" instance="_KunIYjiwEeKFHpsdOC1X1Q"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_KuwSVziwEeKFHpsdOC1X1Q" definingFeature="_k0LlGTiAEeKDAMEjnOLmPA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_KuwSWDiwEeKFHpsdOC1X1Q" instance="_KuwSUDiwEeKFHpsdOC1X1Q"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_KvD0UjiwEeKFHpsdOC1X1Q" definingFeature="_k0LlGjiAEeKDAMEjnOLmPA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_KvD0UziwEeKFHpsdOC1X1Q" instance="_KuwSWTiwEeKFHpsdOC1X1Q"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_KvD0XjiwEeKFHpsdOC1X1Q" definingFeature="_k0LlGziAEeKDAMEjnOLmPA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_KvD0XziwEeKFHpsdOC1X1Q" instance="_KvD0VDiwEeKFHpsdOC1X1Q"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_KvM-RDiwEeKFHpsdOC1X1Q" definingFeature="_k0LlHDiAEeKDAMEjnOLmPA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_KvM-RTiwEeKFHpsdOC1X1Q" instance="_KvM-QDiwEeKFHpsdOC1X1Q"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_KvM-TTiwEeKFHpsdOC1X1Q" definingFeature="_k0LlHTiAEeKDAMEjnOLmPA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_KvM-TjiwEeKFHpsdOC1X1Q" instance="_KvM-RjiwEeKFHpsdOC1X1Q"/>
-          </slot>
-        </packagedElement>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KttwgDiwEeKFHpsdOC1X1Q" name="mainInstance.pathPlanner" classifier="_k0LoFDiAEeKDAMEjnOLmPA">
-          <slot xmi:type="uml:Slot" xmi:id="_KuKccDiwEeKFHpsdOC1X1Q" definingFeature="_k0LoITiAEeKDAMEjnOLmPA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_KuKccTiwEeKFHpsdOC1X1Q" instance="_KttwgTiwEeKFHpsdOC1X1Q"/>
-          </slot>
-        </packagedElement>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KttwgTiwEeKFHpsdOC1X1Q" name="mainInstance.pathPlanner.path_Planner" classifier="_k0LoBTiAEeKDAMEjnOLmPA"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KuUNcjiwEeKFHpsdOC1X1Q" name="mainInstance.missionGenerator" classifier="_k0Ln9ziAEeKDAMEjnOLmPA">
-          <slot xmi:type="uml:Slot" xmi:id="_KuUNdDiwEeKFHpsdOC1X1Q" definingFeature="_k0Ln_DiAEeKDAMEjnOLmPA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_KudXYDiwEeKFHpsdOC1X1Q" instance="_KuUNcziwEeKFHpsdOC1X1Q"/>
-          </slot>
-        </packagedElement>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KuUNcziwEeKFHpsdOC1X1Q" name="mainInstance.missionGenerator.mission" classifier="_k0Ln8jiAEeKDAMEjnOLmPA"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KudXYziwEeKFHpsdOC1X1Q" name="mainInstance.navigator" classifier="_k0LoVjiAEeKDAMEjnOLmPA">
-          <slot xmi:type="uml:Slot" xmi:id="_KudXZTiwEeKFHpsdOC1X1Q" definingFeature="_k0LoXziAEeKDAMEjnOLmPA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_KudXZjiwEeKFHpsdOC1X1Q" instance="_KudXZDiwEeKFHpsdOC1X1Q"/>
-          </slot>
-        </packagedElement>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KudXZDiwEeKFHpsdOC1X1Q" name="mainInstance.navigator.navigator" classifier="_k0LoQDiAEeKDAMEjnOLmPA"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KunIYjiwEeKFHpsdOC1X1Q" name="mainInstance.pilot" classifier="_k0LoqziAEeKDAMEjnOLmPA">
-          <slot xmi:type="uml:Slot" xmi:id="_KunIZDiwEeKFHpsdOC1X1Q" definingFeature="_k0LotDiAEeKDAMEjnOLmPA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_KunIZTiwEeKFHpsdOC1X1Q" instance="_KunIYziwEeKFHpsdOC1X1Q"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_KunIZziwEeKFHpsdOC1X1Q" definingFeature="_k0LotTiAEeKDAMEjnOLmPA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_KunIaDiwEeKFHpsdOC1X1Q" instance="_KunIZjiwEeKFHpsdOC1X1Q"/>
-          </slot>
-        </packagedElement>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KunIYziwEeKFHpsdOC1X1Q" name="mainInstance.pilot.Pilot" classifier="_k0LohziAEeKDAMEjnOLmPA"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KunIZjiwEeKFHpsdOC1X1Q" name="mainInstance.pilot.IKM" classifier="_k0LooTiAEeKDAMEjnOLmPA"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KuwSUDiwEeKFHpsdOC1X1Q" name="mainInstance.servoing" classifier="_k0Lo-jiAEeKDAMEjnOLmPA">
-          <slot xmi:type="uml:Slot" xmi:id="_KuwSUjiwEeKFHpsdOC1X1Q" definingFeature="_k0Lo_ziAEeKDAMEjnOLmPA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_KuwSUziwEeKFHpsdOC1X1Q" instance="_KuwSUTiwEeKFHpsdOC1X1Q"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_KuwSVTiwEeKFHpsdOC1X1Q" definingFeature="_k0LpADiAEeKDAMEjnOLmPA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_KuwSVjiwEeKFHpsdOC1X1Q" instance="_KuwSVDiwEeKFHpsdOC1X1Q"/>
-          </slot>
-        </packagedElement>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KuwSUTiwEeKFHpsdOC1X1Q" name="mainInstance.servoing.Servoings" classifier="_k0Lo7DiAEeKDAMEjnOLmPA"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KuwSVDiwEeKFHpsdOC1X1Q" name="mainInstance.servoing.Frame_In" classifier="_k0Lo9TiAEeKDAMEjnOLmPA"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KuwSWTiwEeKFHpsdOC1X1Q" name="mainInstance.sensors" classifier="_k0LndTiAEeKDAMEjnOLmPA">
-          <slot xmi:type="uml:Slot" xmi:id="_Ku6DUDiwEeKFHpsdOC1X1Q" definingFeature="_k0LnijiAEeKDAMEjnOLmPA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_Ku6DUTiwEeKFHpsdOC1X1Q" instance="_KuwSWjiwEeKFHpsdOC1X1Q"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_Ku6DUziwEeKFHpsdOC1X1Q" definingFeature="_k0LniziAEeKDAMEjnOLmPA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_Ku6DVDiwEeKFHpsdOC1X1Q" instance="_Ku6DUjiwEeKFHpsdOC1X1Q"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_Ku6DVjiwEeKFHpsdOC1X1Q" definingFeature="_k0LnjDiAEeKDAMEjnOLmPA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_Ku6DVziwEeKFHpsdOC1X1Q" instance="_Ku6DVTiwEeKFHpsdOC1X1Q"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_Ku6DWTiwEeKFHpsdOC1X1Q" definingFeature="_k0LnjTiAEeKDAMEjnOLmPA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_Ku6DWjiwEeKFHpsdOC1X1Q" instance="_Ku6DWDiwEeKFHpsdOC1X1Q"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_Ku6DXDiwEeKFHpsdOC1X1Q" definingFeature="_k0LnjjiAEeKDAMEjnOLmPA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_Ku6DXTiwEeKFHpsdOC1X1Q" instance="_Ku6DWziwEeKFHpsdOC1X1Q"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_KvD0UDiwEeKFHpsdOC1X1Q" definingFeature="_k0LnjziAEeKDAMEjnOLmPA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_KvD0UTiwEeKFHpsdOC1X1Q" instance="_Ku6DXjiwEeKFHpsdOC1X1Q"/>
-          </slot>
-        </packagedElement>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KuwSWjiwEeKFHpsdOC1X1Q" name="mainInstance.sensors.wifibot_Frame_Out" classifier="_k0LnOTiAEeKDAMEjnOLmPA"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_Ku6DUjiwEeKFHpsdOC1X1Q" name="mainInstance.sensors.GPS" classifier="_k0LnXziAEeKDAMEjnOLmPA"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_Ku6DVTiwEeKFHpsdOC1X1Q" name="mainInstance.sensors.Odometer" classifier="_k0LnTjiAEeKDAMEjnOLmPA"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_Ku6DWDiwEeKFHpsdOC1X1Q" name="mainInstance.sensors.IMU" classifier="_k0LnZDiAEeKDAMEjnOLmPA"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_Ku6DWziwEeKFHpsdOC1X1Q" name="mainInstance.sensors.LaserRange" classifier="_k0LnaTiAEeKDAMEjnOLmPA"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_Ku6DXjiwEeKFHpsdOC1X1Q" name="mainInstance.sensors.camera_FireWire" classifier="_k0LnbziAEeKDAMEjnOLmPA"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvD0VDiwEeKFHpsdOC1X1Q" name="mainInstance.proximetry" classifier="_k0LmxDiAEeKDAMEjnOLmPA">
-          <slot xmi:type="uml:Slot" xmi:id="_KvD0VjiwEeKFHpsdOC1X1Q" definingFeature="_k0Lm2jiAEeKDAMEjnOLmPA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_KvD0VziwEeKFHpsdOC1X1Q" instance="_KvD0VTiwEeKFHpsdOC1X1Q"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_KvD0WTiwEeKFHpsdOC1X1Q" definingFeature="_k0Lm2ziAEeKDAMEjnOLmPA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_KvD0WjiwEeKFHpsdOC1X1Q" instance="_KvD0WDiwEeKFHpsdOC1X1Q"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_KvD0XDiwEeKFHpsdOC1X1Q" definingFeature="_k0Lm3DiAEeKDAMEjnOLmPA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_KvD0XTiwEeKFHpsdOC1X1Q" instance="_KvD0WziwEeKFHpsdOC1X1Q"/>
-          </slot>
-        </packagedElement>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvD0VTiwEeKFHpsdOC1X1Q" name="mainInstance.proximetry.superDKM" classifier="_k0LmkTiAEeKDAMEjnOLmPA"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvD0WDiwEeKFHpsdOC1X1Q" name="mainInstance.proximetry.proximetric_Map" classifier="_k0LmrjiAEeKDAMEjnOLmPA"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvD0WziwEeKFHpsdOC1X1Q" name="mainInstance.proximetry.amer_Identif" classifier="_k0LmuTiAEeKDAMEjnOLmPA"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvM-QDiwEeKFHpsdOC1X1Q" name="mainInstance.global_map" classifier="_k0LmBDiAEeKDAMEjnOLmPA">
-          <slot xmi:type="uml:Slot" xmi:id="_KvM-QjiwEeKFHpsdOC1X1Q" definingFeature="_k0LmBTiAEeKDAMEjnOLmPA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_KvM-QziwEeKFHpsdOC1X1Q" instance="_KvM-QTiwEeKFHpsdOC1X1Q"/>
-          </slot>
-        </packagedElement>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvM-QTiwEeKFHpsdOC1X1Q" name="mainInstance.global_map.global_Map" classifier="_k0Ll8jiAEeKDAMEjnOLmPA"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvM-RjiwEeKFHpsdOC1X1Q" name="mainInstance.local_Map" classifier="_k0LmTjiAEeKDAMEjnOLmPA">
-          <slot xmi:type="uml:Slot" xmi:id="_KvM-SDiwEeKFHpsdOC1X1Q" definingFeature="_k0LmTziAEeKDAMEjnOLmPA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_KvM-STiwEeKFHpsdOC1X1Q" instance="_KvM-RziwEeKFHpsdOC1X1Q"/>
-          </slot>
-          <slot xmi:type="uml:Slot" xmi:id="_KvM-SziwEeKFHpsdOC1X1Q" definingFeature="_k0LmUDiAEeKDAMEjnOLmPA">
-            <value xmi:type="uml:InstanceValue" xmi:id="_KvM-TDiwEeKFHpsdOC1X1Q" instance="_KvM-SjiwEeKFHpsdOC1X1Q"/>
-          </slot>
-        </packagedElement>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvM-RziwEeKFHpsdOC1X1Q" name="mainInstance.local_Map.amer_Loc" classifier="_k0LmRTiAEeKDAMEjnOLmPA"/>
-        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvM-SjiwEeKFHpsdOC1X1Q" name="mainInstance.local_Map.local_Map" classifier="_k0LmJziAEeKDAMEjnOLmPA"/>
-        <packagedElement xmi:type="uml:Abstraction" xmi:id="_WxjV0DiwEeKFHpsdOC1X1Q" name="allocate to Blender-Morse2" client="_KuwSWTiwEeKFHpsdOC1X1Q" supplier="_1dVjIjivEeKFHpsdOC1X1Q"/>
-        <packagedElement xmi:type="uml:Abstraction" xmi:id="_Yxf0UDiwEeKFHpsdOC1X1Q" name="allocate to Blender-Morse2" client="_KuwSUDiwEeKFHpsdOC1X1Q" supplier="_1dVjIjivEeKFHpsdOC1X1Q"/>
-        <packagedElement xmi:type="uml:Abstraction" xmi:id="_j6kagDiwEeKFHpsdOC1X1Q" name="allocate to RTmaps1" client="_KttwgDiwEeKFHpsdOC1X1Q" supplier="_1dVjITivEeKFHpsdOC1X1Q"/>
-        <packagedElement xmi:type="uml:Abstraction" xmi:id="_kcVq0DiwEeKFHpsdOC1X1Q" name="allocate to RTmaps1" client="_KuUNcjiwEeKFHpsdOC1X1Q" supplier="_1dVjITivEeKFHpsdOC1X1Q"/>
-        <packagedElement xmi:type="uml:Abstraction" xmi:id="_k-HiMDiwEeKFHpsdOC1X1Q" name="allocate to RTmaps1" client="_KudXYziwEeKFHpsdOC1X1Q" supplier="_1dVjITivEeKFHpsdOC1X1Q"/>
-        <packagedElement xmi:type="uml:Abstraction" xmi:id="_lnLGQDiwEeKFHpsdOC1X1Q" name="allocate to RTmaps1" client="_KunIYjiwEeKFHpsdOC1X1Q" supplier="_1dVjITivEeKFHpsdOC1X1Q"/>
-        <packagedElement xmi:type="uml:Abstraction" xmi:id="_mELyYDiwEeKFHpsdOC1X1Q" name="allocate to RTmaps1" client="_KvD0VDiwEeKFHpsdOC1X1Q" supplier="_1dVjITivEeKFHpsdOC1X1Q"/>
-        <packagedElement xmi:type="uml:Abstraction" xmi:id="_mhfZcDiwEeKFHpsdOC1X1Q" name="allocate to RTmaps1" client="_KvM-QDiwEeKFHpsdOC1X1Q" supplier="_1dVjITivEeKFHpsdOC1X1Q"/>
-        <packagedElement xmi:type="uml:Abstraction" xmi:id="_nLJacDiwEeKFHpsdOC1X1Q" name="allocate to RTmaps1" client="_KvM-RjiwEeKFHpsdOC1X1Q" supplier="_1dVjITivEeKFHpsdOC1X1Q"/>
-      </packagedElement>
-    </packagedElement>
-    <packagedElement xmi:type="uml:Class" xmi:id="_r_SxEKEKEeKLUqX9IJq2Gg" name="Environment">
-      <ownedAttribute xmi:type="uml:Property" xmi:id="_wOk08KEKEeKLUqX9IJq2Gg" name="wifibot" type="_k0LlFDiAEeKDAMEjnOLmPA"/>
-    </packagedElement>
-    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_k0LpDziAEeKDAMEjnOLmPA">
-      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0LpEDiAEeKDAMEjnOLmPA" source="http://www.eclipse.org/uml2/2.0.0/UML">
-        <references xmi:type="ecore:EPackage" href="http://Papyrus/RobotML/1#/"/>
-      </eAnnotations>
-      <appliedProfile xmi:type="uml:Profile" href="pathmap://Robotml_PROFILES/RobotMLProfile.profile.uml#_3QOHEPcEEd-J06U5HM_o-Q"/>
-    </profileApplication>
-  </uml:Model>
-  <RobotML:Software xmi:id="_k0LpETiAEeKDAMEjnOLmPA" base_Class="_k0Ll8jiAEeKDAMEjnOLmPA"/>
-  <RobotML:Software xmi:id="_k0LpEjiAEeKDAMEjnOLmPA" base_Class="_k0LmBDiAEeKDAMEjnOLmPA"/>
-  <RobotML:Software xmi:id="_k0LpEziAEeKDAMEjnOLmPA" base_Class="_k0LmJziAEeKDAMEjnOLmPA"/>
-  <RobotML:Software xmi:id="_k0LpFDiAEeKDAMEjnOLmPA" base_Class="_k0LmRTiAEeKDAMEjnOLmPA"/>
-  <RobotML:Software xmi:id="_k0LpFTiAEeKDAMEjnOLmPA" base_Class="_k0LmTjiAEeKDAMEjnOLmPA"/>
-  <RobotML:Software xmi:id="_k0LpFjiAEeKDAMEjnOLmPA" base_Class="_k0LmkTiAEeKDAMEjnOLmPA"/>
-  <RobotML:Software xmi:id="_k0LpFziAEeKDAMEjnOLmPA" base_Class="_k0LmrjiAEeKDAMEjnOLmPA"/>
-  <RobotML:Software xmi:id="_k0LpGDiAEeKDAMEjnOLmPA" base_Class="_k0LmuTiAEeKDAMEjnOLmPA"/>
-  <RobotML:Software xmi:id="_k0LpGTiAEeKDAMEjnOLmPA" base_Class="_k0LmxDiAEeKDAMEjnOLmPA"/>
-  <RobotML:RoboticSystem xmi:id="_k0LpGjiAEeKDAMEjnOLmPA" base_Class="_k0LnOTiAEeKDAMEjnOLmPA"/>
-  <RobotML:SensorSystem xmi:id="_k0LpGziAEeKDAMEjnOLmPA" base_Class="_k0LnTjiAEeKDAMEjnOLmPA"/>
-  <RobotML:GPSSystem xmi:id="_k0LpHDiAEeKDAMEjnOLmPA" base_Class="_k0LnXziAEeKDAMEjnOLmPA"/>
-  <RobotML:LidarSystem xmi:id="_k0LpHjiAEeKDAMEjnOLmPA" base_Class="_k0LnaTiAEeKDAMEjnOLmPA" libraryPath="" libraryComponentName=""/>
-  <RobotML:CameraSystem xmi:id="_k0LpHziAEeKDAMEjnOLmPA" base_Class="_k0LnbziAEeKDAMEjnOLmPA"/>
-  <RobotML:Software xmi:id="_k0LpIDiAEeKDAMEjnOLmPA" base_Class="_k0Ln8jiAEeKDAMEjnOLmPA"/>
-  <RobotML:Software xmi:id="_k0LpITiAEeKDAMEjnOLmPA" base_Class="_k0Ln9ziAEeKDAMEjnOLmPA"/>
-  <RobotML:Software xmi:id="_k0LpIjiAEeKDAMEjnOLmPA" base_Class="_k0LoBTiAEeKDAMEjnOLmPA"/>
-  <RobotML:Software xmi:id="_k0LpIziAEeKDAMEjnOLmPA" base_Class="_k0LoFDiAEeKDAMEjnOLmPA"/>
-  <RobotML:Software xmi:id="_k0LpJDiAEeKDAMEjnOLmPA" base_Class="_k0LoQDiAEeKDAMEjnOLmPA"/>
-  <RobotML:Software xmi:id="_k0LpJTiAEeKDAMEjnOLmPA" base_Class="_k0LoVjiAEeKDAMEjnOLmPA"/>
-  <RobotML:Software xmi:id="_k0LpJjiAEeKDAMEjnOLmPA" base_Class="_k0LohziAEeKDAMEjnOLmPA"/>
-  <RobotML:Software xmi:id="_k0LpJziAEeKDAMEjnOLmPA" base_Class="_k0LooTiAEeKDAMEjnOLmPA"/>
-  <RobotML:Software xmi:id="_k0LpKDiAEeKDAMEjnOLmPA" base_Class="_k0LoqziAEeKDAMEjnOLmPA"/>
-  <RobotML:Software xmi:id="_k0LpKTiAEeKDAMEjnOLmPA" base_Class="_k0Lo7DiAEeKDAMEjnOLmPA"/>
-  <RobotML:RoboticSystem xmi:id="_k0LpKjiAEeKDAMEjnOLmPA" base_Class="_k0Lo9TiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpKziAEeKDAMEjnOLmPA" base_Port="_k0Lo-ziAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpLDiAEeKDAMEjnOLmPA" base_Port="_k0Lo7TiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpLTiAEeKDAMEjnOLmPA" base_Port="_k0Lo8TiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpLjiAEeKDAMEjnOLmPA" base_Port="_k0Lo9jiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpLziAEeKDAMEjnOLmPA" base_Port="_k0LorDiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpMDiAEeKDAMEjnOLmPA" base_Port="_k0LoiTiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpMTiAEeKDAMEjnOLmPA" base_Port="_k0LojTiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpMjiAEeKDAMEjnOLmPA" base_Port="_k0LolTiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpMziAEeKDAMEjnOLmPA" base_Port="_k0LomTiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpNDiAEeKDAMEjnOLmPA" base_Port="_k0LonTiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpNTiAEeKDAMEjnOLmPA" base_Port="_k0LokTiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpNjiAEeKDAMEjnOLmPA" base_Port="_k0LopziAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpNziAEeKDAMEjnOLmPA" base_Port="_k0LooziAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpODiAEeKDAMEjnOLmPA" base_Port="_k0LosDiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpOTiAEeKDAMEjnOLmPA" base_Port="_k0LoVziAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpOjiAEeKDAMEjnOLmPA" base_Port="_k0LoQjiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpOziAEeKDAMEjnOLmPA" base_Port="_k0LoSjiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpPDiAEeKDAMEjnOLmPA" base_Port="_k0LoTjiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpPTiAEeKDAMEjnOLmPA" base_Port="_k0LoUjiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpPjiAEeKDAMEjnOLmPA" base_Port="_k0LoRjiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpPziAEeKDAMEjnOLmPA" base_Port="_k0LoWziAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpQDiAEeKDAMEjnOLmPA" base_Port="_k0LoHTiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpQTiAEeKDAMEjnOLmPA" base_Port="_k0LoGTiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpQjiAEeKDAMEjnOLmPA" base_Port="_k0LoBziAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpQziAEeKDAMEjnOLmPA" base_Port="_k0LoDziAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpRDiAEeKDAMEjnOLmPA" base_Port="_k0LoCziAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpRTiAEeKDAMEjnOLmPA" base_Port="_k0LoFTiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpRjiAEeKDAMEjnOLmPA" base_Port="_k0Ln8ziAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpRziAEeKDAMEjnOLmPA" base_Port="_k0Ln-DiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpSDiAEeKDAMEjnOLmPA" base_Port="_k0LnUziAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpSTiAEeKDAMEjnOLmPA" base_Port="_k0LnTziAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpSjiAEeKDAMEjnOLmPA" base_Port="_k0LnOjiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpSziAEeKDAMEjnOLmPA" base_Port="_k0LnPjiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpTDiAEeKDAMEjnOLmPA" base_Port="_k0LnSjiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpTTiAEeKDAMEjnOLmPA" base_Port="_k0LnQjiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpTjiAEeKDAMEjnOLmPA" base_Port="_k0LnRjiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpTziAEeKDAMEjnOLmPA" base_Port="_k0LnWziAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpUDiAEeKDAMEjnOLmPA" base_Port="_k0LnVziAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpUTiAEeKDAMEjnOLmPA" base_Port="_k0LnZTiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpUjiAEeKDAMEjnOLmPA" base_Port="_k0LnYDiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpUziAEeKDAMEjnOLmPA" base_Port="_k0LnajiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpVDiAEeKDAMEjnOLmPA" base_Port="_k0LncDiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpVTiAEeKDAMEjnOLmPA" base_Port="_k0LmxjiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpVjiAEeKDAMEjnOLmPA" base_Port="_k0LmyjiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpVziAEeKDAMEjnOLmPA" base_Port="_k0LmzjiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpWDiAEeKDAMEjnOLmPA" base_Port="_k0Lm0jiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpWTiAEeKDAMEjnOLmPA" base_Port="_k0Lm1jiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpWjiAEeKDAMEjnOLmPA" base_Port="_k0LmmziAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpWziAEeKDAMEjnOLmPA" base_Port="_k0LmnziAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpXDiAEeKDAMEjnOLmPA" base_Port="_k0LmoziAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpXTiAEeKDAMEjnOLmPA" base_Port="_k0LmpziAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpXjiAEeKDAMEjnOLmPA" base_Port="_k0LmkziAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpXziAEeKDAMEjnOLmPA" base_Port="_k0LmlziAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpYDiAEeKDAMEjnOLmPA" base_Port="_k0LmRjiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpYTiAEeKDAMEjnOLmPA" base_Port="_k0LmSjiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpYjiAEeKDAMEjnOLmPA" base_Port="_k0LmKTiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpYziAEeKDAMEjnOLmPA" base_Port="_k0LmLTiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpZDiAEeKDAMEjnOLmPA" base_Port="_k0LmMTiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpZTiAEeKDAMEjnOLmPA" base_Port="_k0LmOTiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpZjiAEeKDAMEjnOLmPA" base_Port="_k0LmPTiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpZziAEeKDAMEjnOLmPA" base_Port="_k0LmQTiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpaDiAEeKDAMEjnOLmPA" base_Port="_k0LmNTiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpaTiAEeKDAMEjnOLmPA" base_Port="_k0Ll-DiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpajiAEeKDAMEjnOLmPA" base_Port="_k0Ll_DiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpaziAEeKDAMEjnOLmPA" base_Port="_k0LmADiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0LpbDiAEeKDAMEjnOLmPA" base_Port="_k0Ll9DiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU4DiAEeKDAMEjnOLmPA" base_Port="_k0LnejiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU4TiAEeKDAMEjnOLmPA" base_Port="_k0LnfjiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU4jiAEeKDAMEjnOLmPA" base_Port="_k0LnhjiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU4ziAEeKDAMEjnOLmPA" base_Port="_k0LngjiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU5DiAEeKDAMEjnOLmPA" base_Port="_k0LndjiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU5TiAEeKDAMEjnOLmPA" base_Port="_k0LmsDiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU5jiAEeKDAMEjnOLmPA" base_Port="_k0LmtDiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU5ziAEeKDAMEjnOLmPA" base_Port="_k0LmvziAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU6DiAEeKDAMEjnOLmPA" base_Port="_k0LmuziAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU6TiAEeKDAMEjnOLmPA" base_Port="_k0LndDiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU6jiAEeKDAMEjnOLmPA" base_Port="_k0LnbjiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU6ziAEeKDAMEjnOLmPA" base_Port="_k0LmwziAEeKDAMEjnOLmPA" bufferSize="6"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU7jiAEeKDAMEjnOLmPA" base_Port="_k0LouDiAEeKDAMEjnOLmPA" bufferSize="6"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU7ziAEeKDAMEjnOLmPA" base_Port="_k0LouTiAEeKDAMEjnOLmPA" bufferSize="6"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU8DiAEeKDAMEjnOLmPA" base_Port="_k0LoYDiAEeKDAMEjnOLmPA" bufferSize="6"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU8TiAEeKDAMEjnOLmPA" base_Port="_k0LoYTiAEeKDAMEjnOLmPA" bufferSize="6"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU8jiAEeKDAMEjnOLmPA" base_Port="_k0LoYjiAEeKDAMEjnOLmPA" bufferSize="6"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU8ziAEeKDAMEjnOLmPA" base_Port="_k0LoIjiAEeKDAMEjnOLmPA" bufferSize="6"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU9DiAEeKDAMEjnOLmPA" base_Port="_k0LnkDiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU9TiAEeKDAMEjnOLmPA" base_Port="_k0LnkTiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU9jiAEeKDAMEjnOLmPA" base_Port="_k0LnkjiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU9ziAEeKDAMEjnOLmPA" base_Port="_k0LnkziAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU-DiAEeKDAMEjnOLmPA" base_Port="_k0LnlDiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU-TiAEeKDAMEjnOLmPA" base_Port="_k0LnlTiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU-jiAEeKDAMEjnOLmPA" base_Port="_k0Lm3TiAEeKDAMEjnOLmPA" bufferSize="6"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU-ziAEeKDAMEjnOLmPA" base_Port="_k0Lm3jiAEeKDAMEjnOLmPA" bufferSize="6"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU_DiAEeKDAMEjnOLmPA" base_Port="_k0Lm3ziAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU_TiAEeKDAMEjnOLmPA" base_Port="_k0Lm4DiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU_jiAEeKDAMEjnOLmPA" base_Port="_k0Lm4TiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0VU_ziAEeKDAMEjnOLmPA" base_Port="_k0Lm4jiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0VVADiAEeKDAMEjnOLmPA" base_Port="_k0LmUTiAEeKDAMEjnOLmPA" bufferSize="6"/>
-  <RobotML:DataFlowPort xmi:id="_k0VVATiAEeKDAMEjnOLmPA" base_Port="_k0LmUjiAEeKDAMEjnOLmPA" bufferSize="6"/>
-  <RobotML:DataFlowPort xmi:id="_k0VVAjiAEeKDAMEjnOLmPA" base_Port="_k0LmUziAEeKDAMEjnOLmPA" bufferSize="6"/>
-  <RobotML:DataFlowPort xmi:id="_k0VVAziAEeKDAMEjnOLmPA" base_Port="_k0LmVDiAEeKDAMEjnOLmPA" bufferSize="6"/>
-  <RobotML:DataFlowPort xmi:id="_k0VVBDiAEeKDAMEjnOLmPA" base_Port="_k0LmVTiAEeKDAMEjnOLmPA" bufferSize="6"/>
-  <RobotML:DataFlowPort xmi:id="_k0VVBTiAEeKDAMEjnOLmPA" base_Port="_k0LmVjiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0VVBjiAEeKDAMEjnOLmPA" base_Port="_k0LmVziAEeKDAMEjnOLmPA" bufferSize="6"/>
-  <RobotML:DataFlowPort xmi:id="_k0VVBziAEeKDAMEjnOLmPA" base_Port="_k0LmBjiAEeKDAMEjnOLmPA" bufferSize="6"/>
-  <RobotML:DataFlowPort xmi:id="_k0VVCDiAEeKDAMEjnOLmPA" base_Port="_k0LmBziAEeKDAMEjnOLmPA" bufferSize="6"/>
-  <RobotML:DataFlowPort xmi:id="_k0VVCTiAEeKDAMEjnOLmPA" base_Port="_k0LmCDiAEeKDAMEjnOLmPA" bufferSize="6"/>
-  <RobotML:DataFlowPort xmi:id="_k0VVCjiAEeKDAMEjnOLmPA" base_Port="_k0LmCTiAEeKDAMEjnOLmPA" direction="out"/>
-  <RobotML:DataFlowPort xmi:id="_k0VVDziAEeKDAMEjnOLmPA" base_Port="_k0Lm4ziAEeKDAMEjnOLmPA" bufferSize="6"/>
-  <RobotML:DataFlowPort xmi:id="_k0VVEDiAEeKDAMEjnOLmPA" base_Port="_k0LmuDiAEeKDAMEjnOLmPA" bufferSize="6"/>
-  <RobotML:Robot xmi:id="_k0VVGjiAEeKDAMEjnOLmPA" base_Class="_k0LlFDiAEeKDAMEjnOLmPA"/>
-  <RobotML:SensorSystem xmi:id="_k0VVGziAEeKDAMEjnOLmPA" base_Class="_k0LndTiAEeKDAMEjnOLmPA"/>
-  <RobotML:ActuatorSystem xmi:id="_k0VVHDiAEeKDAMEjnOLmPA" base_Class="_k0Lo-jiAEeKDAMEjnOLmPA"/>
-  <RobotML:DataFlowPort xmi:id="_k0VVHTiAEeKDAMEjnOLmPA" base_Port="_k0LoEziAEeKDAMEjnOLmPA"/>
-  <RobotML:RoboticMiddleware xmi:id="_iFHmsDiuEeKFHpsdOC1X1Q" base_Class="_iBPzUDiuEeKFHpsdOC1X1Q"/>
-  <RobotML:BlenderMorse xmi:id="_u55gwDiuEeKFHpsdOC1X1Q" base_Class="_rlJygDiuEeKFHpsdOC1X1Q" debugMode="true"/>
-  <RobotML:Platform xmi:id="_HSZVrDivEeKFHpsdOC1X1Q" base_Class="_HR8psDivEeKFHpsdOC1X1Q"/>
-  <RobotML:Allocate xmi:id="_WxtG0DiwEeKFHpsdOC1X1Q" base_Abstraction="_WxjV0DiwEeKFHpsdOC1X1Q"/>
-  <RobotML:Allocate xmi:id="_Yxf0UTiwEeKFHpsdOC1X1Q" base_Abstraction="_Yxf0UDiwEeKFHpsdOC1X1Q"/>
-  <RobotML:Allocate xmi:id="_j6uLgDiwEeKFHpsdOC1X1Q" base_Abstraction="_j6kagDiwEeKFHpsdOC1X1Q"/>
-  <RobotML:Allocate xmi:id="_kcfb0DiwEeKFHpsdOC1X1Q" base_Abstraction="_kcVq0DiwEeKFHpsdOC1X1Q"/>
-  <RobotML:Allocate xmi:id="_k-HiMTiwEeKFHpsdOC1X1Q" base_Abstraction="_k-HiMDiwEeKFHpsdOC1X1Q"/>
-  <RobotML:Allocate xmi:id="_lnU3QDiwEeKFHpsdOC1X1Q" base_Abstraction="_lnLGQDiwEeKFHpsdOC1X1Q"/>
-  <RobotML:Allocate xmi:id="_mEVjYDiwEeKFHpsdOC1X1Q" base_Abstraction="_mELyYDiwEeKFHpsdOC1X1Q"/>
-  <RobotML:Allocate xmi:id="_mhpKcDiwEeKFHpsdOC1X1Q" base_Abstraction="_mhfZcDiwEeKFHpsdOC1X1Q"/>
-  <RobotML:Allocate xmi:id="_nLTLcDiwEeKFHpsdOC1X1Q" base_Abstraction="_nLJacDiwEeKFHpsdOC1X1Q"/>
-  <RobotML:InertialMeasurementUnitSystem xmi:id="_HEDvQJ3nEeKaDJbg6baweA" base_Class="_k0LnZDiAEeKDAMEjnOLmPA"/>
-  <RobotML:Environment xmi:id="_sGvc4KEKEeKLUqX9IJq2Gg" base_Class="_r_SxEKEKEeKLUqX9IJq2Gg"/>
-</xmi:XMI>
+<?xml version="1.0" encoding="UTF-8"?>
+<xmi:XMI xmi:version="20131001" xmlns:xmi="http://www.omg.org/spec/XMI/20131001" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:RobotML="http://Papyrus/RobotML/1" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:uml="http://www.eclipse.org/uml2/5.0.0/UML">
+  <uml:Model xmi:id="_k0Lj4DiAEeKDAMEjnOLmPA" name="YouthChallengeModel">
+    <packageImport xmi:type="uml:PackageImport" xmi:id="_k0Lj4TiAEeKDAMEjnOLmPA">
+      <importedPackage xmi:type="uml:Package" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_dt_y4AHtEeCQQOKrhO_fIQ"/>
+    </packageImport>
+    <packagedElement xmi:type="uml:Package" xmi:id="_k0Lj4jiAEeKDAMEjnOLmPA" name="YouthChallenge DataTypes">
+      <packagedElement xmi:type="uml:Enumeration" xmi:id="_k0Lj4ziAEeKDAMEjnOLmPA" name="Mission_Type">
+        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0Lj5DiAEeKDAMEjnOLmPA" name="Explore"/>
+        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0Lj5TiAEeKDAMEjnOLmPA" name="Search"/>
+        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0Lj5jiAEeKDAMEjnOLmPA" name="Reach"/>
+        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0Lj5ziAEeKDAMEjnOLmPA" name="Identify"/>
+      </packagedElement>
+      <packagedElement xmi:type="uml:DataType" xmi:id="_k0Lj6DiAEeKDAMEjnOLmPA" name="Amer">
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0Lj6TiAEeKDAMEjnOLmPA" annotatedElement="_k0Lj6DiAEeKDAMEjnOLmPA">
+          <body>Un amer correspond a une balise composee d'une clonne et d'un solide d'une couleur </body>
+        </ownedComment>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lj6jiAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lj6ziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lj7DiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lj7TiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lj7jiAEeKDAMEjnOLmPA" name="color" visibility="public" type="_k0LkejiAEeKDAMEjnOLmPA" isUnique="false">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lj7ziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lj8DiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lj8TiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lj8jiAEeKDAMEjnOLmPA" name="geometry" visibility="public" type="_k0LkgDiAEeKDAMEjnOLmPA" isUnique="false">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lj8ziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lj9DiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lj9TiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:DataType" xmi:id="_k0Lj9jiAEeKDAMEjnOLmPA" name="Position">
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0Lj9ziAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lj-DiAEeKDAMEjnOLmPA" name="x" visibility="public" isUnique="false">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lj-TiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lj-jiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lj-ziAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lj_DiAEeKDAMEjnOLmPA" name="y" visibility="public" isUnique="false">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lj_TiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lj_jiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lj_ziAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkADiAEeKDAMEjnOLmPA" name="alt" visibility="public" isUnique="false">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkATiAEeKDAMEjnOLmPA"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkAjiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkAziAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkBDiAEeKDAMEjnOLmPA" name="orientation" visibility="public" isUnique="false">
+          <ownedComment xmi:type="uml:Comment" xmi:id="_k0LkBTiAEeKDAMEjnOLmPA" annotatedElement="_k0LkBTiAEeKDAMEjnOLmPA">
+            <body>orientation en degrés [0;359] , entier positif, sens horaire 0 Nord </body>
+          </ownedComment>
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkBjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkBziAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkCDiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkCTiAEeKDAMEjnOLmPA" name="Position_Error">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkCjiAEeKDAMEjnOLmPA" name="x_err" visibility="public" isUnique="false">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkCziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkDDiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkDTiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkDjiAEeKDAMEjnOLmPA" name="y_err" visibility="public" isUnique="false">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkDziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkEDiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkETiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkEjiAEeKDAMEjnOLmPA" name="alt_err" visibility="public" isUnique="false">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkEziAEeKDAMEjnOLmPA"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkFDiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkFTiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkFjiAEeKDAMEjnOLmPA" name="orientation_err" visibility="public" isUnique="false">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkFziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkGDiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkGTiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkGjiAEeKDAMEjnOLmPA" name="Path_Point">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkGziAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkHDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkHTiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkHjiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkHziAEeKDAMEjnOLmPA" name="pos_error" visibility="public" type="_k0LkCTiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkIDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkITiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkIjiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkIziAEeKDAMEjnOLmPA" name="velocity" visibility="public">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LT9SN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkJDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkJTiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkJjiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkLDiAEeKDAMEjnOLmPA" name="Trajectory">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkLTiAEeKDAMEjnOLmPA" name="x_t" visibility="public" isUnique="false">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkLjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkLziAEeKDAMEjnOLmPA" value="*"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkMDiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkMTiAEeKDAMEjnOLmPA" name="y_t" visibility="public" isUnique="false">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkMjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkMziAEeKDAMEjnOLmPA" value="*"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkNDiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkNTiAEeKDAMEjnOLmPA" name="v_t" visibility="public" isUnique="false">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUPiN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkNjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkNziAEeKDAMEjnOLmPA" value="*"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkODiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkOTiAEeKDAMEjnOLmPA" name="sample_time" visibility="public" isUnique="false">
+          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_gyt4YAH-EeC_ZLzLQhW-TQ"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkOjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkOziAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkPDiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkPTiAEeKDAMEjnOLmPA" name="sample_nb" visibility="public" type="_k0LkkjiAEeKDAMEjnOLmPA" isUnique="false">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkPjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkPziAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkQDiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkSjiAEeKDAMEjnOLmPA" name="Goal">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkSziAEeKDAMEjnOLmPA" name="mission_type" visibility="public" type="_k0Lj4ziAEeKDAMEjnOLmPA" isUnique="false">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkTDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkTTiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkTjiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkTziAEeKDAMEjnOLmPA" name="position" visibility="public" isUnique="false">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_lZ5bYKlhEeC0sZu-_Vgeyw"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkUDiAEeKDAMEjnOLmPA"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkUTiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkUjiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkUziAEeKDAMEjnOLmPA" name="position_error" visibility="public" isUnique="false">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_lZ5bYKlhEeC0sZu-_Vgeyw"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkVDiAEeKDAMEjnOLmPA"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkVTiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkVjiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkVziAEeKDAMEjnOLmPA" name="orientation" visibility="public" isUnique="false">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkWDiAEeKDAMEjnOLmPA"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkWTiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkWjiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkWziAEeKDAMEjnOLmPA" name="angular_aperture" visibility="public" isUnique="false">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkXDiAEeKDAMEjnOLmPA"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkXTiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkXjiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkXziAEeKDAMEjnOLmPA" name="distance" visibility="public">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUOSN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkYDiAEeKDAMEjnOLmPA"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkYTiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkYjiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkYziAEeKDAMEjnOLmPA" name="velocity_average" visibility="public">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LT9SN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkZDiAEeKDAMEjnOLmPA"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkZTiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkZjiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkZziAEeKDAMEjnOLmPA" name="amer_to_identify" visibility="public" type="_k0Lj6DiAEeKDAMEjnOLmPA" isUnique="false">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkaDiAEeKDAMEjnOLmPA"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkaTiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkajiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Enumeration" xmi:id="_k0LkejiAEeKDAMEjnOLmPA" name="Color">
+        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkeziAEeKDAMEjnOLmPA" name="White"/>
+        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkfDiAEeKDAMEjnOLmPA" name="Black"/>
+        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkfTiAEeKDAMEjnOLmPA" name="Red"/>
+        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkfjiAEeKDAMEjnOLmPA" name="Blue"/>
+        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkfziAEeKDAMEjnOLmPA" name="Green"/>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Enumeration" xmi:id="_k0LkgDiAEeKDAMEjnOLmPA" name="Geometry">
+        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkgTiAEeKDAMEjnOLmPA" name="Cube"/>
+        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkgjiAEeKDAMEjnOLmPA" name="Sphere"/>
+        <ownedLiteral xmi:type="uml:EnumerationLiteral" xmi:id="_k0LkgziAEeKDAMEjnOLmPA" name="Pyramid"/>
+      </packagedElement>
+      <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkkjiAEeKDAMEjnOLmPA" name="Nombre_Pos">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkkziAEeKDAMEjnOLmPA" name="value" visibility="public" isUnique="false">
+          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_nCOuoAH-EeC_ZLzLQhW-TQ"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LklDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LklTiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkljiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:DataType" xmi:id="_k0LkvDiAEeKDAMEjnOLmPA" name="Percent">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LkvTiAEeKDAMEjnOLmPA" name="value" visibility="public" isUnique="false">
+          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_nCOuoAH-EeC_ZLzLQhW-TQ"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LkvjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LkvziAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LkwDiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:DataType" xmi:id="_k0Lk4jiAEeKDAMEjnOLmPA" name="Velocity_Error">
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0Lk4ziAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk5DiAEeKDAMEjnOLmPA" name="velocity_linear_err" visibility="public" isUnique="false">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LT9SN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk5TiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk5jiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lk5ziAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk6DiAEeKDAMEjnOLmPA" name="velocity_angular_err" visibility="public" isUnique="false">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUUiN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk6TiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk6jiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lk6ziAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:DataType" xmi:id="_k0Lk7DiAEeKDAMEjnOLmPA" name="Amer_Relative">
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0Lk7TiAEeKDAMEjnOLmPA" annotatedElement="_k0Lk7DiAEeKDAMEjnOLmPA">
+          <body>Un amer correspond à une balise composée d'une clonne&#xD;
+et d'un solide d'une couleur </body>
+        </ownedComment>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk7jiAEeKDAMEjnOLmPA" name="relative_polar" visibility="public" type="_k0Lk-jiAEeKDAMEjnOLmPA" isUnique="false">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk7ziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk8DiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lk8TiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk8jiAEeKDAMEjnOLmPA" name="color" visibility="public" type="_k0LkejiAEeKDAMEjnOLmPA" isUnique="false">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk8ziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk9DiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lk9TiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk9jiAEeKDAMEjnOLmPA" name="geometry" visibility="public" type="_k0LkgDiAEeKDAMEjnOLmPA" isUnique="false">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk9ziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk-DiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lk-TiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:DataType" xmi:id="_k0Lk-jiAEeKDAMEjnOLmPA" name="Relative_Polar">
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0Lk-ziAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lk_DiAEeKDAMEjnOLmPA" name="distance" visibility="public" isUnique="false">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUOSN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lk_TiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lk_jiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lk_ziAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlADiAEeKDAMEjnOLmPA" name="angular" visibility="public" isUnique="false">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlATiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlAjiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LlAziAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlBDiAEeKDAMEjnOLmPA" name="site" visibility="public" isUnique="false">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUQyN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlBTiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlBjiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LlBziAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:DataType" xmi:id="_k0LlCDiAEeKDAMEjnOLmPA" name="Map">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlCTiAEeKDAMEjnOLmPA" name="map_meta_data">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_F5N8wAK2EeCsG_V0R865wA"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlCjiAEeKDAMEjnOLmPA" name="position">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_uUJZ4AH6EeC_ZLzLQhW-TQ"/>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:DataType" xmi:id="_k0LlCziAEeKDAMEjnOLmPA" name="Attribute_robot">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlDDiAEeKDAMEjnOLmPA" name="voie">
+          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LlDTiAEeKDAMEjnOLmPA" name="voie" value="0.226"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlDjiAEeKDAMEjnOLmPA" name="empatement">
+          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LlDziAEeKDAMEjnOLmPA" name="empatement" value="0.17"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlEDiAEeKDAMEjnOLmPA" name="diam_roue">
+          <type xmi:type="uml:PrimitiveType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_Y9tAwAH6EeC_ZLzLQhW-TQ"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LlETiAEeKDAMEjnOLmPA" name="diam_roue" value="0.144"/>
+        </ownedAttribute>
+      </packagedElement>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Package" xmi:id="_k0LlEjiAEeKDAMEjnOLmPA" name="YouthChallenge Interfaces"/>
+    <packagedElement xmi:type="uml:Package" xmi:id="_k0LlEziAEeKDAMEjnOLmPA" name="YouthChallenge SubSystems"/>
+    <packagedElement xmi:type="uml:Class" xmi:id="_k0LlFDiAEeKDAMEjnOLmPA" name="Wifibot">
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlFTiAEeKDAMEjnOLmPA" name="pathPlanner" type="_k0LoFDiAEeKDAMEjnOLmPA"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlFjiAEeKDAMEjnOLmPA" name="missionGenerator" type="_k0Ln9ziAEeKDAMEjnOLmPA"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlFziAEeKDAMEjnOLmPA" name="navigator" type="_k0LoVjiAEeKDAMEjnOLmPA"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlGDiAEeKDAMEjnOLmPA" name="pilot" type="_k0LoqziAEeKDAMEjnOLmPA"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlGTiAEeKDAMEjnOLmPA" name="servoing" type="_k0Lo-jiAEeKDAMEjnOLmPA"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlGjiAEeKDAMEjnOLmPA" name="sensors" type="_k0LndTiAEeKDAMEjnOLmPA"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlGziAEeKDAMEjnOLmPA" name="proximetry" type="_k0LmxDiAEeKDAMEjnOLmPA"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlHDiAEeKDAMEjnOLmPA" name="global_map" type="_k0LmBDiAEeKDAMEjnOLmPA"/>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LlHTiAEeKDAMEjnOLmPA" name="local_Map" type="_k0LmTjiAEeKDAMEjnOLmPA"/>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlHjiAEeKDAMEjnOLmPA" name="Connector0">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlHziAEeKDAMEjnOLmPA" partWithPort="_k0LlFjiAEeKDAMEjnOLmPA" role="_k0Ln-DiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlIDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlITiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlIjiAEeKDAMEjnOLmPA" partWithPort="_k0LlFTiAEeKDAMEjnOLmPA" role="_k0LoHTiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlIziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlJDiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlJTiAEeKDAMEjnOLmPA" name="Connector1">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlJjiAEeKDAMEjnOLmPA" partWithPort="_k0LlFTiAEeKDAMEjnOLmPA" role="_k0LoFTiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlJziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlKDiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlKTiAEeKDAMEjnOLmPA" partWithPort="_k0LlFziAEeKDAMEjnOLmPA" role="_k0LoVziAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlKjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlKziAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlLDiAEeKDAMEjnOLmPA" name="Connector2">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlLTiAEeKDAMEjnOLmPA" partWithPort="_k0LlFziAEeKDAMEjnOLmPA" role="_k0LoWziAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlLjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlLziAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlMDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGDiAEeKDAMEjnOLmPA" role="_k0LorDiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlMTiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlMjiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlMziAEeKDAMEjnOLmPA" name="Connector3">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlNDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGDiAEeKDAMEjnOLmPA" role="_k0LosDiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlNTiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlNjiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlNziAEeKDAMEjnOLmPA" partWithPort="_k0LlGTiAEeKDAMEjnOLmPA" role="_k0Lo-ziAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlODiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlOTiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlOjiAEeKDAMEjnOLmPA" name="Connector4">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlOziAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LndjiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlPDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlPTiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlPjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0LmxjiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlPziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlQDiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlQTiAEeKDAMEjnOLmPA" name="Connector5">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlQjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnejiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlQziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlRDiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlRTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0LmyjiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlRjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlRziAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlSDiAEeKDAMEjnOLmPA" name="Connector6">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlSTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnhjiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlSjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlSziAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlTDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm1jiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlTTiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlTjiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlTziAEeKDAMEjnOLmPA" name="Connector7">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlUDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnkTiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlUTiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlUjiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlUziAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3TiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlVDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlVTiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlVjiAEeKDAMEjnOLmPA" name="Connector8">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlVziAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnkDiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlWDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlWTiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlWjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3jiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlWziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlXDiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlXTiAEeKDAMEjnOLmPA" name="Connector9">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlXjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnfjiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlXziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlYDiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlYTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0LmzjiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlYjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlYziAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlZDiAEeKDAMEjnOLmPA" name="Connector10">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlZTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LngjiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlZjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlZziAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlaDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm0jiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlaTiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlajiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlaziAEeKDAMEjnOLmPA" name="Connector11">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlbDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LngjiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlbTiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlbjiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlbziAEeKDAMEjnOLmPA" partWithPort="_k0LlGDiAEeKDAMEjnOLmPA" role="_k0LouTiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlcDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlcTiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlcjiAEeKDAMEjnOLmPA" name="Connector12">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlcziAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4DiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LldDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LldTiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LldjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGDiAEeKDAMEjnOLmPA" role="_k0LouDiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LldziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LleDiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LleTiAEeKDAMEjnOLmPA" name="Connector13">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlejiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3ziAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LleziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlfDiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlfTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGDiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlfjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlfziAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlgDiAEeKDAMEjnOLmPA" name="Connector14">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlgTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4jiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlgjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlgziAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlhDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGDiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlhTiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlhjiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlhziAEeKDAMEjnOLmPA" name="Connector15">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LliDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3ziAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LliTiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlijiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LliziAEeKDAMEjnOLmPA" partWithPort="_k0LlFziAEeKDAMEjnOLmPA" role="_k0LoYTiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LljDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LljTiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LljjiAEeKDAMEjnOLmPA" name="Connector16">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LljziAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4DiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlkDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlkTiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlkjiAEeKDAMEjnOLmPA" partWithPort="_k0LlFziAEeKDAMEjnOLmPA" role="_k0LoYjiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlkziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LllDiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LllTiAEeKDAMEjnOLmPA" name="Connector17">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlljiAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmVjiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LllziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlmDiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlmTiAEeKDAMEjnOLmPA" partWithPort="_k0LlFziAEeKDAMEjnOLmPA" role="_k0LoYDiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlmjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlmziAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlnDiAEeKDAMEjnOLmPA" name="Connector18">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlnTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LngjiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlnjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlnziAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LloDiAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmUziAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LloTiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlojiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LloziAEeKDAMEjnOLmPA" name="Connector19">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlpDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnfjiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlpTiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlpjiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlpziAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmUjiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlqDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlqTiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlqjiAEeKDAMEjnOLmPA" name="Connector20">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlqziAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4DiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlrDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlrTiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlrjiAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmVDiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlrziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlsDiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlsTiAEeKDAMEjnOLmPA" name="Connector21">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlsjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3ziAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlsziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LltDiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LltTiAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmVTiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LltjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LltziAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LluDiAEeKDAMEjnOLmPA" name="Connector22">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LluTiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4jiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlujiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LluziAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlvDiAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmUTiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlvTiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlvjiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlvziAEeKDAMEjnOLmPA" name="Connector23">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlwDiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4TiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlwTiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlwjiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlwziAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmVziAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlxDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlxTiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlxjiAEeKDAMEjnOLmPA" name="Connector24">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlxziAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3ziAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlyDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlyTiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlyjiAEeKDAMEjnOLmPA" partWithPort="_k0LlHDiAEeKDAMEjnOLmPA" role="_k0LmBziAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlyziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LlzDiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LlzTiAEeKDAMEjnOLmPA" name="Connector25">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LlzjiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnfjiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LlzziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll0DiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll0TiAEeKDAMEjnOLmPA" partWithPort="_k0LlHDiAEeKDAMEjnOLmPA" role="_k0LmCDiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll0jiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll0ziAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ll1DiAEeKDAMEjnOLmPA" name="Connector26">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll1TiAEeKDAMEjnOLmPA" partWithPort="_k0LlHTiAEeKDAMEjnOLmPA" role="_k0LmVjiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll1jiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll1ziAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll2DiAEeKDAMEjnOLmPA" partWithPort="_k0LlHDiAEeKDAMEjnOLmPA" role="_k0LmBjiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll2TiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll2jiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ll2ziAEeKDAMEjnOLmPA" name="Connector27">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll3DiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm3ziAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll3TiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll3jiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll3ziAEeKDAMEjnOLmPA" partWithPort="_k0LlFTiAEeKDAMEjnOLmPA" role="_k0LoGTiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll4DiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll4TiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ll4jiAEeKDAMEjnOLmPA" name="Connector28">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll4ziAEeKDAMEjnOLmPA" partWithPort="_k0LlHDiAEeKDAMEjnOLmPA" role="_k0LmCTiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll5DiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll5TiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll5jiAEeKDAMEjnOLmPA" partWithPort="_k0LlFTiAEeKDAMEjnOLmPA" role="_k0LoIjiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll5ziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll6DiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+      <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ll6TiAEeKDAMEjnOLmPA" name="Connector29">
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll6jiAEeKDAMEjnOLmPA" partWithPort="_k0LlGjiAEeKDAMEjnOLmPA" role="_k0LnlTiAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll6ziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll7DiAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+        <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ll7TiAEeKDAMEjnOLmPA" partWithPort="_k0LlGziAEeKDAMEjnOLmPA" role="_k0Lm4ziAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll7jiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll7ziAEeKDAMEjnOLmPA" value="1"/>
+        </end>
+      </ownedConnector>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Package" xmi:id="_k0Ll8DiAEeKDAMEjnOLmPA" name="P5_Semantic"/>
+    <packagedElement xmi:type="uml:Package" xmi:id="_k0Ll8TiAEeKDAMEjnOLmPA" name="P4_Global">
+      <packagedElement xmi:type="uml:Class" xmi:id="_k0Ll8jiAEeKDAMEjnOLmPA" name="Global_Map">
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0Ll8ziAEeKDAMEjnOLmPA" annotatedElement="_k0Ll8jiAEeKDAMEjnOLmPA">
+          <body>This module buid the absolute bitmap map (glob_map) of the scene, using the local map (loc-map).&#xD;
+the origine is the entry zone of the robot.</body>
+        </ownedComment>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Ll9DiAEeKDAMEjnOLmPA" name="glob_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll9TiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll9jiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Ll9ziAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Ll-DiAEeKDAMEjnOLmPA" name="loc_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll-TiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll-jiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Ll-ziAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Ll_DiAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ll_TiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ll_jiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Ll_ziAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmADiAEeKDAMEjnOLmPA" name="gps" visibility="public" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmATiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmAjiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmAziAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Class" xmi:id="_k0LmBDiAEeKDAMEjnOLmPA" name="P4_Global">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LmBTiAEeKDAMEjnOLmPA" name="global_Map" type="_k0Ll8jiAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmBjiAEeKDAMEjnOLmPA" name="loc_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmBziAEeKDAMEjnOLmPA" name="position" type="_k0Lj9jiAEeKDAMEjnOLmPA" aggregation="composite"/>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmCDiAEeKDAMEjnOLmPA" name="gps" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmCTiAEeKDAMEjnOLmPA" name="glob_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmCjiAEeKDAMEjnOLmPA" name="Connector1">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmCziAEeKDAMEjnOLmPA" role="_k0LmBjiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmDDiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmDTiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmDjiAEeKDAMEjnOLmPA" partWithPort="_k0LmBTiAEeKDAMEjnOLmPA" role="_k0Ll-DiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmDziAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmEDiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmETiAEeKDAMEjnOLmPA" name="Connector2">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmEjiAEeKDAMEjnOLmPA" role="_k0LmBziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmEziAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmFDiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmFTiAEeKDAMEjnOLmPA" partWithPort="_k0LmBTiAEeKDAMEjnOLmPA" role="_k0Ll_DiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmFjiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmFziAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmGDiAEeKDAMEjnOLmPA" name="Connector3">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmGTiAEeKDAMEjnOLmPA" role="_k0LmCDiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmGjiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmGziAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmHDiAEeKDAMEjnOLmPA" partWithPort="_k0LmBTiAEeKDAMEjnOLmPA" role="_k0LmADiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmHTiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmHjiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmHziAEeKDAMEjnOLmPA" name="Connector4">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmIDiAEeKDAMEjnOLmPA" partWithPort="_k0LmBTiAEeKDAMEjnOLmPA" role="_k0Ll9DiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmITiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmIjiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmIziAEeKDAMEjnOLmPA" role="_k0LmCTiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmJDiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmJTiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+      </packagedElement>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Package" xmi:id="_k0LmJjiAEeKDAMEjnOLmPA" name="P3_Local">
+      <packagedElement xmi:type="uml:Class" xmi:id="_k0LmJziAEeKDAMEjnOLmPA" name="Local_Map">
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0LmKDiAEeKDAMEjnOLmPA" annotatedElement="_k0LmJziAEeKDAMEjnOLmPA">
+          <body>The Local Map module Build a Relative Cartesian 2D bitmap Map (loc_map) &#xD;
+The frame is centered on the robot (x &lt;=> forward).&#xD;
+it use proxi_map and all proprio and exteroceptive datas giving him the relative displacement.&#xD;
+This map have a MEMORY : the obstacles are placed and 'follow' the motion of the robot, either they are not directly seen by the robot.&#xD;
+It place also all the amer on it map.</body>
+        </ownedComment>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmKTiAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmKjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmKziAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmLDiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmLTiAEeKDAMEjnOLmPA" name="velocity" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmLjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmLziAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmMDiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmMTiAEeKDAMEjnOLmPA" name="accel_girat" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmMjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmMziAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmNDiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmNTiAEeKDAMEjnOLmPA" name="loc_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmNjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmNziAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmODiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmOTiAEeKDAMEjnOLmPA" name="gps" visibility="public" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmOjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmOziAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmPDiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmPTiAEeKDAMEjnOLmPA" name="proxi_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmPjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmPziAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmQDiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmQTiAEeKDAMEjnOLmPA" name="amer" visibility="public" type="_k0Lj6DiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmQjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmQziAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmRDiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Class" xmi:id="_k0LmRTiAEeKDAMEjnOLmPA" name="Amer_Loc">
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmRjiAEeKDAMEjnOLmPA" name="amer_relative" visibility="public" type="_k0Lk7DiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmRziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmSDiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmSTiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmSjiAEeKDAMEjnOLmPA" name="amer" visibility="public" type="_k0Lj6DiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmSziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmTDiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmTTiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Class" xmi:id="_k0LmTjiAEeKDAMEjnOLmPA" name="P3_Local">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LmTziAEeKDAMEjnOLmPA" name="amer_Loc" type="_k0LmRTiAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LmUDiAEeKDAMEjnOLmPA" name="local_Map" type="_k0LmJziAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmUTiAEeKDAMEjnOLmPA" name="proxi_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmUjiAEeKDAMEjnOLmPA" name="gps" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmUziAEeKDAMEjnOLmPA" name="accel_girat" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmVDiAEeKDAMEjnOLmPA" name="velocity" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmVTiAEeKDAMEjnOLmPA" name="position" type="_k0Lj9jiAEeKDAMEjnOLmPA" aggregation="composite"/>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmVjiAEeKDAMEjnOLmPA" name="loc_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmVziAEeKDAMEjnOLmPA" name="amer_relative" type="_k0Lk7DiAEeKDAMEjnOLmPA" aggregation="composite"/>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmWDiAEeKDAMEjnOLmPA" name="Connector1">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmWTiAEeKDAMEjnOLmPA" partWithPort="_k0LmTziAEeKDAMEjnOLmPA" role="_k0LmSjiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmWjiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmWziAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmXDiAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmQTiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmXTiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmXjiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmXziAEeKDAMEjnOLmPA" name="Connector2">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmYDiAEeKDAMEjnOLmPA" role="_k0LmUTiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmYTiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmYjiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmYziAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmPTiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmZDiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmZTiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmZjiAEeKDAMEjnOLmPA" name="Connector3">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmZziAEeKDAMEjnOLmPA" role="_k0LmVTiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmaDiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmaTiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmajiAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmKTiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmaziAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmbDiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmbTiAEeKDAMEjnOLmPA" name="Connector4">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmbjiAEeKDAMEjnOLmPA" role="_k0LmVDiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmbziAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmcDiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmcTiAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmLTiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmcjiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmcziAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmdDiAEeKDAMEjnOLmPA" name="Connector5">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmdTiAEeKDAMEjnOLmPA" role="_k0LmUziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmdjiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmdziAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmeDiAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmMTiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmeTiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmejiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmeziAEeKDAMEjnOLmPA" name="Connector6">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmfDiAEeKDAMEjnOLmPA" role="_k0LmUjiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmfTiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmfjiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmfziAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmOTiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmgDiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmgTiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmgjiAEeKDAMEjnOLmPA" name="Connector7">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmgziAEeKDAMEjnOLmPA" partWithPort="_k0LmUDiAEeKDAMEjnOLmPA" role="_k0LmNTiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmhDiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmhTiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmhjiAEeKDAMEjnOLmPA" role="_k0LmVjiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmhziAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmiDiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LmiTiAEeKDAMEjnOLmPA" name="Connector8">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmijiAEeKDAMEjnOLmPA" role="_k0LmVziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmiziAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmjDiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LmjTiAEeKDAMEjnOLmPA" partWithPort="_k0LmTziAEeKDAMEjnOLmPA" role="_k0LmRjiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmjjiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmjziAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+      </packagedElement>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Package" xmi:id="_k0LmkDiAEeKDAMEjnOLmPA" name="P2_Proxymetry">
+      <packagedElement xmi:type="uml:Class" xmi:id="_k0LmkTiAEeKDAMEjnOLmPA" name="Super_DKM">
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0LmkjiAEeKDAMEjnOLmPA" annotatedElement="_k0LmkTiAEeKDAMEjnOLmPA">
+          <body>Modele Cinematique Direct (MCD) - Direct Kinematics Model (DKM)&#xD;
+Transformation from articular space (left and right wheels speed) to operational space (cartesian velocity)&#xD;
+we call it &quot;Super&quot;-DKM because we not only use odometry speed, but also IMU and GPS inputs, and we output also cartesian position</body>
+        </ownedComment>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmkziAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmlDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmlTiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmljiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmlziAEeKDAMEjnOLmPA" name="velocity" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmmDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmmTiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmmjiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmmziAEeKDAMEjnOLmPA" name="velocity_angular_left_right" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUnSN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmnDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmnTiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmnjiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmnziAEeKDAMEjnOLmPA" name="odometer_linear_left_right" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUlCN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmoDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmoTiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmojiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmoziAEeKDAMEjnOLmPA" name="gps" visibility="public" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmpDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmpTiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmpjiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmpziAEeKDAMEjnOLmPA" name="accel_girat" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmqDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmqTiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmqjiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LmqziAEeKDAMEjnOLmPA" name="attribute" type="_k0LlCziAEeKDAMEjnOLmPA">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmrDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmrTiAEeKDAMEjnOLmPA" value="1"/>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Class" xmi:id="_k0LmrjiAEeKDAMEjnOLmPA" name="Proximetric_Map">
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0LmrziAEeKDAMEjnOLmPA" annotatedElement="_k0LmrjiAEeKDAMEjnOLmPA">
+          <body>Proximetric Map is a bitmap map, but in polar coordinate.&#xD;
+the polar 2D frame is linked to the robot (so relative). Origine x forward the robot, angle with trigonometric way/notation (unclocwise)&#xD;
+this Polar bitmap map is digitalized in Nrange cell from 0 to MaxRange, and in Nangle, from 0 to 2Pi.&#xD;
+Only measures from sensors are directly print on this map : no memory !</body>
+        </ownedComment>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmsDiAEeKDAMEjnOLmPA" name="proxi_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmsTiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmsjiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmsziAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmtDiAEeKDAMEjnOLmPA" name="laser_scan" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_zdwdIAKsEeCQReIOIWJ0nA"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmtTiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmtjiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmtziAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmuDiAEeKDAMEjnOLmPA" name="proxy_left_right" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUgSN8EeKwed7FEEF-4Q"/>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Class" xmi:id="_k0LmuTiAEeKDAMEjnOLmPA" name="Amer_Identif">
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0LmujiAEeKDAMEjnOLmPA" annotatedElement="_k0LmuTiAEeKDAMEjnOLmPA">
+          <body>This Module is able to find a amer in a image, and, using the CameraInfo of the cam, give a position of it, relatively from the robot. it delivers also the shape of the amer, and it color.</body>
+        </ownedComment>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmuziAEeKDAMEjnOLmPA" name="video" visibility="public" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmvDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmvTiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmvjiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmvziAEeKDAMEjnOLmPA" name="relative_pos" visibility="public" type="_k0Lk7DiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmwDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmwTiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmwjiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmwziAEeKDAMEjnOLmPA" name="calibrate" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_5d_eEAKoEeCQReIOIWJ0nA"/>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Class" xmi:id="_k0LmxDiAEeKDAMEjnOLmPA" name="P2_Proximetry">
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0LmxTiAEeKDAMEjnOLmPA" annotatedElement="_k0LmxDiAEeKDAMEjnOLmPA">
+          <body></body>
+        </ownedComment>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmxjiAEeKDAMEjnOLmPA" name="velocity_angular_left_right" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUnSN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmxziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmyDiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmyTiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmyjiAEeKDAMEjnOLmPA" name="odometer_linear_left_right" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUlCN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmyziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LmzDiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LmzTiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LmzjiAEeKDAMEjnOLmPA" name="gps" visibility="public" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LmzziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm0DiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lm0TiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm0jiAEeKDAMEjnOLmPA" name="accel_girat" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm0ziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm1DiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lm1TiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm1jiAEeKDAMEjnOLmPA" name="laser_scan" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_zdwdIAKsEeCQReIOIWJ0nA"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm1ziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm2DiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lm2TiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lm2jiAEeKDAMEjnOLmPA" name="superDKM" type="_k0LmkTiAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lm2ziAEeKDAMEjnOLmPA" name="proximetric_Map" type="_k0LmrjiAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lm3DiAEeKDAMEjnOLmPA" name="obj_Identif" type="_k0LmuTiAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm3TiAEeKDAMEjnOLmPA" name="video" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm3jiAEeKDAMEjnOLmPA" name="calibrate" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_5d_eEAKoEeCQReIOIWJ0nA"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm3ziAEeKDAMEjnOLmPA" name="position" type="_k0Lj9jiAEeKDAMEjnOLmPA" aggregation="composite"/>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm4DiAEeKDAMEjnOLmPA" name="velocity" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm4TiAEeKDAMEjnOLmPA" name="relative_pos" type="_k0Lk7DiAEeKDAMEjnOLmPA" aggregation="composite"/>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm4jiAEeKDAMEjnOLmPA" name="proxi_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lm4ziAEeKDAMEjnOLmPA" name="proxy_left_right" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUgSN8EeKwed7FEEF-4Q"/>
+        </ownedAttribute>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lm5DiAEeKDAMEjnOLmPA" name="Connector1">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm5TiAEeKDAMEjnOLmPA" role="_k0Lm1jiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm5jiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm5ziAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm6DiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2ziAEeKDAMEjnOLmPA" role="_k0LmtDiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm6TiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm6jiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lm6ziAEeKDAMEjnOLmPA" name="Connector2">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm7DiAEeKDAMEjnOLmPA" role="_k0Lm0jiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm7TiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm7jiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm7ziAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmpziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm8DiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm8TiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lm8jiAEeKDAMEjnOLmPA" name="Connector3">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm8ziAEeKDAMEjnOLmPA" role="_k0LmzjiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm9DiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm9TiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm9jiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmoziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm9ziAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm-DiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lm-TiAEeKDAMEjnOLmPA" name="Connector4">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm-jiAEeKDAMEjnOLmPA" role="_k0LmyjiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm-ziAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm_DiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lm_TiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmnziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lm_jiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lm_ziAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnADiAEeKDAMEjnOLmPA" name="Connector5">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnATiAEeKDAMEjnOLmPA" role="_k0LmxjiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnAjiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnAziAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnBDiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmmziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnBTiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnBjiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnBziAEeKDAMEjnOLmPA" name="Connector6">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnCDiAEeKDAMEjnOLmPA" role="_k0Lm3TiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnCTiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnCjiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnCziAEeKDAMEjnOLmPA" partWithPort="_k0Lm3DiAEeKDAMEjnOLmPA" role="_k0LmuziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnDDiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnDTiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnDjiAEeKDAMEjnOLmPA" name="Connector7">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnDziAEeKDAMEjnOLmPA" role="_k0Lm3jiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnEDiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnETiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnEjiAEeKDAMEjnOLmPA" partWithPort="_k0Lm3DiAEeKDAMEjnOLmPA" role="_k0LmwziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnEziAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnFDiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnFTiAEeKDAMEjnOLmPA" name="Connector8">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnFjiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmkziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnFziAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnGDiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnGTiAEeKDAMEjnOLmPA" role="_k0Lm3ziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnGjiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnGziAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnHDiAEeKDAMEjnOLmPA" name="Connector9">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnHTiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2jiAEeKDAMEjnOLmPA" role="_k0LmlziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnHjiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnHziAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnIDiAEeKDAMEjnOLmPA" role="_k0Lm4DiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnITiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnIjiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnIziAEeKDAMEjnOLmPA" name="Connector10">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnJDiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2ziAEeKDAMEjnOLmPA" role="_k0LmsDiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnJTiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnJjiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnJziAEeKDAMEjnOLmPA" role="_k0Lm4jiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnKDiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnKTiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnKjiAEeKDAMEjnOLmPA" name="Connector11">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnKziAEeKDAMEjnOLmPA" partWithPort="_k0Lm3DiAEeKDAMEjnOLmPA" role="_k0LmvziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnLDiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnLTiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnLjiAEeKDAMEjnOLmPA" role="_k0Lm4TiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnLziAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnMDiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnMTiAEeKDAMEjnOLmPA" name="Connector12">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnMjiAEeKDAMEjnOLmPA" role="_k0Lm4ziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnMziAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnNDiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnNTiAEeKDAMEjnOLmPA" partWithPort="_k0Lm2ziAEeKDAMEjnOLmPA" role="_k0LmuDiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnNjiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnNziAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+      </packagedElement>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Package" xmi:id="_k0LnODiAEeKDAMEjnOLmPA" name="P1_Sensors">
+      <packagedElement xmi:type="uml:Class" xmi:id="_k0LnOTiAEeKDAMEjnOLmPA" name="WifiBot_Frame_Out">
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnOjiAEeKDAMEjnOLmPA" name="velocity_tics_left_right" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUZSN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnOziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnPDiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnPTiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnPjiAEeKDAMEjnOLmPA" name="odometer_tics_left_right" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUeCN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnPziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnQDiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnQTiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnQjiAEeKDAMEjnOLmPA" name="proxi_left_right" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUgSN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnQziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnRDiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnRTiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnRjiAEeKDAMEjnOLmPA" name="batt_level" visibility="public" type="_k0LkvDiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnRziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnSDiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnSTiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnSjiAEeKDAMEjnOLmPA" name="current_level" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUjyN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnSziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnTDiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnTTiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Class" xmi:id="_k0LnTjiAEeKDAMEjnOLmPA" name="Odometer">
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnTziAEeKDAMEjnOLmPA" name="velocity_tics_left_right" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUZSN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnUDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnUTiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnUjiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnUziAEeKDAMEjnOLmPA" name="odometer_tics_left_right" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUeCN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnVDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnVTiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnVjiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnVziAEeKDAMEjnOLmPA" name="velocity_angular_left_right" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUnSN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnWDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnWTiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnWjiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnWziAEeKDAMEjnOLmPA" name="odometer_linear_left_right" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUlCN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnXDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnXTiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnXjiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Class" xmi:id="_k0LnXziAEeKDAMEjnOLmPA" name="GPS_Haicom204">
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnYDiAEeKDAMEjnOLmPA" name="gps" visibility="public" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnYTiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnYjiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnYziAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Class" xmi:id="_k0LnZDiAEeKDAMEjnOLmPA" name="IMU_VectorNav100">
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnZTiAEeKDAMEjnOLmPA" name="accel_girat" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnZjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnZziAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnaDiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Class" xmi:id="_k0LnaTiAEeKDAMEjnOLmPA" name="LaserRange_Hokuyo30">
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnajiAEeKDAMEjnOLmPA" name="laser_scan" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_zdwdIAKsEeCQReIOIWJ0nA"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnaziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnbDiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnbTiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnbjiAEeKDAMEjnOLmPA" name="status" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qG6UsAILEeC_ZLzLQhW-TQ"/>
+        </ownedAttribute>
+        <ownedBehavior xmi:type="uml:OpaqueBehavior" xmi:id="_KxjZAHBmEeKpO-l0NGAU9Q" name="OpaqueBehavior1"/>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Class" xmi:id="_k0LnbziAEeKDAMEjnOLmPA" name="Camera_FireWire">
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LncDiAEeKDAMEjnOLmPA" name="video" visibility="public" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LncTiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LncjiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LncziAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LndDiAEeKDAMEjnOLmPA" name="calibrate" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_5d_eEAKoEeCQReIOIWJ0nA"/>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Class" xmi:id="_k0LndTiAEeKDAMEjnOLmPA" name="P1_Sensors">
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LndjiAEeKDAMEjnOLmPA" name="velocity_angular_left_right" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUnSN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LndziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LneDiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LneTiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnejiAEeKDAMEjnOLmPA" name="odometer_linear_left_right" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUlCN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LneziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnfDiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnfTiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnfjiAEeKDAMEjnOLmPA" name="gps" visibility="public" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_MwvvoKlGEeCDX-R4upxIpg"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnfziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LngDiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LngTiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LngjiAEeKDAMEjnOLmPA" name="accel_girat" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LngziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnhDiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LnhTiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnhjiAEeKDAMEjnOLmPA" name="laser_scan" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_zdwdIAKsEeCQReIOIWJ0nA"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnhziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LniDiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LniTiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LnijiAEeKDAMEjnOLmPA" name="wifibot_Frame_Out" type="_k0LnOTiAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LniziAEeKDAMEjnOLmPA" name="GPS" type="_k0LnXziAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LnjDiAEeKDAMEjnOLmPA" name="Odometer" type="_k0LnTjiAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LnjTiAEeKDAMEjnOLmPA" name="IMU" type="_k0LnZDiAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LnjjiAEeKDAMEjnOLmPA" name="LaserRange" type="_k0LnaTiAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LnjziAEeKDAMEjnOLmPA" name="camera_FireWire" type="_k0LnbziAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnkDiAEeKDAMEjnOLmPA" name="calibrate" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_5d_eEAKoEeCQReIOIWJ0nA"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnkTiAEeKDAMEjnOLmPA" name="video" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_mJDa8AKuEeCQReIOIWJ0nA"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnkjiAEeKDAMEjnOLmPA" name="status" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_qG6UsAILEeC_ZLzLQhW-TQ"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnkziAEeKDAMEjnOLmPA" name="batt_level" type="_k0LkvDiAEeKDAMEjnOLmPA" aggregation="composite"/>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnlDiAEeKDAMEjnOLmPA" name="current_level" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUjyN8EeKwed7FEEF-4Q"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LnlTiAEeKDAMEjnOLmPA" name="proxi_Left_Right" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUgSN8EeKwed7FEEF-4Q"/>
+        </ownedAttribute>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnljiAEeKDAMEjnOLmPA" name="Connector1">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnlziAEeKDAMEjnOLmPA" partWithPort="_k0LnjDiAEeKDAMEjnOLmPA" role="_k0LnWziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnmDiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnmTiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnmjiAEeKDAMEjnOLmPA" role="_k0LnejiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnmziAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnnDiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnnTiAEeKDAMEjnOLmPA" name="Connector2">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnnjiAEeKDAMEjnOLmPA" partWithPort="_k0LnjDiAEeKDAMEjnOLmPA" role="_k0LnVziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnnziAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnoDiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnoTiAEeKDAMEjnOLmPA" role="_k0LndjiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnojiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnoziAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnpDiAEeKDAMEjnOLmPA" name="Connector3">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnpTiAEeKDAMEjnOLmPA" partWithPort="_k0LniziAEeKDAMEjnOLmPA" role="_k0LnYDiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnpjiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnpziAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnqDiAEeKDAMEjnOLmPA" role="_k0LnfjiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnqTiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnqjiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnqziAEeKDAMEjnOLmPA" name="Connector4">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnrDiAEeKDAMEjnOLmPA" partWithPort="_k0LnjjiAEeKDAMEjnOLmPA" role="_k0LnajiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnrTiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnrjiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnrziAEeKDAMEjnOLmPA" role="_k0LnhjiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnsDiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnsTiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnsjiAEeKDAMEjnOLmPA" name="Connector5">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnsziAEeKDAMEjnOLmPA" partWithPort="_k0LnjziAEeKDAMEjnOLmPA" role="_k0LndDiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LntDiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LntTiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LntjiAEeKDAMEjnOLmPA" role="_k0LnkDiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LntziAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnuDiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnuTiAEeKDAMEjnOLmPA" name="Connector6">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnujiAEeKDAMEjnOLmPA" partWithPort="_k0LnjziAEeKDAMEjnOLmPA" role="_k0LncDiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnuziAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnvDiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnvTiAEeKDAMEjnOLmPA" role="_k0LnkTiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnvjiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnvziAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnwDiAEeKDAMEjnOLmPA" name="Connector7">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnwTiAEeKDAMEjnOLmPA" partWithPort="_k0LnjTiAEeKDAMEjnOLmPA" role="_k0LnZTiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnwjiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnwziAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnxDiAEeKDAMEjnOLmPA" role="_k0LngjiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnxTiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnxjiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnxziAEeKDAMEjnOLmPA" name="Connector8">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnyDiAEeKDAMEjnOLmPA" partWithPort="_k0LnjjiAEeKDAMEjnOLmPA" role="_k0LnbjiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnyTiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnyjiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnyziAEeKDAMEjnOLmPA" role="_k0LnkjiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LnzDiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LnzTiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LnzjiAEeKDAMEjnOLmPA" name="Connector9">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LnzziAEeKDAMEjnOLmPA" partWithPort="_k0LnijiAEeKDAMEjnOLmPA" role="_k0LnPjiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln0DiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln0TiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln0jiAEeKDAMEjnOLmPA" partWithPort="_k0LnjDiAEeKDAMEjnOLmPA" role="_k0LnUziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln0ziAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln1DiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ln1TiAEeKDAMEjnOLmPA" name="Connector10">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln1jiAEeKDAMEjnOLmPA" partWithPort="_k0LnijiAEeKDAMEjnOLmPA" role="_k0LnOjiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln1ziAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln2DiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln2TiAEeKDAMEjnOLmPA" partWithPort="_k0LnjDiAEeKDAMEjnOLmPA" role="_k0LnTziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln2jiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln2ziAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ln3DiAEeKDAMEjnOLmPA" name="Connector11">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln3TiAEeKDAMEjnOLmPA" partWithPort="_k0LnijiAEeKDAMEjnOLmPA" role="_k0LnQjiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln3jiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln3ziAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln4DiAEeKDAMEjnOLmPA" role="_k0LnlTiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln4TiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln4jiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ln4ziAEeKDAMEjnOLmPA" name="Connector12">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln5DiAEeKDAMEjnOLmPA" partWithPort="_k0LnijiAEeKDAMEjnOLmPA" role="_k0LnSjiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln5TiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln5jiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln5ziAEeKDAMEjnOLmPA" role="_k0LnlDiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln6DiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln6TiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ln6jiAEeKDAMEjnOLmPA" name="Connector13">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln6ziAEeKDAMEjnOLmPA" partWithPort="_k0LnijiAEeKDAMEjnOLmPA" role="_k0LnRjiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln7DiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln7TiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln7jiAEeKDAMEjnOLmPA" role="_k0LnkziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln7ziAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln8DiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+      </packagedElement>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Package" xmi:id="_k0Ln8TiAEeKDAMEjnOLmPA" name="A5_MissionGenerator">
+      <packagedElement xmi:type="uml:Class" xmi:id="_k0Ln8jiAEeKDAMEjnOLmPA" name="Mission">
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Ln8ziAEeKDAMEjnOLmPA" name="goal" visibility="public" type="_k0Lj4ziAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln9DiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln9TiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Ln9jiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Class" xmi:id="_k0Ln9ziAEeKDAMEjnOLmPA" name="A5_MissionGenerator">
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Ln-DiAEeKDAMEjnOLmPA" name="goal" visibility="public" type="_k0Lj4ziAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln-TiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Ln-jiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Ln-ziAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Ln_DiAEeKDAMEjnOLmPA" name="mission" type="_k0Ln8jiAEeKDAMEjnOLmPA"/>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Ln_TiAEeKDAMEjnOLmPA" name="Connector0">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Ln_jiAEeKDAMEjnOLmPA" partWithPort="_k0Ln_DiAEeKDAMEjnOLmPA" role="_k0Ln8ziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Ln_ziAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoADiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoATiAEeKDAMEjnOLmPA" role="_k0Ln-DiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoAjiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoAziAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+      </packagedElement>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Package" xmi:id="_k0LoBDiAEeKDAMEjnOLmPA" name="A4_PathPlanner">
+      <packagedElement xmi:type="uml:Class" xmi:id="_k0LoBTiAEeKDAMEjnOLmPA" name="Path_Planner">
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0LoBjiAEeKDAMEjnOLmPA" annotatedElement="_k0LoBTiAEeKDAMEjnOLmPA">
+          <body>this module deliver the path (waypoints) for the navigator. it use the global map to calculate these waypoints, taking into account the mission to do.</body>
+        </ownedComment>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoBziAEeKDAMEjnOLmPA" name="goal" visibility="public" type="_k0Lj4ziAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoCDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoCTiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoCjiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoCziAEeKDAMEjnOLmPA" name="path" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_p3vEcAK0EeCsG_V0R865wA"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoDDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoDTiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoDjiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoDziAEeKDAMEjnOLmPA" name="glob_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoEDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoETiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoEjiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoEziAEeKDAMEjnOLmPA" name="position" type="_k0Lj9jiAEeKDAMEjnOLmPA" aggregation="composite"/>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Class" xmi:id="_k0LoFDiAEeKDAMEjnOLmPA" name="A4_PathPlanner">
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoFTiAEeKDAMEjnOLmPA" name="path" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_p3vEcAK0EeCsG_V0R865wA"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoFjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoFziAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoGDiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoGTiAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoGjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoGziAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoHDiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoHTiAEeKDAMEjnOLmPA" name="goal" visibility="public" type="_k0Lj4ziAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoHjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoHziAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoIDiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LoITiAEeKDAMEjnOLmPA" name="path_Planner" type="_k0LoBTiAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoIjiAEeKDAMEjnOLmPA" name="glob_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoIziAEeKDAMEjnOLmPA" name="Connector0">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoJDiAEeKDAMEjnOLmPA" role="_k0LoHTiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoJTiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoJjiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoJziAEeKDAMEjnOLmPA" partWithPort="_k0LoITiAEeKDAMEjnOLmPA" role="_k0LoBziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoKDiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoKTiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoKjiAEeKDAMEjnOLmPA" name="Connector1">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoKziAEeKDAMEjnOLmPA" partWithPort="_k0LoITiAEeKDAMEjnOLmPA" role="_k0LoCziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoLDiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoLTiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoLjiAEeKDAMEjnOLmPA" role="_k0LoFTiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoLziAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoMDiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoMTiAEeKDAMEjnOLmPA" name="Connector2">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoMjiAEeKDAMEjnOLmPA" role="_k0LoIjiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoMziAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoNDiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoNTiAEeKDAMEjnOLmPA" partWithPort="_k0LoITiAEeKDAMEjnOLmPA" role="_k0LoDziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoNjiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoNziAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoODiAEeKDAMEjnOLmPA" name="Connector3">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoOTiAEeKDAMEjnOLmPA" role="_k0LoGTiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoOjiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoOziAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoPDiAEeKDAMEjnOLmPA" partWithPort="_k0LoITiAEeKDAMEjnOLmPA" role="_k0LoEziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoPTiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoPjiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+      </packagedElement>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Package" xmi:id="_k0LoPziAEeKDAMEjnOLmPA" name="A3_Navigator">
+      <packagedElement xmi:type="uml:Class" xmi:id="_k0LoQDiAEeKDAMEjnOLmPA" name="Navigator">
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0LoQTiAEeKDAMEjnOLmPA" annotatedElement="_k0LoQDiAEeKDAMEjnOLmPA">
+          <body>Navigator deliver local trajectory for the pilot, taking into account local map.&#xD;
+It must reach the various waypoints, considering the obstacles placed in the local map (loc_map)</body>
+        </ownedComment>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoQjiAEeKDAMEjnOLmPA" name="path" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_p3vEcAK0EeCsG_V0R865wA"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoQziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoRDiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoRTiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoRjiAEeKDAMEjnOLmPA" name="trajectory" visibility="public" type="_k0LkLDiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoRziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoSDiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoSTiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoSjiAEeKDAMEjnOLmPA" name="loc_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoSziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoTDiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoTTiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoTjiAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoTziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoUDiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoUTiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoUjiAEeKDAMEjnOLmPA" name="velocity" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoUziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoVDiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoVTiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Class" xmi:id="_k0LoVjiAEeKDAMEjnOLmPA" name="A3_Navigator">
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoVziAEeKDAMEjnOLmPA" name="path" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_p3vEcAK0EeCsG_V0R865wA"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoWDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoWTiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoWjiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoWziAEeKDAMEjnOLmPA" name="trajectory" visibility="public" type="_k0LkLDiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoXDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoXTiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoXjiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LoXziAEeKDAMEjnOLmPA" name="navigator" type="_k0LoQDiAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoYDiAEeKDAMEjnOLmPA" name="loc_map" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite"/>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoYTiAEeKDAMEjnOLmPA" name="position" type="_k0Lj9jiAEeKDAMEjnOLmPA" aggregation="composite"/>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoYjiAEeKDAMEjnOLmPA" name="velocity" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
+        </ownedAttribute>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoYziAEeKDAMEjnOLmPA" name="Connector1">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoZDiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoRjiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoZTiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoZjiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoZziAEeKDAMEjnOLmPA" role="_k0LoWziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoaDiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoaTiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoajiAEeKDAMEjnOLmPA" name="Connector2">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoaziAEeKDAMEjnOLmPA" role="_k0LoVziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LobDiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LobTiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LobjiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoQjiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LobziAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LocDiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LocTiAEeKDAMEjnOLmPA" name="Connector3">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LocjiAEeKDAMEjnOLmPA" role="_k0LoYDiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LocziAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LodDiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LodTiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoSjiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LodjiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LodziAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoeDiAEeKDAMEjnOLmPA" name="Connector4">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoeTiAEeKDAMEjnOLmPA" role="_k0LoYTiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoejiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoeziAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LofDiAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoTjiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LofTiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LofjiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LofziAEeKDAMEjnOLmPA" name="Connector5">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LogDiAEeKDAMEjnOLmPA" role="_k0LoYjiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LogTiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LogjiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LogziAEeKDAMEjnOLmPA" partWithPort="_k0LoXziAEeKDAMEjnOLmPA" role="_k0LoUjiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LohDiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LohTiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+      </packagedElement>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Package" xmi:id="_k0LohjiAEeKDAMEjnOLmPA" name="A2_Pilot">
+      <packagedElement xmi:type="uml:Class" xmi:id="_k0LohziAEeKDAMEjnOLmPA" name="Pilot">
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0LoiDiAEeKDAMEjnOLmPA" annotatedElement="_k0LohziAEeKDAMEjnOLmPA">
+          <body>The pilot must calculate the set points in operating space, following the trajectory delivered by the navigator. &#xD;
+But the pilot must react to obstacles 'seen' in the proximetric map (prox_map), avoiding them.&#xD;
+</body>
+        </ownedComment>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LoiTiAEeKDAMEjnOLmPA" name="trajectory" visibility="public" type="_k0LkLDiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoijiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoiziAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LojDiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LojTiAEeKDAMEjnOLmPA" name="prox_map" visibility="public" type="_k0LlCDiAEeKDAMEjnOLmPA" aggregation="composite">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LojjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LojziAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LokDiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LokTiAEeKDAMEjnOLmPA" name="op_set_point" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUVyN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LokjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LokziAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LolDiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LolTiAEeKDAMEjnOLmPA" name="position" visibility="public" type="_k0Lj9jiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoljiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LolziAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LomDiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LomTiAEeKDAMEjnOLmPA" name="velocity" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LomjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LomziAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LonDiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LonTiAEeKDAMEjnOLmPA" name="accel_girat" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LonjiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LonziAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LooDiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Class" xmi:id="_k0LooTiAEeKDAMEjnOLmPA" name="IKM">
+        <ownedComment xmi:type="uml:Comment" xmi:id="_k0LoojiAEeKDAMEjnOLmPA" annotatedElement="_k0LooTiAEeKDAMEjnOLmPA">
+          <body>Modele Cinématique Inverse (MCI) - Invert Kinematic Model (IKM)&#xD;
+transform the velocities from the operational space to the articular space (left and right wheels velocities)</body>
+        </ownedComment>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LooziAEeKDAMEjnOLmPA" name="art_set_point" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUDyN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LopDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LopTiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LopjiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LopziAEeKDAMEjnOLmPA" name="op_set_point" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUVyN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoqDiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoqTiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LoqjiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Class" xmi:id="_k0LoqziAEeKDAMEjnOLmPA" name="A2_Pilot">
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LorDiAEeKDAMEjnOLmPA" name="trajectory" visibility="public" type="_k0LkLDiAEeKDAMEjnOLmPA" isUnique="false" aggregation="composite">
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LorTiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LorjiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LorziAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LosDiAEeKDAMEjnOLmPA" name="art_set_point" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUDyN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LosTiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LosjiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0LosziAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LotDiAEeKDAMEjnOLmPA" name="Pilot" type="_k0LohziAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LotTiAEeKDAMEjnOLmPA" name="IKM" type="_k0LooTiAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LouDiAEeKDAMEjnOLmPA" name="velocity" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUpiN8EeKwed7FEEF-4Q"/>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0LouTiAEeKDAMEjnOLmPA" name="accel_girat" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_cgWYIAKqEeCQReIOIWJ0nA"/>
+        </ownedAttribute>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoujiAEeKDAMEjnOLmPA" name="Connector0">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LouziAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LokTiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LovDiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LovTiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LovjiAEeKDAMEjnOLmPA" partWithPort="_k0LotTiAEeKDAMEjnOLmPA" role="_k0LopziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LovziAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LowDiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LowTiAEeKDAMEjnOLmPA" name="Connector1">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LowjiAEeKDAMEjnOLmPA" role="_k0LorDiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LowziAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoxDiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoxTiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LoiTiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoxjiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoxziAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LoyDiAEeKDAMEjnOLmPA" name="Connector2">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LoyTiAEeKDAMEjnOLmPA" partWithPort="_k0LotTiAEeKDAMEjnOLmPA" role="_k0LooziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LoyjiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LoyziAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LozDiAEeKDAMEjnOLmPA" role="_k0LosDiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LozTiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LozjiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LozziAEeKDAMEjnOLmPA" name="Connector3">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo0DiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo0TiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo0jiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo0ziAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LojTiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo1DiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo1TiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lo1jiAEeKDAMEjnOLmPA" name="Connector4">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo1ziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo2DiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo2TiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo2jiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LolTiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo2ziAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo3DiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lo3TiAEeKDAMEjnOLmPA" name="Connector5">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo3jiAEeKDAMEjnOLmPA" role="_k0LouDiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo3ziAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo4DiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo4TiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LomTiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo4jiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo4ziAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0Lo5DiAEeKDAMEjnOLmPA" name="Connector6">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo5TiAEeKDAMEjnOLmPA" role="_k0LouTiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo5jiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo5ziAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0Lo6DiAEeKDAMEjnOLmPA" partWithPort="_k0LotDiAEeKDAMEjnOLmPA" role="_k0LonTiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo6TiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo6jiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+      </packagedElement>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Package" xmi:id="_k0Lo6ziAEeKDAMEjnOLmPA" name="A1_Servoings">
+      <packagedElement xmi:type="uml:Class" xmi:id="_k0Lo7DiAEeKDAMEjnOLmPA" name="Servoings">
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lo7TiAEeKDAMEjnOLmPA" name="art_set_point" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUDyN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo7jiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo7ziAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lo8DiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lo8TiAEeKDAMEjnOLmPA" name="speed_tics_left_right" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUZSN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo8jiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo8ziAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lo9DiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Class" xmi:id="_k0Lo9TiAEeKDAMEjnOLmPA" name="WifiBot_Frame_In">
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lo9jiAEeKDAMEjnOLmPA" name="speed_tics_left_right" visibility="public" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUZSN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo9ziAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo-DiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lo-TiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+      </packagedElement>
+      <packagedElement xmi:type="uml:Class" xmi:id="_k0Lo-jiAEeKDAMEjnOLmPA" name="A1_Servoings">
+        <ownedAttribute xmi:type="uml:Port" xmi:id="_k0Lo-ziAEeKDAMEjnOLmPA" name="art_set_point" visibility="private" isUnique="false" aggregation="composite">
+          <type xmi:type="uml:DataType" href="pathmap://Robotml_LIBRARIES/RobotMLPlatformLibraries.uml#_A3LUDyN8EeKwed7FEEF-4Q"/>
+          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0Lo_DiAEeKDAMEjnOLmPA" value="1"/>
+          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0Lo_TiAEeKDAMEjnOLmPA" value="1"/>
+          <defaultValue xmi:type="uml:LiteralString" xmi:id="_k0Lo_jiAEeKDAMEjnOLmPA">
+            <value xsi:nil="true"/>
+          </defaultValue>
+        </ownedAttribute>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0Lo_ziAEeKDAMEjnOLmPA" name="Servoings" type="_k0Lo7DiAEeKDAMEjnOLmPA"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_k0LpADiAEeKDAMEjnOLmPA" name="Frame_In" type="_k0Lo9TiAEeKDAMEjnOLmPA"/>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LpATiAEeKDAMEjnOLmPA" name="Connector1">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LpAjiAEeKDAMEjnOLmPA" partWithPort="_k0LpADiAEeKDAMEjnOLmPA" role="_k0Lo9jiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LpAziAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LpBDiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LpBTiAEeKDAMEjnOLmPA" partWithPort="_k0Lo_ziAEeKDAMEjnOLmPA" role="_k0Lo8TiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LpBjiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LpBziAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+        <ownedConnector xmi:type="uml:Connector" xmi:id="_k0LpCDiAEeKDAMEjnOLmPA" name="Connector2">
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LpCTiAEeKDAMEjnOLmPA" role="_k0Lo-ziAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LpCjiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LpCziAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+          <end xmi:type="uml:ConnectorEnd" xmi:id="_k0LpDDiAEeKDAMEjnOLmPA" partWithPort="_k0Lo_ziAEeKDAMEjnOLmPA" role="_k0Lo7TiAEeKDAMEjnOLmPA">
+            <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k0LpDTiAEeKDAMEjnOLmPA" value="1"/>
+            <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k0LpDjiAEeKDAMEjnOLmPA" value="1"/>
+          </end>
+        </ownedConnector>
+      </packagedElement>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Package" xmi:id="_O0YV0DiuEeKFHpsdOC1X1Q" name="ExecutionPlatform">
+      <packagedElement xmi:type="uml:Class" xmi:id="_iBPzUDiuEeKFHpsdOC1X1Q" name="RTmaps"/>
+      <packagedElement xmi:type="uml:Class" xmi:id="_rlJygDiuEeKFHpsdOC1X1Q" name="Blender-Morse"/>
+      <packagedElement xmi:type="uml:Class" xmi:id="_HR8psDivEeKFHpsdOC1X1Q" name="Platform1">
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_QAl00DivEeKFHpsdOC1X1Q" name="RTmaps1" type="_iBPzUDiuEeKFHpsdOC1X1Q"/>
+        <ownedAttribute xmi:type="uml:Property" xmi:id="_yvakUDivEeKFHpsdOC1X1Q" name="Blender-Morse2" type="_rlJygDiuEeKFHpsdOC1X1Q"/>
+      </packagedElement>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Package" xmi:id="_1c43MDivEeKFHpsdOC1X1Q" name="PlatformModel">
+      <packagedElement xmi:type="uml:Package" xmi:id="_1dVjIDivEeKFHpsdOC1X1Q" name="Platform1Platform">
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_1dVjITivEeKFHpsdOC1X1Q" name="RTmaps1" classifier="_iBPzUDiuEeKFHpsdOC1X1Q"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_1dVjIjivEeKFHpsdOC1X1Q" name="Blender-Morse2" classifier="_rlJygDiuEeKFHpsdOC1X1Q"/>
+      </packagedElement>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Package" xmi:id="_Fs0CcDiwEeKFHpsdOC1X1Q" name="DeploymentPlans">
+      <packagedElement xmi:type="uml:Package" xmi:id="_Kta1kDiwEeKFHpsdOC1X1Q" name="WifibotDepPlan">
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KtkmkTiwEeKFHpsdOC1X1Q" name="mainInstance" classifier="_k0LlFDiAEeKDAMEjnOLmPA">
+          <slot xmi:type="uml:Slot" xmi:id="_KuUNcDiwEeKFHpsdOC1X1Q" definingFeature="_k0LlFTiAEeKDAMEjnOLmPA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_KuUNcTiwEeKFHpsdOC1X1Q" instance="_KttwgDiwEeKFHpsdOC1X1Q"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_KudXYTiwEeKFHpsdOC1X1Q" definingFeature="_k0LlFjiAEeKDAMEjnOLmPA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_KudXYjiwEeKFHpsdOC1X1Q" instance="_KuUNcjiwEeKFHpsdOC1X1Q"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_KunIYDiwEeKFHpsdOC1X1Q" definingFeature="_k0LlFziAEeKDAMEjnOLmPA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_KunIYTiwEeKFHpsdOC1X1Q" instance="_KudXYziwEeKFHpsdOC1X1Q"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_KunIaTiwEeKFHpsdOC1X1Q" definingFeature="_k0LlGDiAEeKDAMEjnOLmPA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_KunIajiwEeKFHpsdOC1X1Q" instance="_KunIYjiwEeKFHpsdOC1X1Q"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_KuwSVziwEeKFHpsdOC1X1Q" definingFeature="_k0LlGTiAEeKDAMEjnOLmPA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_KuwSWDiwEeKFHpsdOC1X1Q" instance="_KuwSUDiwEeKFHpsdOC1X1Q"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_KvD0UjiwEeKFHpsdOC1X1Q" definingFeature="_k0LlGjiAEeKDAMEjnOLmPA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_KvD0UziwEeKFHpsdOC1X1Q" instance="_KuwSWTiwEeKFHpsdOC1X1Q"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_KvD0XjiwEeKFHpsdOC1X1Q" definingFeature="_k0LlGziAEeKDAMEjnOLmPA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_KvD0XziwEeKFHpsdOC1X1Q" instance="_KvD0VDiwEeKFHpsdOC1X1Q"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_KvM-RDiwEeKFHpsdOC1X1Q" definingFeature="_k0LlHDiAEeKDAMEjnOLmPA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_KvM-RTiwEeKFHpsdOC1X1Q" instance="_KvM-QDiwEeKFHpsdOC1X1Q"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_KvM-TTiwEeKFHpsdOC1X1Q" definingFeature="_k0LlHTiAEeKDAMEjnOLmPA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_KvM-TjiwEeKFHpsdOC1X1Q" instance="_KvM-RjiwEeKFHpsdOC1X1Q"/>
+          </slot>
+        </packagedElement>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KttwgDiwEeKFHpsdOC1X1Q" name="mainInstance.pathPlanner" classifier="_k0LoFDiAEeKDAMEjnOLmPA">
+          <slot xmi:type="uml:Slot" xmi:id="_KuKccDiwEeKFHpsdOC1X1Q" definingFeature="_k0LoITiAEeKDAMEjnOLmPA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_KuKccTiwEeKFHpsdOC1X1Q" instance="_KttwgTiwEeKFHpsdOC1X1Q"/>
+          </slot>
+        </packagedElement>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KttwgTiwEeKFHpsdOC1X1Q" name="mainInstance.pathPlanner.path_Planner" classifier="_k0LoBTiAEeKDAMEjnOLmPA"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KuUNcjiwEeKFHpsdOC1X1Q" name="mainInstance.missionGenerator" classifier="_k0Ln9ziAEeKDAMEjnOLmPA">
+          <slot xmi:type="uml:Slot" xmi:id="_KuUNdDiwEeKFHpsdOC1X1Q" definingFeature="_k0Ln_DiAEeKDAMEjnOLmPA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_KudXYDiwEeKFHpsdOC1X1Q" instance="_KuUNcziwEeKFHpsdOC1X1Q"/>
+          </slot>
+        </packagedElement>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KuUNcziwEeKFHpsdOC1X1Q" name="mainInstance.missionGenerator.mission" classifier="_k0Ln8jiAEeKDAMEjnOLmPA"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KudXYziwEeKFHpsdOC1X1Q" name="mainInstance.navigator" classifier="_k0LoVjiAEeKDAMEjnOLmPA">
+          <slot xmi:type="uml:Slot" xmi:id="_KudXZTiwEeKFHpsdOC1X1Q" definingFeature="_k0LoXziAEeKDAMEjnOLmPA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_KudXZjiwEeKFHpsdOC1X1Q" instance="_KudXZDiwEeKFHpsdOC1X1Q"/>
+          </slot>
+        </packagedElement>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KudXZDiwEeKFHpsdOC1X1Q" name="mainInstance.navigator.navigator" classifier="_k0LoQDiAEeKDAMEjnOLmPA"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KunIYjiwEeKFHpsdOC1X1Q" name="mainInstance.pilot" classifier="_k0LoqziAEeKDAMEjnOLmPA">
+          <slot xmi:type="uml:Slot" xmi:id="_KunIZDiwEeKFHpsdOC1X1Q" definingFeature="_k0LotDiAEeKDAMEjnOLmPA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_KunIZTiwEeKFHpsdOC1X1Q" instance="_KunIYziwEeKFHpsdOC1X1Q"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_KunIZziwEeKFHpsdOC1X1Q" definingFeature="_k0LotTiAEeKDAMEjnOLmPA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_KunIaDiwEeKFHpsdOC1X1Q" instance="_KunIZjiwEeKFHpsdOC1X1Q"/>
+          </slot>
+        </packagedElement>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KunIYziwEeKFHpsdOC1X1Q" name="mainInstance.pilot.Pilot" classifier="_k0LohziAEeKDAMEjnOLmPA"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KunIZjiwEeKFHpsdOC1X1Q" name="mainInstance.pilot.IKM" classifier="_k0LooTiAEeKDAMEjnOLmPA"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KuwSUDiwEeKFHpsdOC1X1Q" name="mainInstance.servoing" classifier="_k0Lo-jiAEeKDAMEjnOLmPA">
+          <slot xmi:type="uml:Slot" xmi:id="_KuwSUjiwEeKFHpsdOC1X1Q" definingFeature="_k0Lo_ziAEeKDAMEjnOLmPA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_KuwSUziwEeKFHpsdOC1X1Q" instance="_KuwSUTiwEeKFHpsdOC1X1Q"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_KuwSVTiwEeKFHpsdOC1X1Q" definingFeature="_k0LpADiAEeKDAMEjnOLmPA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_KuwSVjiwEeKFHpsdOC1X1Q" instance="_KuwSVDiwEeKFHpsdOC1X1Q"/>
+          </slot>
+        </packagedElement>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KuwSUTiwEeKFHpsdOC1X1Q" name="mainInstance.servoing.Servoings" classifier="_k0Lo7DiAEeKDAMEjnOLmPA"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KuwSVDiwEeKFHpsdOC1X1Q" name="mainInstance.servoing.Frame_In" classifier="_k0Lo9TiAEeKDAMEjnOLmPA"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KuwSWTiwEeKFHpsdOC1X1Q" name="mainInstance.sensors" classifier="_k0LndTiAEeKDAMEjnOLmPA">
+          <slot xmi:type="uml:Slot" xmi:id="_Ku6DUDiwEeKFHpsdOC1X1Q" definingFeature="_k0LnijiAEeKDAMEjnOLmPA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_Ku6DUTiwEeKFHpsdOC1X1Q" instance="_KuwSWjiwEeKFHpsdOC1X1Q"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_Ku6DUziwEeKFHpsdOC1X1Q" definingFeature="_k0LniziAEeKDAMEjnOLmPA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_Ku6DVDiwEeKFHpsdOC1X1Q" instance="_Ku6DUjiwEeKFHpsdOC1X1Q"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_Ku6DVjiwEeKFHpsdOC1X1Q" definingFeature="_k0LnjDiAEeKDAMEjnOLmPA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_Ku6DVziwEeKFHpsdOC1X1Q" instance="_Ku6DVTiwEeKFHpsdOC1X1Q"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_Ku6DWTiwEeKFHpsdOC1X1Q" definingFeature="_k0LnjTiAEeKDAMEjnOLmPA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_Ku6DWjiwEeKFHpsdOC1X1Q" instance="_Ku6DWDiwEeKFHpsdOC1X1Q"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_Ku6DXDiwEeKFHpsdOC1X1Q" definingFeature="_k0LnjjiAEeKDAMEjnOLmPA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_Ku6DXTiwEeKFHpsdOC1X1Q" instance="_Ku6DWziwEeKFHpsdOC1X1Q"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_KvD0UDiwEeKFHpsdOC1X1Q" definingFeature="_k0LnjziAEeKDAMEjnOLmPA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_KvD0UTiwEeKFHpsdOC1X1Q" instance="_Ku6DXjiwEeKFHpsdOC1X1Q"/>
+          </slot>
+        </packagedElement>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KuwSWjiwEeKFHpsdOC1X1Q" name="mainInstance.sensors.wifibot_Frame_Out" classifier="_k0LnOTiAEeKDAMEjnOLmPA"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_Ku6DUjiwEeKFHpsdOC1X1Q" name="mainInstance.sensors.GPS" classifier="_k0LnXziAEeKDAMEjnOLmPA"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_Ku6DVTiwEeKFHpsdOC1X1Q" name="mainInstance.sensors.Odometer" classifier="_k0LnTjiAEeKDAMEjnOLmPA"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_Ku6DWDiwEeKFHpsdOC1X1Q" name="mainInstance.sensors.IMU" classifier="_k0LnZDiAEeKDAMEjnOLmPA"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_Ku6DWziwEeKFHpsdOC1X1Q" name="mainInstance.sensors.LaserRange" classifier="_k0LnaTiAEeKDAMEjnOLmPA"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_Ku6DXjiwEeKFHpsdOC1X1Q" name="mainInstance.sensors.camera_FireWire" classifier="_k0LnbziAEeKDAMEjnOLmPA"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvD0VDiwEeKFHpsdOC1X1Q" name="mainInstance.proximetry" classifier="_k0LmxDiAEeKDAMEjnOLmPA">
+          <slot xmi:type="uml:Slot" xmi:id="_KvD0VjiwEeKFHpsdOC1X1Q" definingFeature="_k0Lm2jiAEeKDAMEjnOLmPA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_KvD0VziwEeKFHpsdOC1X1Q" instance="_KvD0VTiwEeKFHpsdOC1X1Q"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_KvD0WTiwEeKFHpsdOC1X1Q" definingFeature="_k0Lm2ziAEeKDAMEjnOLmPA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_KvD0WjiwEeKFHpsdOC1X1Q" instance="_KvD0WDiwEeKFHpsdOC1X1Q"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_KvD0XDiwEeKFHpsdOC1X1Q" definingFeature="_k0Lm3DiAEeKDAMEjnOLmPA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_KvD0XTiwEeKFHpsdOC1X1Q" instance="_KvD0WziwEeKFHpsdOC1X1Q"/>
+          </slot>
+        </packagedElement>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvD0VTiwEeKFHpsdOC1X1Q" name="mainInstance.proximetry.superDKM" classifier="_k0LmkTiAEeKDAMEjnOLmPA"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvD0WDiwEeKFHpsdOC1X1Q" name="mainInstance.proximetry.proximetric_Map" classifier="_k0LmrjiAEeKDAMEjnOLmPA"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvD0WziwEeKFHpsdOC1X1Q" name="mainInstance.proximetry.amer_Identif" classifier="_k0LmuTiAEeKDAMEjnOLmPA"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvM-QDiwEeKFHpsdOC1X1Q" name="mainInstance.global_map" classifier="_k0LmBDiAEeKDAMEjnOLmPA">
+          <slot xmi:type="uml:Slot" xmi:id="_KvM-QjiwEeKFHpsdOC1X1Q" definingFeature="_k0LmBTiAEeKDAMEjnOLmPA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_KvM-QziwEeKFHpsdOC1X1Q" instance="_KvM-QTiwEeKFHpsdOC1X1Q"/>
+          </slot>
+        </packagedElement>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvM-QTiwEeKFHpsdOC1X1Q" name="mainInstance.global_map.global_Map" classifier="_k0Ll8jiAEeKDAMEjnOLmPA"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvM-RjiwEeKFHpsdOC1X1Q" name="mainInstance.local_Map" classifier="_k0LmTjiAEeKDAMEjnOLmPA">
+          <slot xmi:type="uml:Slot" xmi:id="_KvM-SDiwEeKFHpsdOC1X1Q" definingFeature="_k0LmTziAEeKDAMEjnOLmPA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_KvM-STiwEeKFHpsdOC1X1Q" instance="_KvM-RziwEeKFHpsdOC1X1Q"/>
+          </slot>
+          <slot xmi:type="uml:Slot" xmi:id="_KvM-SziwEeKFHpsdOC1X1Q" definingFeature="_k0LmUDiAEeKDAMEjnOLmPA">
+            <value xmi:type="uml:InstanceValue" xmi:id="_KvM-TDiwEeKFHpsdOC1X1Q" instance="_KvM-SjiwEeKFHpsdOC1X1Q"/>
+          </slot>
+        </packagedElement>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvM-RziwEeKFHpsdOC1X1Q" name="mainInstance.local_Map.amer_Loc" classifier="_k0LmRTiAEeKDAMEjnOLmPA"/>
+        <packagedElement xmi:type="uml:InstanceSpecification" xmi:id="_KvM-SjiwEeKFHpsdOC1X1Q" name="mainInstance.local_Map.local_Map" classifier="_k0LmJziAEeKDAMEjnOLmPA"/>
+        <packagedElement xmi:type="uml:Abstraction" xmi:id="_WxjV0DiwEeKFHpsdOC1X1Q" name="allocate to Blender-Morse2" client="_KuwSWTiwEeKFHpsdOC1X1Q" supplier="_1dVjIjivEeKFHpsdOC1X1Q"/>
+        <packagedElement xmi:type="uml:Abstraction" xmi:id="_Yxf0UDiwEeKFHpsdOC1X1Q" name="allocate to Blender-Morse2" client="_KuwSUDiwEeKFHpsdOC1X1Q" supplier="_1dVjIjivEeKFHpsdOC1X1Q"/>
+        <packagedElement xmi:type="uml:Abstraction" xmi:id="_j6kagDiwEeKFHpsdOC1X1Q" name="allocate to RTmaps1" client="_KttwgDiwEeKFHpsdOC1X1Q" supplier="_1dVjITivEeKFHpsdOC1X1Q"/>
+        <packagedElement xmi:type="uml:Abstraction" xmi:id="_kcVq0DiwEeKFHpsdOC1X1Q" name="allocate to RTmaps1" client="_KuUNcjiwEeKFHpsdOC1X1Q" supplier="_1dVjITivEeKFHpsdOC1X1Q"/>
+        <packagedElement xmi:type="uml:Abstraction" xmi:id="_k-HiMDiwEeKFHpsdOC1X1Q" name="allocate to RTmaps1" client="_KudXYziwEeKFHpsdOC1X1Q" supplier="_1dVjITivEeKFHpsdOC1X1Q"/>
+        <packagedElement xmi:type="uml:Abstraction" xmi:id="_lnLGQDiwEeKFHpsdOC1X1Q" name="allocate to RTmaps1" client="_KunIYjiwEeKFHpsdOC1X1Q" supplier="_1dVjITivEeKFHpsdOC1X1Q"/>
+        <packagedElement xmi:type="uml:Abstraction" xmi:id="_mELyYDiwEeKFHpsdOC1X1Q" name="allocate to RTmaps1" client="_KvD0VDiwEeKFHpsdOC1X1Q" supplier="_1dVjITivEeKFHpsdOC1X1Q"/>
+        <packagedElement xmi:type="uml:Abstraction" xmi:id="_mhfZcDiwEeKFHpsdOC1X1Q" name="allocate to RTmaps1" client="_KvM-QDiwEeKFHpsdOC1X1Q" supplier="_1dVjITivEeKFHpsdOC1X1Q"/>
+        <packagedElement xmi:type="uml:Abstraction" xmi:id="_nLJacDiwEeKFHpsdOC1X1Q" name="allocate to RTmaps1" client="_KvM-RjiwEeKFHpsdOC1X1Q" supplier="_1dVjITivEeKFHpsdOC1X1Q"/>
+      </packagedElement>
+    </packagedElement>
+    <packagedElement xmi:type="uml:Class" xmi:id="_r_SxEKEKEeKLUqX9IJq2Gg" name="Environment">
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_wOk08KEKEeKLUqX9IJq2Gg" name="wifibot" type="_k0LlFDiAEeKDAMEjnOLmPA"/>
+    </packagedElement>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_k0LpDziAEeKDAMEjnOLmPA">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_k0LpEDiAEeKDAMEjnOLmPA" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="http://Papyrus/RobotML/1#/"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://Robotml_PROFILES/RobotMLProfile.profile.uml#_3QOHEPcEEd-J06U5HM_o-Q"/>
+    </profileApplication>
+    <profileApplication xmi:type="uml:ProfileApplication" xmi:id="_205nILU5EeWmy72C-w00OQ">
+      <eAnnotations xmi:type="ecore:EAnnotation" xmi:id="_207cULU5EeWmy72C-w00OQ" source="http://www.eclipse.org/uml2/2.0.0/UML">
+        <references xmi:type="ecore:EPackage" href="pathmap://PAPYRUS_ACTIONLANGUAGE_PROFILE/ActionLanguage-Profile.profile.uml#_Kv8EIKFXEeS_KNX0nfvIVQ"/>
+      </eAnnotations>
+      <appliedProfile xmi:type="uml:Profile" href="pathmap://PAPYRUS_ACTIONLANGUAGE_PROFILE/ActionLanguage-Profile.profile.uml#ActionLanguage"/>
+    </profileApplication>
+  </uml:Model>
+  <RobotML:Software xmi:id="_k0LpETiAEeKDAMEjnOLmPA" base_Class="_k0Ll8jiAEeKDAMEjnOLmPA"/>
+  <RobotML:Software xmi:id="_k0LpEjiAEeKDAMEjnOLmPA" base_Class="_k0LmBDiAEeKDAMEjnOLmPA"/>
+  <RobotML:Software xmi:id="_k0LpEziAEeKDAMEjnOLmPA" base_Class="_k0LmJziAEeKDAMEjnOLmPA"/>
+  <RobotML:Software xmi:id="_k0LpFDiAEeKDAMEjnOLmPA" base_Class="_k0LmRTiAEeKDAMEjnOLmPA"/>
+  <RobotML:Software xmi:id="_k0LpFTiAEeKDAMEjnOLmPA" base_Class="_k0LmTjiAEeKDAMEjnOLmPA"/>
+  <RobotML:Software xmi:id="_k0LpFjiAEeKDAMEjnOLmPA" base_Class="_k0LmkTiAEeKDAMEjnOLmPA"/>
+  <RobotML:Software xmi:id="_k0LpFziAEeKDAMEjnOLmPA" base_Class="_k0LmrjiAEeKDAMEjnOLmPA"/>
+  <RobotML:Software xmi:id="_k0LpGDiAEeKDAMEjnOLmPA" base_Class="_k0LmuTiAEeKDAMEjnOLmPA"/>
+  <RobotML:Software xmi:id="_k0LpGTiAEeKDAMEjnOLmPA" base_Class="_k0LmxDiAEeKDAMEjnOLmPA"/>
+  <RobotML:RoboticSystem xmi:id="_k0LpGjiAEeKDAMEjnOLmPA" base_Class="_k0LnOTiAEeKDAMEjnOLmPA"/>
+  <RobotML:SensorSystem xmi:id="_k0LpGziAEeKDAMEjnOLmPA" base_Class="_k0LnTjiAEeKDAMEjnOLmPA"/>
+  <RobotML:GPSSystem xmi:id="_k0LpHDiAEeKDAMEjnOLmPA" base_Class="_k0LnXziAEeKDAMEjnOLmPA"/>
+  <RobotML:LidarSystem xmi:id="_k0LpHjiAEeKDAMEjnOLmPA" base_Class="_k0LnaTiAEeKDAMEjnOLmPA" libraryPath="" libraryComponentName=""/>
+  <RobotML:CameraSystem xmi:id="_k0LpHziAEeKDAMEjnOLmPA" base_Class="_k0LnbziAEeKDAMEjnOLmPA"/>
+  <RobotML:Software xmi:id="_k0LpIDiAEeKDAMEjnOLmPA" base_Class="_k0Ln8jiAEeKDAMEjnOLmPA"/>
+  <RobotML:Software xmi:id="_k0LpITiAEeKDAMEjnOLmPA" base_Class="_k0Ln9ziAEeKDAMEjnOLmPA"/>
+  <RobotML:Software xmi:id="_k0LpIjiAEeKDAMEjnOLmPA" base_Class="_k0LoBTiAEeKDAMEjnOLmPA"/>
+  <RobotML:Software xmi:id="_k0LpIziAEeKDAMEjnOLmPA" base_Class="_k0LoFDiAEeKDAMEjnOLmPA"/>
+  <RobotML:Software xmi:id="_k0LpJDiAEeKDAMEjnOLmPA" base_Class="_k0LoQDiAEeKDAMEjnOLmPA"/>
+  <RobotML:Software xmi:id="_k0LpJTiAEeKDAMEjnOLmPA" base_Class="_k0LoVjiAEeKDAMEjnOLmPA"/>
+  <RobotML:Software xmi:id="_k0LpJjiAEeKDAMEjnOLmPA" base_Class="_k0LohziAEeKDAMEjnOLmPA"/>
+  <RobotML:Software xmi:id="_k0LpJziAEeKDAMEjnOLmPA" base_Class="_k0LooTiAEeKDAMEjnOLmPA"/>
+  <RobotML:Software xmi:id="_k0LpKDiAEeKDAMEjnOLmPA" base_Class="_k0LoqziAEeKDAMEjnOLmPA"/>
+  <RobotML:Software xmi:id="_k0LpKTiAEeKDAMEjnOLmPA" base_Class="_k0Lo7DiAEeKDAMEjnOLmPA"/>
+  <RobotML:RoboticSystem xmi:id="_k0LpKjiAEeKDAMEjnOLmPA" base_Class="_k0Lo9TiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpKziAEeKDAMEjnOLmPA" base_Port="_k0Lo-ziAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpLDiAEeKDAMEjnOLmPA" base_Port="_k0Lo7TiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpLTiAEeKDAMEjnOLmPA" base_Port="_k0Lo8TiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpLjiAEeKDAMEjnOLmPA" base_Port="_k0Lo9jiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpLziAEeKDAMEjnOLmPA" base_Port="_k0LorDiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpMDiAEeKDAMEjnOLmPA" base_Port="_k0LoiTiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpMTiAEeKDAMEjnOLmPA" base_Port="_k0LojTiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpMjiAEeKDAMEjnOLmPA" base_Port="_k0LolTiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpMziAEeKDAMEjnOLmPA" base_Port="_k0LomTiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpNDiAEeKDAMEjnOLmPA" base_Port="_k0LonTiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpNTiAEeKDAMEjnOLmPA" base_Port="_k0LokTiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpNjiAEeKDAMEjnOLmPA" base_Port="_k0LopziAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpNziAEeKDAMEjnOLmPA" base_Port="_k0LooziAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpODiAEeKDAMEjnOLmPA" base_Port="_k0LosDiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpOTiAEeKDAMEjnOLmPA" base_Port="_k0LoVziAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpOjiAEeKDAMEjnOLmPA" base_Port="_k0LoQjiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpOziAEeKDAMEjnOLmPA" base_Port="_k0LoSjiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpPDiAEeKDAMEjnOLmPA" base_Port="_k0LoTjiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpPTiAEeKDAMEjnOLmPA" base_Port="_k0LoUjiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpPjiAEeKDAMEjnOLmPA" base_Port="_k0LoRjiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpPziAEeKDAMEjnOLmPA" base_Port="_k0LoWziAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpQDiAEeKDAMEjnOLmPA" base_Port="_k0LoHTiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpQTiAEeKDAMEjnOLmPA" base_Port="_k0LoGTiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpQjiAEeKDAMEjnOLmPA" base_Port="_k0LoBziAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpQziAEeKDAMEjnOLmPA" base_Port="_k0LoDziAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpRDiAEeKDAMEjnOLmPA" base_Port="_k0LoCziAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpRTiAEeKDAMEjnOLmPA" base_Port="_k0LoFTiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpRjiAEeKDAMEjnOLmPA" base_Port="_k0Ln8ziAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpRziAEeKDAMEjnOLmPA" base_Port="_k0Ln-DiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpSDiAEeKDAMEjnOLmPA" base_Port="_k0LnUziAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpSTiAEeKDAMEjnOLmPA" base_Port="_k0LnTziAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpSjiAEeKDAMEjnOLmPA" base_Port="_k0LnOjiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpSziAEeKDAMEjnOLmPA" base_Port="_k0LnPjiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpTDiAEeKDAMEjnOLmPA" base_Port="_k0LnSjiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpTTiAEeKDAMEjnOLmPA" base_Port="_k0LnQjiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpTjiAEeKDAMEjnOLmPA" base_Port="_k0LnRjiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpTziAEeKDAMEjnOLmPA" base_Port="_k0LnWziAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpUDiAEeKDAMEjnOLmPA" base_Port="_k0LnVziAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpUTiAEeKDAMEjnOLmPA" base_Port="_k0LnZTiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpUjiAEeKDAMEjnOLmPA" base_Port="_k0LnYDiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpUziAEeKDAMEjnOLmPA" base_Port="_k0LnajiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpVDiAEeKDAMEjnOLmPA" base_Port="_k0LncDiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpVTiAEeKDAMEjnOLmPA" base_Port="_k0LmxjiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpVjiAEeKDAMEjnOLmPA" base_Port="_k0LmyjiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpVziAEeKDAMEjnOLmPA" base_Port="_k0LmzjiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpWDiAEeKDAMEjnOLmPA" base_Port="_k0Lm0jiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpWTiAEeKDAMEjnOLmPA" base_Port="_k0Lm1jiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpWjiAEeKDAMEjnOLmPA" base_Port="_k0LmmziAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpWziAEeKDAMEjnOLmPA" base_Port="_k0LmnziAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpXDiAEeKDAMEjnOLmPA" base_Port="_k0LmoziAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpXTiAEeKDAMEjnOLmPA" base_Port="_k0LmpziAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpXjiAEeKDAMEjnOLmPA" base_Port="_k0LmkziAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpXziAEeKDAMEjnOLmPA" base_Port="_k0LmlziAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpYDiAEeKDAMEjnOLmPA" base_Port="_k0LmRjiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpYTiAEeKDAMEjnOLmPA" base_Port="_k0LmSjiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpYjiAEeKDAMEjnOLmPA" base_Port="_k0LmKTiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpYziAEeKDAMEjnOLmPA" base_Port="_k0LmLTiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpZDiAEeKDAMEjnOLmPA" base_Port="_k0LmMTiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpZTiAEeKDAMEjnOLmPA" base_Port="_k0LmOTiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpZjiAEeKDAMEjnOLmPA" base_Port="_k0LmPTiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpZziAEeKDAMEjnOLmPA" base_Port="_k0LmQTiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpaDiAEeKDAMEjnOLmPA" base_Port="_k0LmNTiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpaTiAEeKDAMEjnOLmPA" base_Port="_k0Ll-DiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpajiAEeKDAMEjnOLmPA" base_Port="_k0Ll_DiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpaziAEeKDAMEjnOLmPA" base_Port="_k0LmADiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0LpbDiAEeKDAMEjnOLmPA" base_Port="_k0Ll9DiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU4DiAEeKDAMEjnOLmPA" base_Port="_k0LnejiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU4TiAEeKDAMEjnOLmPA" base_Port="_k0LnfjiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU4jiAEeKDAMEjnOLmPA" base_Port="_k0LnhjiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU4ziAEeKDAMEjnOLmPA" base_Port="_k0LngjiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU5DiAEeKDAMEjnOLmPA" base_Port="_k0LndjiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU5TiAEeKDAMEjnOLmPA" base_Port="_k0LmsDiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU5jiAEeKDAMEjnOLmPA" base_Port="_k0LmtDiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU5ziAEeKDAMEjnOLmPA" base_Port="_k0LmvziAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU6DiAEeKDAMEjnOLmPA" base_Port="_k0LmuziAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU6TiAEeKDAMEjnOLmPA" base_Port="_k0LndDiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU6jiAEeKDAMEjnOLmPA" base_Port="_k0LnbjiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU6ziAEeKDAMEjnOLmPA" base_Port="_k0LmwziAEeKDAMEjnOLmPA" bufferSize="6"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU7jiAEeKDAMEjnOLmPA" base_Port="_k0LouDiAEeKDAMEjnOLmPA" bufferSize="6"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU7ziAEeKDAMEjnOLmPA" base_Port="_k0LouTiAEeKDAMEjnOLmPA" bufferSize="6"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU8DiAEeKDAMEjnOLmPA" base_Port="_k0LoYDiAEeKDAMEjnOLmPA" bufferSize="6"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU8TiAEeKDAMEjnOLmPA" base_Port="_k0LoYTiAEeKDAMEjnOLmPA" bufferSize="6"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU8jiAEeKDAMEjnOLmPA" base_Port="_k0LoYjiAEeKDAMEjnOLmPA" bufferSize="6"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU8ziAEeKDAMEjnOLmPA" base_Port="_k0LoIjiAEeKDAMEjnOLmPA" bufferSize="6"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU9DiAEeKDAMEjnOLmPA" base_Port="_k0LnkDiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU9TiAEeKDAMEjnOLmPA" base_Port="_k0LnkTiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU9jiAEeKDAMEjnOLmPA" base_Port="_k0LnkjiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU9ziAEeKDAMEjnOLmPA" base_Port="_k0LnkziAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU-DiAEeKDAMEjnOLmPA" base_Port="_k0LnlDiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU-TiAEeKDAMEjnOLmPA" base_Port="_k0LnlTiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU-jiAEeKDAMEjnOLmPA" base_Port="_k0Lm3TiAEeKDAMEjnOLmPA" bufferSize="6"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU-ziAEeKDAMEjnOLmPA" base_Port="_k0Lm3jiAEeKDAMEjnOLmPA" bufferSize="6"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU_DiAEeKDAMEjnOLmPA" base_Port="_k0Lm3ziAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU_TiAEeKDAMEjnOLmPA" base_Port="_k0Lm4DiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU_jiAEeKDAMEjnOLmPA" base_Port="_k0Lm4TiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0VU_ziAEeKDAMEjnOLmPA" base_Port="_k0Lm4jiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0VVADiAEeKDAMEjnOLmPA" base_Port="_k0LmUTiAEeKDAMEjnOLmPA" bufferSize="6"/>
+  <RobotML:DataFlowPort xmi:id="_k0VVATiAEeKDAMEjnOLmPA" base_Port="_k0LmUjiAEeKDAMEjnOLmPA" bufferSize="6"/>
+  <RobotML:DataFlowPort xmi:id="_k0VVAjiAEeKDAMEjnOLmPA" base_Port="_k0LmUziAEeKDAMEjnOLmPA" bufferSize="6"/>
+  <RobotML:DataFlowPort xmi:id="_k0VVAziAEeKDAMEjnOLmPA" base_Port="_k0LmVDiAEeKDAMEjnOLmPA" bufferSize="6"/>
+  <RobotML:DataFlowPort xmi:id="_k0VVBDiAEeKDAMEjnOLmPA" base_Port="_k0LmVTiAEeKDAMEjnOLmPA" bufferSize="6"/>
+  <RobotML:DataFlowPort xmi:id="_k0VVBTiAEeKDAMEjnOLmPA" base_Port="_k0LmVjiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0VVBjiAEeKDAMEjnOLmPA" base_Port="_k0LmVziAEeKDAMEjnOLmPA" bufferSize="6"/>
+  <RobotML:DataFlowPort xmi:id="_k0VVBziAEeKDAMEjnOLmPA" base_Port="_k0LmBjiAEeKDAMEjnOLmPA" bufferSize="6"/>
+  <RobotML:DataFlowPort xmi:id="_k0VVCDiAEeKDAMEjnOLmPA" base_Port="_k0LmBziAEeKDAMEjnOLmPA" bufferSize="6"/>
+  <RobotML:DataFlowPort xmi:id="_k0VVCTiAEeKDAMEjnOLmPA" base_Port="_k0LmCDiAEeKDAMEjnOLmPA" bufferSize="6"/>
+  <RobotML:DataFlowPort xmi:id="_k0VVCjiAEeKDAMEjnOLmPA" base_Port="_k0LmCTiAEeKDAMEjnOLmPA" direction="out"/>
+  <RobotML:DataFlowPort xmi:id="_k0VVDziAEeKDAMEjnOLmPA" base_Port="_k0Lm4ziAEeKDAMEjnOLmPA" bufferSize="6"/>
+  <RobotML:DataFlowPort xmi:id="_k0VVEDiAEeKDAMEjnOLmPA" base_Port="_k0LmuDiAEeKDAMEjnOLmPA" bufferSize="6"/>
+  <RobotML:Robot xmi:id="_k0VVGjiAEeKDAMEjnOLmPA" base_Class="_k0LlFDiAEeKDAMEjnOLmPA"/>
+  <RobotML:SensorSystem xmi:id="_k0VVGziAEeKDAMEjnOLmPA" base_Class="_k0LndTiAEeKDAMEjnOLmPA"/>
+  <RobotML:ActuatorSystem xmi:id="_k0VVHDiAEeKDAMEjnOLmPA" base_Class="_k0Lo-jiAEeKDAMEjnOLmPA"/>
+  <RobotML:DataFlowPort xmi:id="_k0VVHTiAEeKDAMEjnOLmPA" base_Port="_k0LoEziAEeKDAMEjnOLmPA"/>
+  <RobotML:RoboticMiddleware xmi:id="_iFHmsDiuEeKFHpsdOC1X1Q" base_Class="_iBPzUDiuEeKFHpsdOC1X1Q"/>
+  <RobotML:BlenderMorse xmi:id="_u55gwDiuEeKFHpsdOC1X1Q" base_Class="_rlJygDiuEeKFHpsdOC1X1Q" debugMode="true"/>
+  <RobotML:Platform xmi:id="_HSZVrDivEeKFHpsdOC1X1Q" base_Class="_HR8psDivEeKFHpsdOC1X1Q"/>
+  <RobotML:Allocate xmi:id="_WxtG0DiwEeKFHpsdOC1X1Q" base_Abstraction="_WxjV0DiwEeKFHpsdOC1X1Q"/>
+  <RobotML:Allocate xmi:id="_Yxf0UTiwEeKFHpsdOC1X1Q" base_Abstraction="_Yxf0UDiwEeKFHpsdOC1X1Q"/>
+  <RobotML:Allocate xmi:id="_j6uLgDiwEeKFHpsdOC1X1Q" base_Abstraction="_j6kagDiwEeKFHpsdOC1X1Q"/>
+  <RobotML:Allocate xmi:id="_kcfb0DiwEeKFHpsdOC1X1Q" base_Abstraction="_kcVq0DiwEeKFHpsdOC1X1Q"/>
+  <RobotML:Allocate xmi:id="_k-HiMTiwEeKFHpsdOC1X1Q" base_Abstraction="_k-HiMDiwEeKFHpsdOC1X1Q"/>
+  <RobotML:Allocate xmi:id="_lnU3QDiwEeKFHpsdOC1X1Q" base_Abstraction="_lnLGQDiwEeKFHpsdOC1X1Q"/>
+  <RobotML:Allocate xmi:id="_mEVjYDiwEeKFHpsdOC1X1Q" base_Abstraction="_mELyYDiwEeKFHpsdOC1X1Q"/>
+  <RobotML:Allocate xmi:id="_mhpKcDiwEeKFHpsdOC1X1Q" base_Abstraction="_mhfZcDiwEeKFHpsdOC1X1Q"/>
+  <RobotML:Allocate xmi:id="_nLTLcDiwEeKFHpsdOC1X1Q" base_Abstraction="_nLJacDiwEeKFHpsdOC1X1Q"/>
+  <RobotML:InertialMeasurementUnitSystem xmi:id="_HEDvQJ3nEeKaDJbg6baweA" base_Class="_k0LnZDiAEeKDAMEjnOLmPA"/>
+  <RobotML:Environment xmi:id="_sGvc4KEKEeKLUqX9IJq2Gg" base_Class="_r_SxEKEKEeKLUqX9IJq2Gg"/>
+</xmi:XMI>