diff --git a/code/languages/com.mbeddr.formal.nusmv/languages/com.mbeddr.formal.ocra/sandbox/models/com.mbeddr.formal.ocra.sandbox.mps b/code/languages/com.mbeddr.formal.nusmv/languages/com.mbeddr.formal.ocra/sandbox/models/com.mbeddr.formal.ocra.sandbox.mps
index d9502b0a6..0bd1a786d 100644
--- a/code/languages/com.mbeddr.formal.nusmv/languages/com.mbeddr.formal.ocra/sandbox/models/com.mbeddr.formal.ocra.sandbox.mps
+++ b/code/languages/com.mbeddr.formal.nusmv/languages/com.mbeddr.formal.ocra/sandbox/models/com.mbeddr.formal.ocra.sandbox.mps
@@ -283,7 +283,7 @@
           <node concept="3JpXL7" id="404$BAyZOhc" role="3JpXMp">
             <node concept="3z3nEs" id="404$BAz7Hru" role="1yBDGv">
               <node concept="3JpXLh" id="2LIcOCczt8m" role="3z7Dti">
-                <ref role="2eEb$9" node="1QMZQ041t5_" resolve="myContinousParam" />
+                <ref role="2eEb$9" node="1QMZQ041t5_" />
               </node>
               <node concept="3z608g" id="404$BAz7Hr_" role="3z60cZ" />
               <node concept="2IPVmt" id="404$BAz7HrG" role="3z614f">
@@ -298,7 +298,7 @@
                   <property role="2IPVms" value="42" />
                 </node>
                 <node concept="3JpXLh" id="2LIcOCczt8d" role="2H9Iav">
-                  <ref role="2eEb$9" node="404$BAyXroL" resolve="myInputEventPort" />
+                  <ref role="2eEb$9" node="404$BAyXroL" />
                 </node>
               </node>
             </node>
@@ -317,67 +317,67 @@
       <node concept="3JpXKZ" id="5MFfD6f6VvT" role="3JpXMq">
         <node concept="3JpXKI" id="5MFfD6faEsN" role="3JpXMt">
           <property role="TrG5h" value="a" />
-          <ref role="2uTqvm" node="5MFfD6f6VzQ" resolve="A" />
+          <ref role="2uTqvm" node="5MFfD6f6VzQ" />
         </node>
         <node concept="3JpXKI" id="5MFfD6faEtr" role="3JpXMt">
           <property role="TrG5h" value="b" />
-          <ref role="2uTqvm" node="5MFfD6f6VCu" resolve="B" />
+          <ref role="2uTqvm" node="5MFfD6f6VCu" />
         </node>
         <node concept="2uPaw6" id="5MFfD6f6VFM" role="3JpXMt" />
         <node concept="3JpXLn" id="5MFfD6f6VFV" role="3JpXMt">
           <node concept="1ziNjN" id="2LIcOCcw1bF" role="3JpXMd">
             <node concept="17cSpV" id="2LIcOCcw1bO" role="1ziNjJ">
-              <ref role="17cOEh" node="5MFfD6f6V$n" resolve="in_data" />
+              <ref role="17cOEh" node="5MFfD6f6V$n" />
             </node>
             <node concept="3jw80t" id="2LIcOCcw1bB" role="1ziNjM">
-              <ref role="1f8Sn1" node="5MFfD6faEsN" resolve="a" />
+              <ref role="1f8Sn1" node="5MFfD6faEsN" />
             </node>
           </node>
           <node concept="3JpXLh" id="2LIcOCczt5d" role="3JpXMM">
-            <ref role="2eEb$9" node="5MFfD6f6Vw2" resolve="in_data" />
+            <ref role="2eEb$9" node="5MFfD6f6Vw2" />
           </node>
         </node>
         <node concept="3JpXLn" id="5MFfD6f6VGi" role="3JpXMt">
           <node concept="1ziNjN" id="2LIcOCcw1bX" role="3JpXMd">
             <node concept="17cSpV" id="2LIcOCcw1c6" role="1ziNjJ">
-              <ref role="17cOEh" node="5MFfD6f6VDm" resolve="in_data" />
+              <ref role="17cOEh" node="5MFfD6f6VDm" />
             </node>
             <node concept="3jw80t" id="2LIcOCcw1bT" role="1ziNjM">
-              <ref role="1f8Sn1" node="5MFfD6faEtr" resolve="b" />
+              <ref role="1f8Sn1" node="5MFfD6faEtr" />
             </node>
           </node>
           <node concept="1ziNjN" id="2LIcOCcw1cK" role="3JpXMM">
             <node concept="3jw80t" id="2LIcOCcw1cF" role="1ziNjM">
-              <ref role="1f8Sn1" node="5MFfD6faEsN" resolve="a" />
+              <ref role="1f8Sn1" node="5MFfD6faEsN" />
             </node>
             <node concept="17cSpV" id="2LIcOCcw1d3" role="1ziNjJ">
-              <ref role="17cOEh" node="5MFfD6f6V$E" resolve="out_data" />
+              <ref role="17cOEh" node="5MFfD6f6V$E" />
             </node>
           </node>
         </node>
         <node concept="3JpXLn" id="5MFfD6f6VGR" role="3JpXMt">
           <node concept="3JpXLh" id="2LIcOCcw1ds" role="3JpXMd">
-            <ref role="2eEb$9" node="5MFfD6f6Vwl" resolve="out_data" />
+            <ref role="2eEb$9" node="5MFfD6f6Vwl" />
           </node>
           <node concept="1ziNjN" id="2LIcOCcw1de" role="3JpXMM">
             <node concept="17cSpV" id="2LIcOCcw1dn" role="1ziNjJ">
-              <ref role="17cOEh" node="5MFfD6f6VDF" resolve="out_data" />
+              <ref role="17cOEh" node="5MFfD6f6VDF" />
             </node>
             <node concept="3jw80t" id="2LIcOCcw1d9" role="1ziNjM">
-              <ref role="1f8Sn1" node="5MFfD6faEtr" resolve="b" />
+              <ref role="1f8Sn1" node="5MFfD6faEtr" />
             </node>
           </node>
         </node>
         <node concept="2uPaw6" id="5MFfD6f6VHa" role="3JpXMt" />
         <node concept="3JpXLq" id="5MFfD6f6VHB" role="3JpXMt">
           <node concept="3JpXL9" id="5MFfD6f6VHR" role="3tgAEN">
-            <ref role="3tgiSz" node="5MFfD6f6VwN" resolve="reaction" />
+            <ref role="3tgiSz" node="5MFfD6f6VwN" />
           </node>
           <node concept="3JpXL9" id="5MFfD6f6VHT" role="3JpXMs">
-            <ref role="3tgiSz" node="5MFfD6f6V_8" resolve="reaction" />
+            <ref role="3tgiSz" node="5MFfD6f6V_8" />
           </node>
           <node concept="3JpXL9" id="5MFfD6f6VHY" role="3JpXMs">
-            <ref role="3tgiSz" node="5MFfD6f6VEk" resolve="pass" />
+            <ref role="3tgiSz" node="5MFfD6f6VEk" />
           </node>
         </node>
       </node>
@@ -399,11 +399,11 @@
                 <node concept="rYEFr" id="5MFfD6f6VxX" role="32OYtT">
                   <node concept="rZvB3" id="5MFfD6f6Vyx" role="2H9Ial">
                     <node concept="3JpXLh" id="2LIcOCczt59" role="1yBIc4">
-                      <ref role="2eEb$9" node="5MFfD6f6Vwl" resolve="out_data" />
+                      <ref role="2eEb$9" node="5MFfD6f6Vwl" />
                     </node>
                   </node>
                   <node concept="3JpXLh" id="2LIcOCczt55" role="2H9Iav">
-                    <ref role="2eEb$9" node="5MFfD6f6Vw2" resolve="in_data" />
+                    <ref role="2eEb$9" node="5MFfD6f6Vw2" />
                   </node>
                 </node>
               </node>
@@ -412,7 +412,7 @@
           <node concept="3JpXL6" id="5MFfD6f6VwP" role="3JpXMo">
             <node concept="rZvB3" id="5MFfD6f6Vxj" role="1yBDGv">
               <node concept="3JpXLh" id="2LIcOCczt51" role="1yBIc4">
-                <ref role="2eEb$9" node="5MFfD6f6Vw2" resolve="in_data" />
+                <ref role="2eEb$9" node="5MFfD6f6Vw2" />
               </node>
             </node>
           </node>
@@ -441,11 +441,11 @@
                 <node concept="rYEFr" id="5MFfD6f6VAf" role="32OYtT">
                   <node concept="rZvB3" id="5MFfD6f6VAH" role="2H9Ial">
                     <node concept="3JpXLh" id="2LIcOCczt5l" role="1yBIc4">
-                      <ref role="2eEb$9" node="5MFfD6f6V$E" resolve="out_data" />
+                      <ref role="2eEb$9" node="5MFfD6f6V$E" />
                     </node>
                   </node>
                   <node concept="3JpXLh" id="2LIcOCczt5p" role="2H9Iav">
-                    <ref role="2eEb$9" node="5MFfD6f6V$n" resolve="in_data" />
+                    <ref role="2eEb$9" node="5MFfD6f6V$n" />
                   </node>
                 </node>
               </node>
@@ -454,7 +454,7 @@
           <node concept="3JpXL6" id="5MFfD6f6V_a" role="3JpXMo">
             <node concept="rZvB3" id="5MFfD6f6V_w" role="1yBDGv">
               <node concept="3JpXLh" id="2LIcOCczt5h" role="1yBIc4">
-                <ref role="2eEb$9" node="5MFfD6f6V$n" resolve="in_data" />
+                <ref role="2eEb$9" node="5MFfD6f6V$n" />
               </node>
             </node>
           </node>
@@ -481,10 +481,10 @@
               <node concept="32OYss" id="5MFfD6f6VEW" role="1yBIc4">
                 <node concept="rYEFr" id="5MFfD6f6VFb" role="32OYtT">
                   <node concept="3JpXLh" id="2LIcOCczt5x" role="2H9Ial">
-                    <ref role="2eEb$9" node="5MFfD6f6VDF" resolve="out_data" />
+                    <ref role="2eEb$9" node="5MFfD6f6VDF" />
                   </node>
                   <node concept="3JpXLh" id="2LIcOCczt5t" role="2H9Iav">
-                    <ref role="2eEb$9" node="5MFfD6f6VDm" resolve="in_data" />
+                    <ref role="2eEb$9" node="5MFfD6f6VDm" />
                   </node>
                 </node>
               </node>
@@ -506,39 +506,39 @@
       <node concept="3JpXKZ" id="5MFfD6f6VPA" role="3JpXMq">
         <node concept="3JpXKI" id="5MFfD6faEqf" role="3JpXMt">
           <property role="TrG5h" value="a" />
-          <ref role="2uTqvm" node="5MFfD6f6VST" resolve="A" />
+          <ref role="2uTqvm" node="5MFfD6f6VST" />
         </node>
         <node concept="3JpXKI" id="5MFfD6faEqT" role="3JpXMt">
           <property role="TrG5h" value="b" />
-          <ref role="2uTqvm" node="5MFfD6f6VWx" resolve="B" />
+          <ref role="2uTqvm" node="5MFfD6f6VWx" />
         </node>
         <node concept="2uPaw6" id="5MFfD6f6W37" role="3JpXMt" />
         <node concept="3JpXLn" id="5MFfD6f6W3g" role="3JpXMt">
           <node concept="1ziNjN" id="2LIcOCcw1ay" role="3JpXMd">
             <node concept="17cSpV" id="2LIcOCcw1aF" role="1ziNjJ">
-              <ref role="17cOEh" node="5MFfD6f6VXh" resolve="in_data" />
+              <ref role="17cOEh" node="5MFfD6f6VXh" />
             </node>
             <node concept="3jw80t" id="2LIcOCcw1au" role="1ziNjM">
-              <ref role="1f8Sn1" node="5MFfD6faEqT" resolve="b" />
+              <ref role="1f8Sn1" node="5MFfD6faEqT" />
             </node>
           </node>
           <node concept="2H9FEB" id="5MFfD6f6W3z" role="3JpXMM">
             <node concept="1ziNjN" id="2LIcOCcw1ag" role="2H9Ial">
               <node concept="17cSpV" id="2LIcOCcw1ap" role="1ziNjJ">
-                <ref role="17cOEh" node="5MFfD6f6VTp" resolve="out_data" />
+                <ref role="17cOEh" node="5MFfD6f6VTp" />
               </node>
               <node concept="3jw80t" id="2LIcOCcw1ab" role="1ziNjM">
-                <ref role="1f8Sn1" node="5MFfD6faEqf" resolve="a" />
+                <ref role="1f8Sn1" node="5MFfD6faEqf" />
               </node>
             </node>
             <node concept="3JpXLh" id="2LIcOCczt4j" role="2H9Iav">
-              <ref role="2eEb$9" node="5MFfD6f6VPK" resolve="in_data" />
+              <ref role="2eEb$9" node="5MFfD6f6VPK" />
             </node>
           </node>
         </node>
         <node concept="3JpXLn" id="5MFfD6f6W43" role="3JpXMt">
           <node concept="3JpXLh" id="2LIcOCcw1bf" role="3JpXMd">
-            <ref role="2eEb$9" node="5MFfD6f6VQ3" resolve="positive" />
+            <ref role="2eEb$9" node="5MFfD6f6VQ3" />
           </node>
           <node concept="nE0YJ" id="5MFfD6f6W4s" role="3JpXMM">
             <node concept="2IPVmt" id="5MFfD6f6W4C" role="2H9Ial">
@@ -546,10 +546,10 @@
             </node>
             <node concept="1ziNjN" id="2LIcOCcw1aU" role="2H9Iav">
               <node concept="17cSpV" id="2LIcOCcw1ba" role="1ziNjJ">
-                <ref role="17cOEh" node="5MFfD6f6VXy" resolve="out_data" />
+                <ref role="17cOEh" node="5MFfD6f6VXy" />
               </node>
               <node concept="3jw80t" id="2LIcOCcw1aP" role="1ziNjM">
-                <ref role="1f8Sn1" node="5MFfD6faEqT" resolve="b" />
+                <ref role="1f8Sn1" node="5MFfD6faEqT" />
               </node>
             </node>
           </node>
@@ -557,13 +557,13 @@
         <node concept="2uPaw6" id="5MFfD6f6W4P" role="3JpXMt" />
         <node concept="3JpXLq" id="5MFfD6f6W5k" role="3JpXMt">
           <node concept="3JpXL9" id="5MFfD6f6W5_" role="3tgAEN">
-            <ref role="3tgiSz" node="5MFfD6f6VQx" resolve="positive" />
+            <ref role="3tgiSz" node="5MFfD6f6VQx" />
           </node>
           <node concept="3JpXL9" id="5MFfD6f6W5B" role="3JpXMs">
-            <ref role="3tgiSz" node="5MFfD6f6VTL" resolve="positive" />
+            <ref role="3tgiSz" node="5MFfD6f6VTL" />
           </node>
           <node concept="3JpXL9" id="5MFfD6f6W5G" role="3JpXMs">
-            <ref role="3tgiSz" node="5MFfD6f6VY0" resolve="past" />
+            <ref role="3tgiSz" node="5MFfD6f6VY0" />
           </node>
         </node>
       </node>
@@ -582,7 +582,7 @@
           <node concept="3JpXL7" id="5MFfD6f6VQy" role="3JpXMp">
             <node concept="rZvlL" id="5MFfD6f6VRM" role="1yBDGv">
               <node concept="3JpXLh" id="2LIcOCczt4f" role="1yBIc4">
-                <ref role="2eEb$9" node="5MFfD6f6VQ3" resolve="positive" />
+                <ref role="2eEb$9" node="5MFfD6f6VQ3" />
               </node>
             </node>
           </node>
@@ -594,7 +594,7 @@
                     <property role="2IPVms" value="0" />
                   </node>
                   <node concept="3JpXLh" id="2LIcOCczt4b" role="2H9Iav">
-                    <ref role="2eEb$9" node="5MFfD6f6VPK" resolve="in_data" />
+                    <ref role="2eEb$9" node="5MFfD6f6VPK" />
                   </node>
                 </node>
               </node>
@@ -623,7 +623,7 @@
                     <property role="2IPVms" value="0" />
                   </node>
                   <node concept="3JpXLh" id="2LIcOCczt4n" role="2H9Iav">
-                    <ref role="2eEb$9" node="5MFfD6f6VTp" resolve="out_data" />
+                    <ref role="2eEb$9" node="5MFfD6f6VTp" />
                   </node>
                 </node>
               </node>
@@ -656,7 +656,7 @@
                 <node concept="rYEFr" id="5MFfD6f6W0h" role="32OYtT">
                   <node concept="nE0YK" id="5MFfD6f6W0i" role="2H9Iav">
                     <node concept="3JpXLh" id="2LIcOCczt4r" role="2H9Iav">
-                      <ref role="2eEb$9" node="5MFfD6f6VXy" resolve="out_data" />
+                      <ref role="2eEb$9" node="5MFfD6f6VXy" />
                     </node>
                     <node concept="2IPVmt" id="5MFfD6f6W0j" role="2H9Ial">
                       <property role="2IPVms" value="0" />
@@ -668,7 +668,7 @@
                         <property role="2IPVms" value="0" />
                       </node>
                       <node concept="3JpXLh" id="2LIcOCczt4w" role="2H9Iav">
-                        <ref role="2eEb$9" node="5MFfD6f6VXh" resolve="in_data" />
+                        <ref role="2eEb$9" node="5MFfD6f6VXh" />
                       </node>
                     </node>
                   </node>
@@ -691,51 +691,51 @@
       <node concept="3JpXKZ" id="5MFfD6f6WfG" role="3JpXMq">
         <node concept="3JpXKI" id="5MFfD6faEkl" role="3JpXMt">
           <property role="TrG5h" value="d" />
-          <ref role="2uTqvm" node="5MFfD6f6WfX" resolve="Device" />
+          <ref role="2uTqvm" node="5MFfD6f6WfX" />
         </node>
         <node concept="3JpXKI" id="5MFfD6faEmP" role="3JpXMt">
           <property role="TrG5h" value="m" />
-          <ref role="2uTqvm" node="5MFfD6f6WgN" resolve="Monitor" />
+          <ref role="2uTqvm" node="5MFfD6f6WgN" />
         </node>
         <node concept="2uPaw6" id="5MFfD6f8Mcy" role="3JpXMt" />
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           <node concept="3JpXLh" id="2LIcOCczo61" role="3JpXMM">
-            <ref role="2eEb$9" node="5MFfD6f8adj" resolve="x" />
+            <ref role="2eEb$9" node="5MFfD6f8adj" />
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           <node concept="1ziNjN" id="4zSAnzA_svM" role="3JpXMd">
             <node concept="17cSpV" id="4zSAnzA_svV" role="1ziNjJ">
-              <ref role="17cOEh" node="5MFfD6f8a2Y" resolve="x" />
+              <ref role="17cOEh" node="5MFfD6f8a2Y" />
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             <node concept="3jw80t" id="4zSAnzA_svJ" role="1ziNjM">
-              <ref role="1f8Sn1" node="5MFfD6faEkl" resolve="d" />
+              <ref role="1f8Sn1" node="5MFfD6faEkl" />
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         <node concept="3JpXLn" id="5MFfD6f8Md4" role="3JpXMt">
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-            <ref role="2eEb$9" node="5MFfD6f8ad$" resolve="alarm" />
+            <ref role="2eEb$9" node="5MFfD6f8ad$" />
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             <node concept="17cSpV" id="4zSAnzAy4xM" role="1ziNjJ">
-              <ref role="17cOEh" node="5MFfD6f6Wjn" resolve="out_alarm" />
+              <ref role="17cOEh" node="5MFfD6f6Wjn" />
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             <node concept="3jw80t" id="4zSAnzAy4xA" role="1ziNjM">
-              <ref role="1f8Sn1" node="5MFfD6faEmP" resolve="m" />
+              <ref role="1f8Sn1" node="5MFfD6faEmP" />
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           <node concept="1ziNjN" id="1FGIUxtRNRa" role="3JpXMd">
             <node concept="17cSpV" id="4zSAnzAupo8" role="1ziNjJ">
-              <ref role="17cOEh" node="5MFfD6f6Wid" resolve="period" />
+              <ref role="17cOEh" node="5MFfD6f6Wid" />
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             <node concept="3jw80t" id="1FGIUxtRNR5" role="1ziNjM">
-              <ref role="1f8Sn1" node="5MFfD6faEmP" resolve="m" />
+              <ref role="1f8Sn1" node="5MFfD6faEmP" />
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           <node concept="d4bQV" id="5MFfD6f8Q6p" role="3JpXMM">
             <node concept="3JpXLh" id="2LIcOCczsf3" role="d498F">
-              <ref role="2eEb$9" node="5MFfD6f8adV" resolve="min_period" />
+              <ref role="2eEb$9" node="5MFfD6f8adV" />
             </node>
             <node concept="2IPVmt" id="5MFfD6f8Q7f" role="d498I">
               <property role="2IPVms" value="2" />
@@ -746,7 +746,7 @@
                   <property role="2IPVms" value="2" />
                 </node>
                 <node concept="3JpXLh" id="2LIcOCczseQ" role="2H9Iav">
-                  <ref role="2eEb$9" node="5MFfD6f8adV" resolve="min_period" />
+                  <ref role="2eEb$9" node="5MFfD6f8adV" />
                 </node>
               </node>
             </node>
@@ -755,14 +755,14 @@
         <node concept="3JpXLn" id="5MFfD6f8Md_" role="3JpXMt">
           <node concept="1ziNjN" id="4zSAnzAupTV" role="3JpXMd">
             <node concept="17cSpV" id="4zSAnzAupU4" role="1ziNjJ">
-              <ref role="17cOEh" node="5MFfD6f8a48" resolve="threshold" />
+              <ref role="17cOEh" node="5MFfD6f8a48" />
             </node>
             <node concept="3jw80t" id="4zSAnzAupTQ" role="1ziNjM">
-              <ref role="1f8Sn1" node="5MFfD6faEkl" resolve="d" />
+              <ref role="1f8Sn1" node="5MFfD6faEkl" />
             </node>
           </node>
           <node concept="3JpXLh" id="2LIcOCczsf7" role="3JpXMM">
-            <ref role="2eEb$9" node="5MFfD6f8aem" resolve="threshold" />
+            <ref role="2eEb$9" node="5MFfD6f8aem" />
           </node>
         </node>
         <node concept="2uPaw6" id="5MFfD6f8Q7s" role="3JpXMt" />
@@ -773,10 +773,10 @@
                 <node concept="3z3nEs" id="5MFfD6f8Q9A" role="2H9Ial">
                   <node concept="1ziNjN" id="4zSAnzAuq1$" role="3z7Dti">
                     <node concept="17cSpV" id="4zSAnzAuq1H" role="1ziNjJ">
-                      <ref role="17cOEh" node="5MFfD6f8a3h" resolve="request" />
+                      <ref role="17cOEh" node="5MFfD6f8a3h" />
                     </node>
                     <node concept="3jw80t" id="4zSAnzAuq1v" role="1ziNjM">
-                      <ref role="1f8Sn1" node="5MFfD6faEkl" resolve="d" />
+                      <ref role="1f8Sn1" node="5MFfD6faEkl" />
                     </node>
                   </node>
                   <node concept="3z60bb" id="5MFfD6f8Q9Z" role="3z60cZ" />
@@ -786,10 +786,10 @@
                 </node>
                 <node concept="1ziNjN" id="4zSAnzAuq1X" role="2H9Iav">
                   <node concept="17cSpV" id="4zSAnzAuq2$" role="1ziNjJ">
-                    <ref role="17cOEh" node="5MFfD6f6WhM" resolve="request" />
+                    <ref role="17cOEh" node="5MFfD6f6WhM" />
                   </node>
                   <node concept="3jw80t" id="4zSAnzAuq1S" role="1ziNjM">
-                    <ref role="1f8Sn1" node="5MFfD6faEmP" resolve="m" />
+                    <ref role="1f8Sn1" node="5MFfD6faEmP" />
                   </node>
                 </node>
               </node>
@@ -803,10 +803,10 @@
                 <node concept="3z3nEs" id="5MFfD6f8QcS" role="2H9Ial">
                   <node concept="1ziNjN" id="4zSAnzAuq43" role="3z7Dti">
                     <node concept="17cSpV" id="4zSAnzAuq4c" role="1ziNjJ">
-                      <ref role="17cOEh" node="5MFfD6f6Whp" resolve="in_alarm" />
+                      <ref role="17cOEh" node="5MFfD6f6Whp" />
                     </node>
                     <node concept="3jw80t" id="4zSAnzAuq3Y" role="1ziNjM">
-                      <ref role="1f8Sn1" node="5MFfD6faEmP" resolve="m" />
+                      <ref role="1f8Sn1" node="5MFfD6faEmP" />
                     </node>
                   </node>
                   <node concept="3z60bb" id="5MFfD6f8Qd6" role="3z60cZ" />
@@ -816,10 +816,10 @@
                 </node>
                 <node concept="1ziNjN" id="4zSAnzAuq3c" role="2H9Iav">
                   <node concept="17cSpV" id="4zSAnzAuq3N" role="1ziNjJ">
-                    <ref role="17cOEh" node="5MFfD6f8a3E" resolve="alarm" />
+                    <ref role="17cOEh" node="5MFfD6f8a3E" />
                   </node>
                   <node concept="3jw80t" id="4zSAnzAuq37" role="1ziNjM">
-                    <ref role="1f8Sn1" node="5MFfD6faEkl" resolve="d" />
+                    <ref role="1f8Sn1" node="5MFfD6faEkl" />
                   </node>
                 </node>
               </node>
@@ -829,16 +829,16 @@
         <node concept="2uPaw6" id="5MFfD6f8Qai" role="3JpXMt" />
         <node concept="3JpXLq" id="5MFfD6f8Qe5" role="3JpXMt">
           <node concept="3JpXL9" id="5MFfD6f8QeM" role="3tgAEN">
-            <ref role="3tgiSz" node="5MFfD6f8af0" resolve="alarm" />
+            <ref role="3tgiSz" node="5MFfD6f8af0" />
           </node>
           <node concept="3JpXL9" id="5MFfD6f8QeO" role="3JpXMs">
-            <ref role="3tgiSz" node="5MFfD6f8a4P" resolve="alarm" />
+            <ref role="3tgiSz" node="5MFfD6f8a4P" />
           </node>
           <node concept="3JpXL9" id="5MFfD6f8QeT" role="3JpXMs">
-            <ref role="3tgiSz" node="5MFfD6f89ZU" resolve="alarm" />
+            <ref role="3tgiSz" node="5MFfD6f89ZU" />
           </node>
           <node concept="3JpXL9" id="5MFfD6f8Qf1" role="3JpXMs">
-            <ref role="3tgiSz" node="5MFfD6f6WiT" resolve="request" />
+            <ref role="3tgiSz" node="5MFfD6f6WiT" />
           </node>
         </node>
         <node concept="2uPaw6" id="5MFfD6f8Qdp" role="3JpXMt" />
@@ -903,10 +903,10 @@
                 <node concept="32OYss" id="5MFfD6f8M7o" role="1yBIc4">
                   <node concept="nE0YK" id="5MFfD6f8M7p" role="32OYtT">
                     <node concept="3JpXLh" id="2LIcOCczo65" role="2H9Iav">
-                      <ref role="2eEb$9" node="5MFfD6f8adj" resolve="x" />
+                      <ref role="2eEb$9" node="5MFfD6f8adj" />
                     </node>
                     <node concept="3JpXLh" id="2LIcOCczseb" role="2H9Ial">
-                      <ref role="2eEb$9" node="5MFfD6f8aem" resolve="threshold" />
+                      <ref role="2eEb$9" node="5MFfD6f8aem" />
                     </node>
                   </node>
                 </node>
@@ -914,10 +914,10 @@
               <node concept="3z3nEs" id="5MFfD6f8M7J" role="2H9Ial">
                 <node concept="1ziNjN" id="2LIcOCcw0ZD" role="3z7Dti">
                   <node concept="17cSpV" id="2LIcOCcw0ZM" role="1ziNjJ">
-                    <ref role="17cOEh" node="5MFfD6f6Wh8" resolve="alarm" />
+                    <ref role="17cOEh" node="5MFfD6f6Wh8" />
                   </node>
                   <node concept="3jw80t" id="2LIcOCcw0Z$" role="1ziNjM">
-                    <ref role="1f8Sn1" node="5MFfD6faEmP" resolve="m" />
+                    <ref role="1f8Sn1" node="5MFfD6faEmP" />
                   </node>
                 </node>
                 <node concept="3z60bb" id="5MFfD6f8M7V" role="3z60cZ" />
@@ -932,7 +932,7 @@
               <node concept="rZvlL" id="5MFfD6f8M5k" role="2H9Iav">
                 <node concept="3z0ZEZ" id="5MFfD6f8afL" role="1yBIc4">
                   <node concept="3JpXLh" id="2LIcOCczo69" role="3z0ZEY">
-                    <ref role="2eEb$9" node="5MFfD6f8adj" resolve="x" />
+                    <ref role="2eEb$9" node="5MFfD6f8adj" />
                   </node>
                 </node>
               </node>
@@ -940,12 +940,12 @@
                 <node concept="3z3nEs" id="5MFfD6f8M5O" role="1yBIc4">
                   <node concept="3z0ZEZ" id="5MFfD6f8M5Z" role="3z7Dti">
                     <node concept="3JpXLh" id="2LIcOCczo6d" role="3z0ZEY">
-                      <ref role="2eEb$9" node="5MFfD6f8adj" resolve="x" />
+                      <ref role="2eEb$9" node="5MFfD6f8adj" />
                     </node>
                   </node>
                   <node concept="3z608g" id="5MFfD6f8M68" role="3z60cZ" />
                   <node concept="3JpXLh" id="2LIcOCczsew" role="3z614f">
-                    <ref role="2eEb$9" node="5MFfD6f8adV" resolve="min_period" />
+                    <ref role="2eEb$9" node="5MFfD6f8adV" />
                   </node>
                 </node>
               </node>
@@ -983,7 +983,7 @@
                 <node concept="rYEFr" id="5MFfD6f8a7N" role="32OYtT">
                   <node concept="3z3nEs" id="5MFfD6f8aau" role="2H9Ial">
                     <node concept="3JpXLh" id="2LIcOCcw18V" role="3z7Dti">
-                      <ref role="2eEb$9" node="5MFfD6f8a3E" resolve="alarm" />
+                      <ref role="2eEb$9" node="5MFfD6f8a3E" />
                     </node>
                     <node concept="3z60bb" id="5MFfD6f8aaC" role="3z60cZ" />
                     <node concept="2IPVmt" id="5MFfD6f8aaI" role="3z614f">
@@ -994,14 +994,14 @@
                     <node concept="rYEuI" id="5MFfD6f8a5U" role="32OYtT">
                       <node concept="nE0YK" id="5MFfD6f8a6D" role="2H9Ial">
                         <node concept="3JpXLh" id="2LIcOCczsfb" role="2H9Ial">
-                          <ref role="2eEb$9" node="5MFfD6f8a48" resolve="threshold" />
+                          <ref role="2eEb$9" node="5MFfD6f8a48" />
                         </node>
                         <node concept="3JpXLh" id="2LIcOCczo6l" role="2H9Iav">
-                          <ref role="2eEb$9" node="5MFfD6f8a2Y" resolve="x" />
+                          <ref role="2eEb$9" node="5MFfD6f8a2Y" />
                         </node>
                       </node>
                       <node concept="3JpXLh" id="2LIcOCczo6h" role="2H9Iav">
-                        <ref role="2eEb$9" node="5MFfD6f8a3h" resolve="request" />
+                        <ref role="2eEb$9" node="5MFfD6f8a3h" />
                       </node>
                     </node>
                   </node>
@@ -1054,16 +1054,16 @@
                       <node concept="rZvz2" id="5MFfD6f89Yn" role="2H9Ial">
                         <node concept="3z3nEs" id="5MFfD6f89Y_" role="1yBIc4">
                           <node concept="3JpXLh" id="2LIcOCczsfr" role="3z7Dti">
-                            <ref role="2eEb$9" node="5MFfD6f6WhM" resolve="request" />
+                            <ref role="2eEb$9" node="5MFfD6f6WhM" />
                           </node>
                           <node concept="3z60bb" id="5MFfD6f89YI" role="3z60cZ" />
                           <node concept="3JpXLh" id="2LIcOCczsfu" role="3z614f">
-                            <ref role="2eEb$9" node="5MFfD6f6Wid" resolve="period" />
+                            <ref role="2eEb$9" node="5MFfD6f6Wid" />
                           </node>
                         </node>
                       </node>
                       <node concept="3JpXLh" id="2LIcOCczsfn" role="2H9Iav">
-                        <ref role="2eEb$9" node="5MFfD6f6WhM" resolve="request" />
+                        <ref role="2eEb$9" node="5MFfD6f6WhM" />
                       </node>
                     </node>
                   </node>
@@ -1072,11 +1072,11 @@
               <node concept="32OYss" id="5MFfD6f6WkS" role="2H9Iav">
                 <node concept="3z3nEs" id="5MFfD6f6Wl8" role="32OYtT">
                   <node concept="3JpXLh" id="2LIcOCczsff" role="3z7Dti">
-                    <ref role="2eEb$9" node="5MFfD6f6WhM" resolve="request" />
+                    <ref role="2eEb$9" node="5MFfD6f6WhM" />
                   </node>
                   <node concept="3z60bb" id="5MFfD6f89WS" role="3z60cZ" />
                   <node concept="3JpXLh" id="2LIcOCczsfj" role="3z614f">
-                    <ref role="2eEb$9" node="5MFfD6f6Wid" resolve="period" />
+                    <ref role="2eEb$9" node="5MFfD6f6Wid" />
                   </node>
                 </node>
               </node>
@@ -1092,7 +1092,7 @@
                 <node concept="rYEFr" id="5MFfD6f8a1e" role="32OYtT">
                   <node concept="3z3nEs" id="5MFfD6f8a1I" role="2H9Ial">
                     <node concept="3JpXLh" id="2LIcOCczsfA" role="3z7Dti">
-                      <ref role="2eEb$9" node="5MFfD6f6Wjn" resolve="out_alarm" />
+                      <ref role="2eEb$9" node="5MFfD6f6Wjn" />
                     </node>
                     <node concept="3z60bb" id="5MFfD6f8a1U" role="3z60cZ" />
                     <node concept="2IPVmt" id="5MFfD6f8a20" role="3z614f">
@@ -1100,7 +1100,7 @@
                     </node>
                   </node>
                   <node concept="3JpXLh" id="2LIcOCczsfy" role="2H9Iav">
-                    <ref role="2eEb$9" node="5MFfD6f6Whp" resolve="in_alarm" />
+                    <ref role="2eEb$9" node="5MFfD6f6Whp" />
                   </node>
                 </node>
               </node>
@@ -1118,17 +1118,17 @@
     <property role="3GE5qa" value="tlc-example" />
     <node concept="3JpXKQ" id="2OfmkSY3$Q_" role="1dZ_iz">
       <node concept="uloHs" id="2OfmkSY3J3q" role="ulUGd">
-        <ref role="uloG$" node="2OfmkSY2WCT" resolve="EnumLibrary" />
+        <ref role="uloG$" node="2OfmkSY2WCT" />
       </node>
     </node>
     <node concept="3JpXKQ" id="5MFfD6f8RYs" role="1dZ_iz">
       <node concept="uloHs" id="5MFfD6f8RYx" role="ulUGd">
-        <ref role="uloG$" node="5MFfD6f8Rv8" resolve="Controller" />
+        <ref role="uloG$" node="5MFfD6f8Rv8" />
       </node>
     </node>
     <node concept="3JpXKQ" id="5MFfD6f8RYk" role="1dZ_iz">
       <node concept="uloHs" id="5MFfD6f8RYm" role="ulUGd">
-        <ref role="uloG$" node="5MFfD6f8RuG" resolve="Merger" />
+        <ref role="uloG$" node="5MFfD6f8RuG" />
       </node>
     </node>
     <node concept="2uPaw6" id="5MFfD6f8RYz" role="1dZ_iz" />
@@ -1137,70 +1137,70 @@
       <node concept="3JpXKZ" id="5MFfD6f8RYL" role="3JpXMq">
         <node concept="3JpXKI" id="5MFfD6faEvu" role="3JpXMt">
           <property role="TrG5h" value="m" />
-          <ref role="2uTqvm" node="5MFfD6f8RNs" resolve="Merger" />
+          <ref role="2uTqvm" node="5MFfD6f8RNs" />
         </node>
         <node concept="3JpXKI" id="5MFfD6faEwa" role="3JpXMt">
           <property role="TrG5h" value="c" />
-          <ref role="2uTqvm" node="5MFfD6f8Rwh" resolve="Controller" />
+          <ref role="2uTqvm" node="5MFfD6f8Rwh" />
         </node>
         <node concept="2uPaw6" id="5MFfD6faEv9" role="3JpXMt" />
         <node concept="3JpXLn" id="5MFfD6f8S3e" role="3JpXMt">
           <node concept="3JpXLh" id="2LIcOCcw1A7" role="3JpXMd">
-            <ref role="2eEb$9" node="5MFfD6f8S0w" resolve="leftReq" />
+            <ref role="2eEb$9" node="5MFfD6f8S0w" />
           </node>
           <node concept="1ziNjN" id="2LIcOCcw1_j" role="3JpXMM">
             <node concept="17cSpV" id="2LIcOCcw1_s" role="1ziNjJ">
-              <ref role="17cOEh" node="5MFfD6f8RNA" resolve="left" />
+              <ref role="17cOEh" node="5MFfD6f8RNA" />
             </node>
             <node concept="3jw80t" id="2LIcOCcw1_e" role="1ziNjM">
-              <ref role="1f8Sn1" node="5MFfD6faEvu" resolve="m" />
+              <ref role="1f8Sn1" node="5MFfD6faEvu" />
             </node>
           </node>
         </node>
         <node concept="3JpXLn" id="5MFfD6f8S5V" role="3JpXMt">
           <node concept="3JpXLh" id="2LIcOCcw1Aa" role="3JpXMd">
-            <ref role="2eEb$9" node="5MFfD6f8S19" resolve="rightReq" />
+            <ref role="2eEb$9" node="5MFfD6f8S19" />
           </node>
           <node concept="1ziNjN" id="2LIcOCcw1_N" role="3JpXMM">
             <node concept="17cSpV" id="2LIcOCcw1_W" role="1ziNjJ">
-              <ref role="17cOEh" node="5MFfD6f8RNV" resolve="right" />
+              <ref role="17cOEh" node="5MFfD6f8RNV" />
             </node>
             <node concept="3jw80t" id="2LIcOCcw1_I" role="1ziNjM">
-              <ref role="1f8Sn1" node="5MFfD6faEvu" resolve="m" />
+              <ref role="1f8Sn1" node="5MFfD6faEvu" />
             </node>
           </node>
         </node>
         <node concept="3JpXLn" id="5MFfD6f8S7m" role="3JpXMt">
           <node concept="3JpXLh" id="2LIcOCcw1A1" role="3JpXMd">
-            <ref role="2eEb$9" node="5MFfD6f8S1Q" resolve="pedestrian_lights" />
+            <ref role="2eEb$9" node="5MFfD6f8S1Q" />
           </node>
           <node concept="3JpXLh" id="2LIcOCcztcD" role="3JpXMM">
-            <ref role="2eEb$9" node="5MFfD6f8S1Q" resolve="pedestrian_lights" />
+            <ref role="2eEb$9" node="5MFfD6f8S1Q" />
           </node>
         </node>
         <node concept="3JpXLn" id="5MFfD6f8S88" role="3JpXMt">
           <node concept="3JpXLh" id="2LIcOCcw1A4" role="3JpXMd">
-            <ref role="2eEb$9" node="5MFfD6f8S2q" resolve="traffic_lights" />
+            <ref role="2eEb$9" node="5MFfD6f8S2q" />
           </node>
           <node concept="3JpXLh" id="2LIcOCcztcH" role="3JpXMM">
-            <ref role="2eEb$9" node="5MFfD6f8S2q" resolve="traffic_lights" />
+            <ref role="2eEb$9" node="5MFfD6f8S2q" />
           </node>
         </node>
         <node concept="3JpXLn" id="5MFfD6f8S90" role="3JpXMt">
           <node concept="1ziNjN" id="2LIcOCcw1BV" role="3JpXMd">
             <node concept="17cSpV" id="2LIcOCcw1C4" role="1ziNjJ">
-              <ref role="17cOEh" node="5MFfD6f8ROr" resolve="merged" />
+              <ref role="17cOEh" node="5MFfD6f8ROr" />
             </node>
             <node concept="3jw80t" id="2LIcOCcw1BR" role="1ziNjM">
-              <ref role="1f8Sn1" node="5MFfD6faEvu" resolve="m" />
+              <ref role="1f8Sn1" node="5MFfD6faEvu" />
             </node>
           </node>
           <node concept="1ziNjN" id="2LIcOCcw1Bt" role="3JpXMM">
             <node concept="17cSpV" id="2LIcOCcw1BA" role="1ziNjJ">
-              <ref role="17cOEh" node="5MFfD6f8Rwr" resolve="pedestrian_request" />
+              <ref role="17cOEh" node="5MFfD6f8Rwr" />
             </node>
             <node concept="3jw80t" id="2LIcOCcw1Bo" role="1ziNjM">
-              <ref role="1f8Sn1" node="5MFfD6faEwa" resolve="c" />
+              <ref role="1f8Sn1" node="5MFfD6faEwa" />
             </node>
           </node>
         </node>
@@ -1220,13 +1220,13 @@
         <node concept="3JpXKA" id="5MFfD6f8S1Q" role="3JpXMY">
           <property role="TrG5h" value="pedestrian_lights" />
           <node concept="2XJXdx" id="2OfmkSY3J3u" role="3JpXLx">
-            <ref role="2XJXdw" node="2OfmkSY3vvs" resolve="PEDESTRIAN_LIGHTS" />
+            <ref role="2XJXdw" node="2OfmkSY3vvs" />
           </node>
         </node>
         <node concept="3JpXKA" id="5MFfD6f8S2q" role="3JpXMY">
           <property role="TrG5h" value="traffic_lights" />
           <node concept="2XJXdx" id="2OfmkSY3vvb" role="3JpXLx">
-            <ref role="2XJXdw" node="2OfmkSY3vrS" resolve="TRAFFIC_LIGHTS" />
+            <ref role="2XJXdw" node="2OfmkSY3vrS" />
           </node>
         </node>
         <node concept="2uPaw6" id="5MFfD6f8S0k" role="3JpXMY" />
@@ -1242,17 +1242,17 @@
                         <ref role="2HeeqO" node="2OfmkSY3vvF" resolve="DONT_WALK" />
                       </node>
                       <node concept="3JpXLh" id="2LIcOCcztbQ" role="2H9Iav">
-                        <ref role="2eEb$9" node="5MFfD6f8S1Q" resolve="pedestrian_lights" />
+                        <ref role="2eEb$9" node="5MFfD6f8S1Q" />
                       </node>
                     </node>
                   </node>
                   <node concept="32OYss" id="5MFfD6f8RZM" role="2H9Iav">
                     <node concept="rYEnY" id="5MFfD6f8Sax" role="32OYtT">
                       <node concept="3JpXLh" id="2LIcOCcztbM" role="2H9Ial">
-                        <ref role="2eEb$9" node="5MFfD6f8S19" resolve="rightReq" />
+                        <ref role="2eEb$9" node="5MFfD6f8S19" />
                       </node>
                       <node concept="3JpXLh" id="2LIcOCcztbI" role="2H9Iav">
-                        <ref role="2eEb$9" node="5MFfD6f8S0w" resolve="leftReq" />
+                        <ref role="2eEb$9" node="5MFfD6f8S0w" />
                       </node>
                     </node>
                   </node>
@@ -1273,7 +1273,7 @@
                 <node concept="rYEFr" id="5MFfD6f8SjA" role="32OYtT">
                   <node concept="2HbLFT" id="5MFfD6f8SjB" role="2H9Iav">
                     <node concept="3JpXLh" id="2LIcOCcztc7" role="2H9Iav">
-                      <ref role="2eEb$9" node="5MFfD6f8S1Q" resolve="pedestrian_lights" />
+                      <ref role="2eEb$9" node="5MFfD6f8S1Q" />
                     </node>
                     <node concept="2IPVmt" id="5MFfD6f8SjC" role="2H9Ial">
                       <property role="2IPVms" value="1" />
@@ -1284,7 +1284,7 @@
                       <property role="2IPVms" value="3" />
                     </node>
                     <node concept="3JpXLh" id="2LIcOCcztco" role="2H9Iav">
-                      <ref role="2eEb$9" node="5MFfD6f8S2q" resolve="traffic_lights" />
+                      <ref role="2eEb$9" node="5MFfD6f8S2q" />
                     </node>
                   </node>
                 </node>
@@ -1327,15 +1327,15 @@
               <node concept="32OYss" id="5MFfD6f8RRX" role="1yBIc4">
                 <node concept="rYEFr" id="5MFfD6f8RS8" role="32OYtT">
                   <node concept="3JpXLh" id="2LIcOCcztaJ" role="2H9Ial">
-                    <ref role="2eEb$9" node="5MFfD6f8ROr" resolve="merged" />
+                    <ref role="2eEb$9" node="5MFfD6f8ROr" />
                   </node>
                   <node concept="32OYss" id="5MFfD6f8RRY" role="2H9Iav">
                     <node concept="rYEnY" id="5MFfD6f8RRZ" role="32OYtT">
                       <node concept="3JpXLh" id="2LIcOCcztaB" role="2H9Iav">
-                        <ref role="2eEb$9" node="5MFfD6f8RNA" resolve="left" />
+                        <ref role="2eEb$9" node="5MFfD6f8RNA" />
                       </node>
                       <node concept="3JpXLh" id="2LIcOCcztaF" role="2H9Ial">
-                        <ref role="2eEb$9" node="5MFfD6f8RNV" resolve="right" />
+                        <ref role="2eEb$9" node="5MFfD6f8RNV" />
                       </node>
                     </node>
                   </node>
@@ -1365,13 +1365,13 @@
         <node concept="3JpXKA" id="5MFfD6f8RwL" role="3JpXMY">
           <property role="TrG5h" value="traffic_lights" />
           <node concept="2XJXdx" id="2OfmkSY3vvQ" role="3JpXLx">
-            <ref role="2XJXdw" node="2OfmkSY3vrS" resolve="TRAFFIC_LIGHTS" />
+            <ref role="2XJXdw" node="2OfmkSY3vrS" />
           </node>
         </node>
         <node concept="3JpXKA" id="5MFfD6f8RzS" role="3JpXMY">
           <property role="TrG5h" value="pedestrian_lights" />
           <node concept="2XJXdx" id="2OfmkSY3vvW" role="3JpXLx">
-            <ref role="2XJXdw" node="2OfmkSY3vvs" resolve="PEDESTRIAN_LIGHTS" />
+            <ref role="2XJXdw" node="2OfmkSY3vvs" />
           </node>
         </node>
         <node concept="2uPaw6" id="5MFfD6f8R_d" role="3JpXMY" />
@@ -1387,12 +1387,12 @@
                         <property role="2IPVms" value="1" />
                       </node>
                       <node concept="3JpXLh" id="70K71XXhMR2" role="2H9Iav">
-                        <ref role="2eEb$9" node="5MFfD6f8RzS" resolve="pedestrian_lights" />
+                        <ref role="2eEb$9" node="5MFfD6f8RzS" />
                       </node>
                     </node>
                   </node>
                   <node concept="3JpXLh" id="2LIcOCczt9$" role="2H9Iav">
-                    <ref role="2eEb$9" node="5MFfD6f8Rwr" resolve="pedestrian_request" />
+                    <ref role="2eEb$9" node="5MFfD6f8Rwr" />
                   </node>
                 </node>
               </node>
@@ -1410,7 +1410,7 @@
               <node concept="rZvlL" id="5MFfD6f8RK$" role="2H9Iav">
                 <node concept="2HbLFT" id="5MFfD6f8RK_" role="1yBIc4">
                   <node concept="3JpXLh" id="2LIcOCczt9T" role="2H9Iav">
-                    <ref role="2eEb$9" node="5MFfD6f8RwL" resolve="traffic_lights" />
+                    <ref role="2eEb$9" node="5MFfD6f8RwL" />
                   </node>
                   <node concept="2IPVmt" id="5MFfD6f8RKA" role="2H9Ial">
                     <property role="2IPVms" value="3" />
@@ -1422,7 +1422,7 @@
                   <property role="2IPVms" value="2" />
                 </node>
                 <node concept="3JpXLh" id="2OfmkSY3Jux" role="2H9Iav">
-                  <ref role="2eEb$9" node="5MFfD6f8RzS" resolve="pedestrian_lights" />
+                  <ref role="2eEb$9" node="5MFfD6f8RzS" />
                 </node>
               </node>
             </node>
diff --git a/code/languages/com.mbeddr.formal.nusmv/solutions/com.fasten.base.activity.sandbox/models/com.fasten.base.activity.sandbox._010_smoke.mps b/code/languages/com.mbeddr.formal.nusmv/solutions/com.fasten.base.activity.sandbox/models/com.fasten.base.activity.sandbox._010_smoke.mps
index 3798f7c6b..b0f4f65ac 100644
--- a/code/languages/com.mbeddr.formal.nusmv/solutions/com.fasten.base.activity.sandbox/models/com.fasten.base.activity.sandbox._010_smoke.mps
+++ b/code/languages/com.mbeddr.formal.nusmv/solutions/com.fasten.base.activity.sandbox/models/com.fasten.base.activity.sandbox._010_smoke.mps
@@ -180,12 +180,12 @@
     </node>
     <node concept="38IQoX" id="214ojnhR53" role="38IxPB">
       <ref role="38IQCt" node="214ojnhR4I" />
-      <ref role="38IQCv" node="214ojnhR4N" resolve="read data" />
+      <ref role="38IQCv" node="214ojnhR4N" />
     </node>
     <node concept="38LK3e" id="214ojni6vt" role="38IxP_" />
     <node concept="38K6yZ" id="214ojni_3s" role="38IxP_" />
     <node concept="38IQoX" id="2tplabH7mh7" role="38IxPB">
-      <ref role="38IQCt" node="214ojnhR4N" resolve="read data" />
+      <ref role="38IQCt" node="214ojnhR4N" />
       <ref role="38IQCv" node="214ojni_3s" />
     </node>
     <node concept="3ah33V" id="3oG4rLM0dgn" role="38IxPB">
@@ -200,13 +200,13 @@
     </node>
     <node concept="3ah33V" id="3oG4rLM0dho" role="38IxPB">
       <ref role="38IQCt" node="214ojni_3s" />
-      <ref role="38IQCv" node="3oG4rLM0dgZ" resolve="processing" />
+      <ref role="38IQCv" node="3oG4rLM0dgZ" />
       <node concept="ru7O1" id="3oG4rLM0diB" role="3ah395">
         <property role="ru7PJ" value="data_valid" />
       </node>
     </node>
     <node concept="38IQoX" id="3oG4rLM0diD" role="38IxPB">
-      <ref role="38IQCt" node="3oG4rLM0dgZ" resolve="processing" />
+      <ref role="38IQCt" node="3oG4rLM0dgZ" />
       <ref role="38IQCv" node="214ojni6vt" />
     </node>
   </node>
diff --git a/code/languages/com.mbeddr.formal.safety/.mps/modules.xml b/code/languages/com.mbeddr.formal.safety/.mps/modules.xml
index 733b4b3ed..56d01a81a 100644
--- a/code/languages/com.mbeddr.formal.safety/.mps/modules.xml
+++ b/code/languages/com.mbeddr.formal.safety/.mps/modules.xml
@@ -38,6 +38,7 @@
       <modulePath path="$PROJECT_DIR$/languages/com.mbeddr.formal.safety.gsn.doc/com.mbeddr.formal.safety.gsn.doc.mpl" folder="gsn._020_doc" />
       <modulePath path="$PROJECT_DIR$/languages/com.mbeddr.formal.safety.gsn.ext/com.mbeddr.formal.safety.gsn.ext.mpl" folder="gsn._010_base" />
       <modulePath path="$PROJECT_DIR$/languages/com.mbeddr.formal.safety.gsn.external_evidence/com.mbeddr.formal.safety.gsn.external_evidence.mpl" folder="gsn._010_base" />
+      <modulePath path="$PROJECT_DIR$/languages/com.mbeddr.formal.safety.gsn.importer/com.mbeddr.formal.safety.gsn.importer.mpl" folder="gsn._010_base" />
       <modulePath path="$PROJECT_DIR$/languages/com.mbeddr.formal.safety.gsn.odd/com.mbeddr.formal.safety.gsn.odd.mpl" folder="gsn._100_checkable_patterns" />
       <modulePath path="$PROJECT_DIR$/languages/com.mbeddr.formal.safety.gsn.patterns/com.mbeddr.formal.safety.gsn.patterns.mpl" folder="gsn._100_checkable_patterns" />
       <modulePath path="$PROJECT_DIR$/languages/com.mbeddr.formal.safety.gsn.smv/com.mbeddr.formal.safety.gsn.smv.mpl" folder="gsn._100_checkable_patterns" />
diff --git a/code/languages/com.mbeddr.formal.safety/devkits/fasten.safety.gsn/fasten.safety.gsn.devkit b/code/languages/com.mbeddr.formal.safety/devkits/fasten.safety.gsn/fasten.safety.gsn.devkit
index 86aa17fd8..7155662d5 100644
--- a/code/languages/com.mbeddr.formal.safety/devkits/fasten.safety.gsn/fasten.safety.gsn.devkit
+++ b/code/languages/com.mbeddr.formal.safety/devkits/fasten.safety.gsn/fasten.safety.gsn.devkit
@@ -8,5 +8,6 @@
   <exported-language name="92d2ea16-5a42-4fdf-a676-c7604efe3504(de.slisson.mps.richtext)" />
   <exported-language name="ca32bc98-ea47-4b42-82e1-76bebf8a4e7d(com.mbeddr.formal.safety.gsn.xml_gen)" />
   <exported-language name="e4dd8dcd-fbfe-4e69-bcdd-b4371f25f476(com.fasten.base.git)" />
+  <exported-language name="a7775cc7-19db-41cf-a724-3212ac4437b9(com.mbeddr.formal.safety.gsn.importer)" />
 </dev-kit>
 
diff --git a/code/languages/com.mbeddr.formal.safety/languages/com.mbeddr.formal.safety.gsn.importer/com.mbeddr.formal.safety.gsn.importer.mpl b/code/languages/com.mbeddr.formal.safety/languages/com.mbeddr.formal.safety.gsn.importer/com.mbeddr.formal.safety.gsn.importer.mpl
new file mode 100644
index 000000000..507621948
--- /dev/null
+++ b/code/languages/com.mbeddr.formal.safety/languages/com.mbeddr.formal.safety.gsn.importer/com.mbeddr.formal.safety.gsn.importer.mpl
@@ -0,0 +1,87 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<language namespace="com.mbeddr.formal.safety.gsn.importer" uuid="a7775cc7-19db-41cf-a724-3212ac4437b9" languageVersion="0" moduleVersion="0">
+  <models>
+    <modelRoot contentPath="${module}" type="default">
+      <sourceRoot location="models" />
+    </modelRoot>
+  </models>
+  <facets>
+    <facet type="java">
+      <classes generated="true" path="${module}/classes_gen" />
+    </facet>
+  </facets>
+  <accessoryModels />
+  <sourcePath />
+  <dependencies>
+    <dependency reexport="false">d3a0fd26-445a-466c-900e-10444ddfed52(com.mbeddr.mpsutil.filepicker)</dependency>
+    <dependency reexport="false">b0f8641f-bd77-4421-8425-30d9088a82f7(org.apache.commons)</dependency>
+    <dependency reexport="false">e8a04d94-4307-4f88-95a2-25f7c4f39437(com.mbeddr.formal.safety.gsn)</dependency>
+    <dependency reexport="false">92d2ea16-5a42-4fdf-a676-c7604efe3504(de.slisson.mps.richtext)</dependency>
+  </dependencies>
+  <languageVersions>
+    <language slang="l:f3061a53-9226-4cc5-a443-f952ceaf5816:jetbrains.mps.baseLanguage" version="12" />
+    <language slang="l:443f4c36-fcf5-4eb6-9500-8d06ed259e3e:jetbrains.mps.baseLanguage.classifiers" version="0" />
+    <language slang="l:fd392034-7849-419d-9071-12563d152375:jetbrains.mps.baseLanguage.closures" version="0" />
+    <language slang="l:83888646-71ce-4f1c-9c53-c54016f6ad4f:jetbrains.mps.baseLanguage.collections" version="1" />
+    <language slang="l:73736c50-f124-433b-b789-2828a15a0adc:jetbrains.mps.baseLanguage.collections.trove" version="0" />
+    <language slang="l:f2801650-65d5-424e-bb1b-463a8781b786:jetbrains.mps.baseLanguage.javadoc" version="2" />
+    <language slang="l:760a0a8c-eabb-4521-8bfd-65db761a9ba3:jetbrains.mps.baseLanguage.logging" version="0" />
+    <language slang="l:a247e09e-2435-45ba-b8d2-07e93feba96a:jetbrains.mps.baseLanguage.tuples" version="0" />
+    <language slang="l:63650c59-16c8-498a-99c8-005c7ee9515d:jetbrains.mps.lang.access" version="0" />
+    <language slang="l:aee9cad2-acd4-4608-aef2-0004f6a1cdbd:jetbrains.mps.lang.actions" version="4" />
+    <language slang="l:af65afd8-f0dd-4942-87d9-63a55f2a9db1:jetbrains.mps.lang.behavior" version="2" />
+    <language slang="l:3f4bc5f5-c6c1-4a28-8b10-c83066ffa4a1:jetbrains.mps.lang.constraints" version="6" />
+    <language slang="l:e51810c5-7308-4642-bcb6-469e61b5dd18:jetbrains.mps.lang.constraints.msg.specification" version="0" />
+    <language slang="l:47257bf3-78d3-470b-89d9-8c3261a61d15:jetbrains.mps.lang.constraints.rules" version="0" />
+    <language slang="l:5dae8159-ab99-46bb-a40d-0cee30ee7018:jetbrains.mps.lang.constraints.rules.kinds" version="0" />
+    <language slang="l:134c38d4-e3af-4d9e-b069-1c7df0a4005d:jetbrains.mps.lang.constraints.rules.skeleton" version="0" />
+    <language slang="l:3ad5badc-1d9c-461c-b7b1-fa2fcd0a0ae7:jetbrains.mps.lang.context" version="0" />
+    <language slang="l:ea3159bf-f48e-4720-bde2-86dba75f0d34:jetbrains.mps.lang.context.defs" version="0" />
+    <language slang="l:ceab5195-25ea-4f22-9b92-103b95ca8c0c:jetbrains.mps.lang.core" version="2" />
+    <language slang="l:f4ad079d-bc71-4ffb-9600-9328705cf998:jetbrains.mps.lang.descriptor" version="0" />
+    <language slang="l:18bc6592-03a6-4e29-a83a-7ff23bde13ba:jetbrains.mps.lang.editor" version="14" />
+    <language slang="l:ad93155d-79b2-4759-b10c-55123e763903:jetbrains.mps.lang.messages" version="0" />
+    <language slang="l:446c26eb-2b7b-4bf0-9b35-f83fa582753e:jetbrains.mps.lang.modelapi" version="0" />
+    <language slang="l:d4615e3b-d671-4ba9-af01-2b78369b0ba7:jetbrains.mps.lang.pattern" version="2" />
+    <language slang="l:3a13115c-633c-4c5c-bbcc-75c4219e9555:jetbrains.mps.lang.quotation" version="5" />
+    <language slang="l:982eb8df-2c96-4bd7-9963-11712ea622e5:jetbrains.mps.lang.resources" version="2" />
+    <language slang="l:b3551702-269c-4f05-ba61-58060cef4292:jetbrains.mps.lang.rulesAndMessages" version="0" />
+    <language slang="l:d8f591ec-4d86-4af2-9f92-a9e93c803ffa:jetbrains.mps.lang.scopes" version="0" />
+    <language slang="l:13744753-c81f-424a-9c1b-cf8943bf4e86:jetbrains.mps.lang.sharedConcepts" version="0" />
+    <language slang="l:7866978e-a0f0-4cc7-81bc-4d213d9375e1:jetbrains.mps.lang.smodel" version="19" />
+    <language slang="l:c72da2b9-7cce-4447-8389-f407dc1158b7:jetbrains.mps.lang.structure" version="9" />
+    <language slang="l:c7fb639f-be78-4307-89b0-b5959c3fa8c8:jetbrains.mps.lang.text" version="0" />
+    <language slang="l:9ded098b-ad6a-4657-bfd9-48636cfe8bc3:jetbrains.mps.lang.traceable" version="0" />
+    <language slang="l:7a5dda62-9140-4668-ab76-d5ed1746f2b2:jetbrains.mps.lang.typesystem" version="5" />
+  </languageVersions>
+  <dependencyVersions>
+    <module reference="3f233e7f-b8a6-46d2-a57f-795d56775243(Annotations)" version="0" />
+    <module reference="6354ebe7-c22a-4a0f-ac54-50b52ab9b065(JDK)" version="0" />
+    <module reference="6ed54515-acc8-4d1e-a16c-9fd6cfe951ea(MPS.Core)" version="0" />
+    <module reference="1ed103c3-3aa6-49b7-9c21-6765ee11f224(MPS.Editor)" version="0" />
+    <module reference="498d89d2-c2e9-11e2-ad49-6cf049e62fe5(MPS.IDEA)" version="0" />
+    <module reference="8865b7a8-5271-43d3-884c-6fd1d9cfdd34(MPS.OpenAPI)" version="0" />
+    <module reference="742f6602-5a2f-4313-aa6e-ae1cd4ffdc61(MPS.Platform)" version="0" />
+    <module reference="83ed2dfe-f724-46cc-852a-dce086daee3f(com.mbeddr.formal.base)" version="0" />
+    <module reference="e8a04d94-4307-4f88-95a2-25f7c4f39437(com.mbeddr.formal.safety.gsn)" version="0" />
+    <module reference="a7775cc7-19db-41cf-a724-3212ac4437b9(com.mbeddr.formal.safety.gsn.importer)" version="0" />
+    <module reference="d3a0fd26-445a-466c-900e-10444ddfed52(com.mbeddr.mpsutil.filepicker)" version="0" />
+    <module reference="848ef45d-e560-4e35-853c-f35a64cc135c(de.itemis.mps.editor.celllayout.runtime)" version="0" />
+    <module reference="24c96a96-b7a1-4f30-82da-0f8e279a2661(de.itemis.mps.editor.celllayout.styles)" version="0" />
+    <module reference="7b45fa94-2707-4a1a-9e6a-ce40c4aaf35a(de.itemis.mps.editor.collapsible.runtime)" version="0" />
+    <module reference="8ca79d43-eb45-4791-bdd4-0d6130ff895b(de.itemis.mps.editor.diagram.layout)" version="0" />
+    <module reference="1144260c-e9a5-49a2-9add-39a1a1a7077e(de.itemis.mps.editor.diagram.runtime)" version="0" />
+    <module reference="56c81845-acaf-48a7-bcd8-e29b36c98dd7(de.itemis.mps.editor.diagram.styles)" version="0" />
+    <module reference="5c13c612-0f7b-4f0a-ab8b-565186b418de(de.itemis.mps.mouselistener.runtime)" version="0" />
+    <module reference="cce85e64-7b37-4ad5-b0e6-9d18324cdfb3(de.itemis.mps.selection.runtime)" version="0" />
+    <module reference="0022e9df-2136-4ef8-81b2-08650aeb1dc7(de.itemis.mps.tooltips.runtime)" version="0" />
+    <module reference="dc038ceb-b7ea-4fea-ac12-55f7400e97ba(de.slisson.mps.editor.multiline.runtime)" version="0" />
+    <module reference="f0fff802-6d26-4d2e-b89d-391357265626(de.slisson.mps.hacks.editor)" version="0" />
+    <module reference="92d2ea16-5a42-4fdf-a676-c7604efe3504(de.slisson.mps.richtext)" version="0" />
+    <module reference="ceab5195-25ea-4f22-9b92-103b95ca8c0c(jetbrains.mps.lang.core)" version="0" />
+    <module reference="a9e4c532-c5f5-4bb7-99ef-42abb73bbb70(jetbrains.mps.lang.descriptor.aspects)" version="0" />
+    <module reference="b0f8641f-bd77-4421-8425-30d9088a82f7(org.apache.commons)" version="0" />
+  </dependencyVersions>
+  <extendedLanguages />
+</language>
+
diff --git a/code/languages/com.mbeddr.formal.safety/languages/com.mbeddr.formal.safety.gsn.importer/models/com.mbeddr.formal.safety.gsn.importer.behavior.mps b/code/languages/com.mbeddr.formal.safety/languages/com.mbeddr.formal.safety.gsn.importer/models/com.mbeddr.formal.safety.gsn.importer.behavior.mps
new file mode 100644
index 000000000..6a4cbbfa6
--- /dev/null
+++ b/code/languages/com.mbeddr.formal.safety/languages/com.mbeddr.formal.safety.gsn.importer/models/com.mbeddr.formal.safety.gsn.importer.behavior.mps
@@ -0,0 +1,218 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<model ref="r:2931d8d2-dd6f-45fd-bbbd-056f34b734a8(com.mbeddr.formal.safety.gsn.importer.behavior)">
+  <persistence version="9" />
+  <languages>
+    <use id="7866978e-a0f0-4cc7-81bc-4d213d9375e1" name="jetbrains.mps.lang.smodel" version="19" />
+    <use id="af65afd8-f0dd-4942-87d9-63a55f2a9db1" name="jetbrains.mps.lang.behavior" version="2" />
+    <use id="63650c59-16c8-498a-99c8-005c7ee9515d" name="jetbrains.mps.lang.access" version="0" />
+    <devkit ref="fbc25dd2-5da4-483a-8b19-70928e1b62d7(jetbrains.mps.devkit.general-purpose)" />
+  </languages>
+  <imports>
+    <import index="64cq" ref="r:a10cf8fb-d7db-44ec-bd00-59dfaa3a8842(com.mbeddr.formal.safety.gsn.importer.structure)" />
+    <import index="lui2" ref="8865b7a8-5271-43d3-884c-6fd1d9cfdd34/java:org.jetbrains.mps.openapi.module(MPS.OpenAPI/)" />
+    <import index="mn49" ref="r:ebac6728-c6a8-4013-bfe5-28454fe70ff7(com.mbeddr.formal.safety.gsn.importer.util)" />
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+        <child id="1068581517665" name="statement" index="3cqZAp" />
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+      <concept id="1068581517677" name="jetbrains.mps.baseLanguage.structure.VoidType" flags="in" index="3cqZAl" />
+      <concept id="1204053956946" name="jetbrains.mps.baseLanguage.structure.IMethodCall" flags="ng" index="1ndlxa">
+        <reference id="1068499141037" name="baseMethodDeclaration" index="37wK5l" />
+        <child id="1068499141038" name="actualArgument" index="37wK5m" />
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+      <concept id="1107535904670" name="jetbrains.mps.baseLanguage.structure.ClassifierType" flags="in" index="3uibUv">
+        <reference id="1107535924139" name="classifier" index="3uigEE" />
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+      <concept id="1178549954367" name="jetbrains.mps.baseLanguage.structure.IVisible" flags="ng" index="1B3ioH">
+        <child id="1178549979242" name="visibility" index="1B3o_S" />
+      </concept>
+      <concept id="1146644602865" name="jetbrains.mps.baseLanguage.structure.PublicVisibility" flags="nn" index="3Tm1VV" />
+    </language>
+    <language id="63650c59-16c8-498a-99c8-005c7ee9515d" name="jetbrains.mps.lang.access">
+      <concept id="8974276187400348173" name="jetbrains.mps.lang.access.structure.CommandClosureLiteral" flags="nn" index="1QHqEC" />
+      <concept id="8974276187400348170" name="jetbrains.mps.lang.access.structure.BaseExecuteCommandStatement" flags="nn" index="1QHqEJ">
+        <child id="1423104411234567454" name="repo" index="ukAjM" />
+        <child id="8974276187400348171" name="commandClosureLiteral" index="1QHqEI" />
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+      <concept id="8974276187400348181" name="jetbrains.mps.lang.access.structure.ExecuteLightweightCommandStatement" flags="nn" index="1QHqEK" />
+    </language>
+    <language id="fd392034-7849-419d-9071-12563d152375" name="jetbrains.mps.baseLanguage.closures">
+      <concept id="1199569711397" name="jetbrains.mps.baseLanguage.closures.structure.ClosureLiteral" flags="nn" index="1bVj0M">
+        <child id="1199569916463" name="body" index="1bW5cS" />
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+    </language>
+    <language id="7866978e-a0f0-4cc7-81bc-4d213d9375e1" name="jetbrains.mps.lang.smodel">
+      <concept id="1179409122411" name="jetbrains.mps.lang.smodel.structure.Node_ConceptMethodCall" flags="nn" index="2qgKlT" />
+      <concept id="1143234257716" name="jetbrains.mps.lang.smodel.structure.Node_GetModelOperation" flags="nn" index="I4A8Y" />
+      <concept id="1138056143562" name="jetbrains.mps.lang.smodel.structure.SLinkAccess" flags="nn" index="3TrEf2">
+        <reference id="1138056516764" name="link" index="3Tt5mk" />
+      </concept>
+    </language>
+    <language id="ceab5195-25ea-4f22-9b92-103b95ca8c0c" name="jetbrains.mps.lang.core">
+      <concept id="1169194658468" name="jetbrains.mps.lang.core.structure.INamedConcept" flags="ng" index="TrEIO">
+        <property id="1169194664001" name="name" index="TrG5h" />
+      </concept>
+    </language>
+  </registry>
+  <node concept="13h7C7" id="6E_Wr0YLtOh">
+    <ref role="13h7C2" to="64cq:6E_Wr0YLqki" resolve="ImportFormatBase" />
+    <node concept="13i0hz" id="6E_Wr0YLtV0" role="13h7CS">
+      <property role="TrG5h" value="importGoalStructure" />
+      <property role="13i0it" value="true" />
+      <property role="13i0iv" value="true" />
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+        <property role="TrG5h" value="repo" />
+        <node concept="3uibUv" id="6E_Wr0YPFHk" role="1tU5fm">
+          <ref role="3uigEE" to="lui2:~SRepository" resolve="SRepository" />
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+      </node>
+    </node>
+    <node concept="13hLZK" id="6E_Wr0YLtOi" role="13h7CW">
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+    <ref role="13h7C2" to="64cq:6E_Wr0YLv6b" resolve="CsvImportFormat" />
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+      <node concept="3clFbS" id="6E_Wr0YLw8U" role="2VODD2" />
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+    <node concept="13i0hz" id="6E_Wr0YLwdp" role="13h7CS">
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+      <node concept="37vLTG" id="6E_Wr0YPKH6" role="3clF46">
+        <property role="TrG5h" value="repo" />
+        <node concept="3uibUv" id="6E_Wr0YPKH7" role="1tU5fm">
+          <ref role="3uigEE" to="lui2:~SRepository" resolve="SRepository" />
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+            <node concept="17QB3L" id="6E_Wr0YREqF" role="1tU5fm" />
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+      <ref role="13i0hy" node="6E_Wr0YLtV0" resolve="importGoalStructure" />
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+      <node concept="37vLTG" id="6E_Wr0YPKzO" role="3clF46">
+        <property role="TrG5h" value="repo" />
+        <node concept="3uibUv" id="6E_Wr0YPKzN" role="1tU5fm">
+          <ref role="3uigEE" to="lui2:~SRepository" resolve="SRepository" />
+        </node>
+      </node>
+    </node>
+  </node>
+</model>
+
diff --git a/code/languages/com.mbeddr.formal.safety/languages/com.mbeddr.formal.safety.gsn.importer/models/com.mbeddr.formal.safety.gsn.importer.constraints.mps b/code/languages/com.mbeddr.formal.safety/languages/com.mbeddr.formal.safety.gsn.importer/models/com.mbeddr.formal.safety.gsn.importer.constraints.mps
new file mode 100644
index 000000000..2ce79e853
--- /dev/null
+++ b/code/languages/com.mbeddr.formal.safety/languages/com.mbeddr.formal.safety.gsn.importer/models/com.mbeddr.formal.safety.gsn.importer.constraints.mps
@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<model ref="r:ba825111-170b-4bb1-8511-8aebd9b8bd73(com.mbeddr.formal.safety.gsn.importer.constraints)">
+  <persistence version="9" />
+  <languages>
+    <use id="5dae8159-ab99-46bb-a40d-0cee30ee7018" name="jetbrains.mps.lang.constraints.rules.kinds" version="0" />
+    <use id="ea3159bf-f48e-4720-bde2-86dba75f0d34" name="jetbrains.mps.lang.context.defs" version="0" />
+    <use id="e51810c5-7308-4642-bcb6-469e61b5dd18" name="jetbrains.mps.lang.constraints.msg.specification" version="0" />
+    <use id="134c38d4-e3af-4d9e-b069-1c7df0a4005d" name="jetbrains.mps.lang.constraints.rules.skeleton" version="0" />
+    <use id="b3551702-269c-4f05-ba61-58060cef4292" name="jetbrains.mps.lang.rulesAndMessages" version="0" />
+    <use id="3f4bc5f5-c6c1-4a28-8b10-c83066ffa4a1" name="jetbrains.mps.lang.constraints" version="6" />
+    <use id="13744753-c81f-424a-9c1b-cf8943bf4e86" name="jetbrains.mps.lang.sharedConcepts" version="0" />
+    <use id="3ad5badc-1d9c-461c-b7b1-fa2fcd0a0ae7" name="jetbrains.mps.lang.context" version="0" />
+    <use id="ad93155d-79b2-4759-b10c-55123e763903" name="jetbrains.mps.lang.messages" version="0" />
+    <devkit ref="00000000-0000-4000-0000-5604ebd4f22c(jetbrains.mps.devkit.aspect.constraints)" />
+  </languages>
+  <imports />
+  <registry />
+</model>
+
diff --git a/code/languages/com.mbeddr.formal.safety/languages/com.mbeddr.formal.safety.gsn.importer/models/com.mbeddr.formal.safety.gsn.importer.editor.mps b/code/languages/com.mbeddr.formal.safety/languages/com.mbeddr.formal.safety.gsn.importer/models/com.mbeddr.formal.safety.gsn.importer.editor.mps
new file mode 100644
index 000000000..57b6ca187
--- /dev/null
+++ b/code/languages/com.mbeddr.formal.safety/languages/com.mbeddr.formal.safety.gsn.importer/models/com.mbeddr.formal.safety.gsn.importer.editor.mps
@@ -0,0 +1,374 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<model ref="r:de615b9b-ee1c-4ee0-909a-05814dbf18a4(com.mbeddr.formal.safety.gsn.importer.editor)">
+  <persistence version="9" />
+  <languages>
+    <use id="18bc6592-03a6-4e29-a83a-7ff23bde13ba" name="jetbrains.mps.lang.editor" version="14" />
+    <use id="aee9cad2-acd4-4608-aef2-0004f6a1cdbd" name="jetbrains.mps.lang.actions" version="4" />
+    <use id="63650c59-16c8-498a-99c8-005c7ee9515d" name="jetbrains.mps.lang.access" version="0" />
+    <devkit ref="fbc25dd2-5da4-483a-8b19-70928e1b62d7(jetbrains.mps.devkit.general-purpose)" />
+  </languages>
+  <imports>
+    <import index="dxuu" ref="6354ebe7-c22a-4a0f-ac54-50b52ab9b065/java:javax.swing(JDK/)" />
+    <import index="hyam" ref="6354ebe7-c22a-4a0f-ac54-50b52ab9b065/java:java.awt.event(JDK/)" />
+    <import index="64cq" ref="r:a10cf8fb-d7db-44ec-bd00-59dfaa3a8842(com.mbeddr.formal.safety.gsn.importer.structure)" implicit="true" />
+    <import index="tpco" ref="r:00000000-0000-4000-0000-011c89590284(jetbrains.mps.lang.core.editor)" implicit="true" />
+    <import index="tpck" ref="r:00000000-0000-4000-0000-011c89590288(jetbrains.mps.lang.core.structure)" implicit="true" />
+    <import index="wyt6" ref="6354ebe7-c22a-4a0f-ac54-50b52ab9b065/java:java.lang(JDK/)" implicit="true" />
+    <import index="cj4x" ref="1ed103c3-3aa6-49b7-9c21-6765ee11f224/java:jetbrains.mps.openapi.editor(MPS.Editor/)" implicit="true" />
+    <import index="wzxk" ref="r:2931d8d2-dd6f-45fd-bbbd-056f34b734a8(com.mbeddr.formal.safety.gsn.importer.behavior)" implicit="true" />
+  </imports>
+  <registry>
+    <language id="18bc6592-03a6-4e29-a83a-7ff23bde13ba" name="jetbrains.mps.lang.editor">
+      <concept id="1071666914219" name="jetbrains.mps.lang.editor.structure.ConceptEditorDeclaration" flags="ig" index="24kQdi" />
+      <concept id="1106270549637" name="jetbrains.mps.lang.editor.structure.CellLayout_Horizontal" flags="nn" index="2iRfu4" />
+      <concept id="1106270571710" name="jetbrains.mps.lang.editor.structure.CellLayout_Vertical" flags="nn" index="2iRkQZ" />
+      <concept id="1142886811589" name="jetbrains.mps.lang.editor.structure.ConceptFunctionParameter_node" flags="nn" index="pncrf" />
+      <concept id="1080736578640" name="jetbrains.mps.lang.editor.structure.BaseEditorComponent" flags="ig" index="2wURMF">
+        <child id="1080736633877" name="cellModel" index="2wV5jI" />
+      </concept>
+      <concept id="1078939183254" name="jetbrains.mps.lang.editor.structure.CellModel_Component" flags="sg" stub="3162947552742194261" index="PMmxH">
+        <reference id="1078939183255" name="editorComponent" index="PMmxG" />
+      </concept>
+      <concept id="1186403694788" name="jetbrains.mps.lang.editor.structure.ColorStyleClassItem" flags="ln" index="VaVBg">
+        <property id="1186403713874" name="color" index="Vb096" />
+      </concept>
+      <concept id="1186404549998" name="jetbrains.mps.lang.editor.structure.ForegroundColorStyleClassItem" flags="ln" index="VechU" />
+      <concept id="1186414928363" name="jetbrains.mps.lang.editor.structure.SelectableStyleSheetItem" flags="ln" index="VPM3Z" />
+      <concept id="1103016434866" name="jetbrains.mps.lang.editor.structure.CellModel_JComponent" flags="sg" stub="8104358048506731196" index="3gTLQM">
+        <child id="1176475119347" name="componentProvider" index="3FoqZy" />
+      </concept>
+      <concept id="1139848536355" name="jetbrains.mps.lang.editor.structure.CellModel_WithRole" flags="ng" index="1$h60E">
+        <reference id="1140103550593" name="relationDeclaration" index="1NtTu8" />
+      </concept>
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+                                    <node concept="liA8E" id="6E_Wr0YPKgQ" role="2OqNvi">
+                                      <ref role="37wK5l" to="cj4x:~EditorContext.getRepository()" resolve="getRepository" />
+                                    </node>
+                                  </node>
+                                </node>
+                              </node>
+                            </node>
+                          </node>
+                          <node concept="2AHcQZ" id="6E_Wr0YLTow" role="2AJF6D">
+                            <ref role="2AI5Lk" to="wyt6:~Override" resolve="Override" />
+                          </node>
+                        </node>
+                      </node>
+                    </node>
+                  </node>
+                </node>
+              </node>
+            </node>
+            <node concept="3clFbF" id="6E_Wr0YLUf6" role="3cqZAp">
+              <node concept="37vLTw" id="6E_Wr0YLUf4" role="3clFbG">
+                <ref role="3cqZAo" node="6E_Wr0YLMe$" resolve="importBtn" />
+              </node>
+            </node>
+          </node>
+        </node>
+      </node>
+      <node concept="2iRkQZ" id="6E_Wr0YLHYR" role="2iSdaV" />
+    </node>
+  </node>
+</model>
+
diff --git a/code/languages/com.mbeddr.formal.safety/languages/com.mbeddr.formal.safety.gsn.importer/models/com.mbeddr.formal.safety.gsn.importer.structure.mps b/code/languages/com.mbeddr.formal.safety/languages/com.mbeddr.formal.safety.gsn.importer/models/com.mbeddr.formal.safety.gsn.importer.structure.mps
new file mode 100644
index 000000000..ea4cf3ce4
--- /dev/null
+++ b/code/languages/com.mbeddr.formal.safety/languages/com.mbeddr.formal.safety.gsn.importer/models/com.mbeddr.formal.safety.gsn.importer.structure.mps
@@ -0,0 +1,86 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<model ref="r:a10cf8fb-d7db-44ec-bd00-59dfaa3a8842(com.mbeddr.formal.safety.gsn.importer.structure)">
+  <persistence version="9" />
+  <languages>
+    <devkit ref="78434eb8-b0e5-444b-850d-e7c4ad2da9ab(jetbrains.mps.devkit.aspect.structure)" />
+  </languages>
+  <imports>
+    <import index="68mc" ref="r:2a10821d-612f-4a73-b7b0-ed6b57106321(com.mbeddr.mpsutil.filepicker.structure)" />
+    <import index="tpck" ref="r:00000000-0000-4000-0000-011c89590288(jetbrains.mps.lang.core.structure)" implicit="true" />
+  </imports>
+  <registry>
+    <language id="c72da2b9-7cce-4447-8389-f407dc1158b7" name="jetbrains.mps.lang.structure">
+      <concept id="1169125787135" name="jetbrains.mps.lang.structure.structure.AbstractConceptDeclaration" flags="ig" index="PkWjJ">
+        <property id="6714410169261853888" name="conceptId" index="EcuMT" />
+        <property id="4628067390765907488" name="conceptShortDescription" index="R4oN_" />
+        <property id="4628067390765956802" name="abstract" index="R5$K7" />
+        <property id="5092175715804935370" name="conceptAlias" index="34LRSv" />
+        <child id="1071489727083" name="linkDeclaration" index="1TKVEi" />
+      </concept>
+      <concept id="1169127622168" name="jetbrains.mps.lang.structure.structure.InterfaceConceptReference" flags="ig" index="PrWs8">
+        <reference id="1169127628841" name="intfc" index="PrY4T" />
+      </concept>
+      <concept id="1071489090640" name="jetbrains.mps.lang.structure.structure.ConceptDeclaration" flags="ig" index="1TIwiD">
+        <property id="1096454100552" name="rootable" index="19KtqR" />
+        <reference id="1071489389519" name="extends" index="1TJDcQ" />
+        <child id="1169129564478" name="implements" index="PzmwI" />
+      </concept>
+      <concept id="1071489288298" name="jetbrains.mps.lang.structure.structure.LinkDeclaration" flags="ig" index="1TJgyj">
+        <property id="1071599776563" name="role" index="20kJfa" />
+        <property id="1071599893252" name="sourceCardinality" index="20lbJX" />
+        <property id="1071599937831" name="metaClass" index="20lmBu" />
+        <property id="241647608299431140" name="linkId" index="IQ2ns" />
+        <reference id="1071599976176" name="target" index="20lvS9" />
+      </concept>
+    </language>
+    <language id="ceab5195-25ea-4f22-9b92-103b95ca8c0c" name="jetbrains.mps.lang.core">
+      <concept id="1169194658468" name="jetbrains.mps.lang.core.structure.INamedConcept" flags="ng" index="TrEIO">
+        <property id="1169194664001" name="name" index="TrG5h" />
+      </concept>
+    </language>
+  </registry>
+  <node concept="1TIwiD" id="6E_Wr0YLpFj">
+    <property role="EcuMT" value="7684814078447295187" />
+    <property role="TrG5h" value="GSNImporter" />
+    <property role="34LRSv" value="gsn importer" />
+    <property role="19KtqR" value="true" />
+    <ref role="1TJDcQ" to="tpck:gw2VY9q" resolve="BaseConcept" />
+    <node concept="PrWs8" id="6E_Wr0YLq8K" role="PzmwI">
+      <ref role="PrY4T" to="tpck:h0TrEE$" resolve="INamedConcept" />
+    </node>
+    <node concept="1TJgyj" id="6E_Wr0YLslj" role="1TKVEi">
+      <property role="IQ2ns" value="7684814078447306067" />
+      <property role="20lmBu" value="fLJjDmT/aggregation" />
+      <property role="20kJfa" value="format" />
+      <ref role="20lvS9" node="6E_Wr0YLqki" resolve="ImportFormatBase" />
+    </node>
+  </node>
+  <node concept="1TIwiD" id="6E_Wr0YLqki">
+    <property role="EcuMT" value="7684814078447297810" />
+    <property role="TrG5h" value="ImportFormatBase" />
+    <property role="R5$K7" value="true" />
+    <ref role="1TJDcQ" to="tpck:gw2VY9q" resolve="BaseConcept" />
+  </node>
+  <node concept="1TIwiD" id="6E_Wr0YLqJl">
+    <property role="EcuMT" value="7684814078447299541" />
+    <property role="TrG5h" value="XmlImportFormat" />
+    <property role="34LRSv" value="xml format" />
+    <property role="R4oN_" value="imports from xml" />
+    <ref role="1TJDcQ" node="6E_Wr0YLqki" resolve="ImportFormatBase" />
+  </node>
+  <node concept="1TIwiD" id="6E_Wr0YLv6b">
+    <property role="EcuMT" value="7684814078447317387" />
+    <property role="TrG5h" value="CsvImportFormat" />
+    <property role="34LRSv" value="csv format" />
+    <property role="R4oN_" value="imports from csv" />
+    <ref role="1TJDcQ" node="6E_Wr0YLqki" resolve="ImportFormatBase" />
+    <node concept="1TJgyj" id="6E_Wr0YLwjr" role="1TKVEi">
+      <property role="IQ2ns" value="7684814078447322331" />
+      <property role="20lmBu" value="fLJjDmT/aggregation" />
+      <property role="20kJfa" value="file" />
+      <property role="20lbJX" value="fLJekj4/_1" />
+      <ref role="20lvS9" to="68mc:5Wocj7wnotA" resolve="AbstractFilePicker" />
+    </node>
+  </node>
+</model>
+
diff --git a/code/languages/com.mbeddr.formal.safety/languages/com.mbeddr.formal.safety.gsn.importer/models/com.mbeddr.formal.safety.gsn.importer.typesystem.mps b/code/languages/com.mbeddr.formal.safety/languages/com.mbeddr.formal.safety.gsn.importer/models/com.mbeddr.formal.safety.gsn.importer.typesystem.mps
new file mode 100644
index 000000000..dac0dd4e9
--- /dev/null
+++ b/code/languages/com.mbeddr.formal.safety/languages/com.mbeddr.formal.safety.gsn.importer/models/com.mbeddr.formal.safety.gsn.importer.typesystem.mps
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<model ref="r:1ec52bca-58d9-405b-a53b-cdeba9b84e9e(com.mbeddr.formal.safety.gsn.importer.typesystem)">
+  <persistence version="9" />
+  <languages>
+    <use id="7a5dda62-9140-4668-ab76-d5ed1746f2b2" name="jetbrains.mps.lang.typesystem" version="5" />
+    <devkit ref="00000000-0000-4000-0000-1de82b3a4936(jetbrains.mps.devkit.aspect.typesystem)" />
+  </languages>
+  <imports />
+  <registry />
+</model>
+
diff --git a/code/languages/com.mbeddr.formal.safety/languages/com.mbeddr.formal.safety.gsn.importer/models/com.mbeddr.formal.safety.gsn.importer.util.mps b/code/languages/com.mbeddr.formal.safety/languages/com.mbeddr.formal.safety.gsn.importer/models/com.mbeddr.formal.safety.gsn.importer.util.mps
new file mode 100644
index 000000000..ed5325901
--- /dev/null
+++ b/code/languages/com.mbeddr.formal.safety/languages/com.mbeddr.formal.safety.gsn.importer/models/com.mbeddr.formal.safety.gsn.importer.util.mps
@@ -0,0 +1,1233 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<model ref="r:ebac6728-c6a8-4013-bfe5-28454fe70ff7(com.mbeddr.formal.safety.gsn.importer.util)">
+  <persistence version="9" />
+  <languages>
+    <use id="73736c50-f124-433b-b789-2828a15a0adc" name="jetbrains.mps.baseLanguage.collections.trove" version="0" />
+    <use id="63650c59-16c8-498a-99c8-005c7ee9515d" name="jetbrains.mps.lang.access" version="0" />
+    <devkit ref="fbc25dd2-5da4-483a-8b19-70928e1b62d7(jetbrains.mps.devkit.general-purpose)" />
+  </languages>
+  <imports>
+    <import index="guwi" ref="6354ebe7-c22a-4a0f-ac54-50b52ab9b065/java:java.io(JDK/)" />
+    <import index="8oaq" ref="b0f8641f-bd77-4421-8425-30d9088a82f7/java:org.apache.commons.io(org.apache.commons/)" />
+    <import index="33ny" ref="6354ebe7-c22a-4a0f-ac54-50b52ab9b065/java:java.util(JDK/)" />
+    <import index="py52" ref="r:14bd9e1a-63cf-4fde-816f-1d68e4acbfba(com.mbeddr.formal.safety.gsn.structure)" />
+    <import index="87nw" ref="r:ca2ab6bb-f6e7-4c0f-a88c-b78b9b31fff3(de.slisson.mps.richtext.structure)" />
+    <import index="6t7w" ref="6354ebe7-c22a-4a0f-ac54-50b52ab9b065/java:java.time.format(JDK/)" />
+    <import index="28m1" ref="6354ebe7-c22a-4a0f-ac54-50b52ab9b065/java:java.time(JDK/)" />
+    <import index="lui2" ref="8865b7a8-5271-43d3-884c-6fd1d9cfdd34/java:org.jetbrains.mps.openapi.module(MPS.OpenAPI/)" />
+    <import index="tpck" ref="r:00000000-0000-4000-0000-011c89590288(jetbrains.mps.lang.core.structure)" implicit="true" />
+    <import index="wyt6" ref="6354ebe7-c22a-4a0f-ac54-50b52ab9b065/java:java.lang(JDK/)" implicit="true" />
+  </imports>
+  <registry>
+    <language id="f3061a53-9226-4cc5-a443-f952ceaf5816" name="jetbrains.mps.baseLanguage">
+      <concept id="1080223426719" name="jetbrains.mps.baseLanguage.structure.OrExpression" flags="nn" index="22lmx$" />
+      <concept id="1082485599095" name="jetbrains.mps.baseLanguage.structure.BlockStatement" flags="nn" index="9aQIb">
+        <child id="1082485599096" name="statements" index="9aQI4" />
+      </concept>
+      <concept id="1215693861676" name="jetbrains.mps.baseLanguage.structure.BaseAssignmentExpression" flags="nn" index="d038R">
+        <child id="1068498886297" name="rValue" index="37vLTx" />
+        <child id="1068498886295" name="lValue" index="37vLTJ" />
+      </concept>
+      <concept id="1202948039474" name="jetbrains.mps.baseLanguage.structure.InstanceMethodCallOperation" flags="nn" index="liA8E" />
+      <concept id="8118189177080264853" name="jetbrains.mps.baseLanguage.structure.AlternativeType" flags="ig" index="nSUau">
+        <child id="8118189177080264854" name="alternative" index="nSUat" />
+      </concept>
+      <concept id="1465982738277781862" name="jetbrains.mps.baseLanguage.structure.PlaceholderMember" flags="nn" index="2tJIrI" />
+      <concept id="1239714755177" name="jetbrains.mps.baseLanguage.structure.AbstractUnaryNumberOperation" flags="nn" index="2$Kvd9">
+        <child id="1239714902950" name="expression" index="2$L3a6" />
+      </concept>
+      <concept id="1173175405605" name="jetbrains.mps.baseLanguage.structure.ArrayAccessExpression" flags="nn" index="AH0OO">
+        <child id="1173175577737" name="index" index="AHEQo" />
+        <child id="1173175590490" name="array" index="AHHXb" />
+      </concept>
+      <concept id="1154032098014" name="jetbrains.mps.baseLanguage.structure.AbstractLoopStatement" flags="nn" index="2LF5Ji">
+        <child id="1154032183016" name="body" index="2LFqv$" />
+      </concept>
+      <concept id="1197027756228" name="jetbrains.mps.baseLanguage.structure.DotExpression" flags="nn" index="2OqwBi">
+        <child id="1197027771414" name="operand" index="2Oq$k0" />
+        <child id="1197027833540" name="operation" index="2OqNvi" />
+      </concept>
+      <concept id="1145552977093" name="jetbrains.mps.baseLanguage.structure.GenericNewExpression" flags="nn" index="2ShNRf">
+        <child id="1145553007750" name="creator" index="2ShVmc" />
+      </concept>
+      <concept id="1070462154015" name="jetbrains.mps.baseLanguage.structure.StaticFieldDeclaration" flags="ig" index="Wx3nA" />
+      <concept id="1070475926800" name="jetbrains.mps.baseLanguage.structure.StringLiteral" flags="nn" index="Xl_RD">
+        <property id="1070475926801" name="value" index="Xl_RC" />
+      </concept>
+      <concept id="4952749571008284462" name="jetbrains.mps.baseLanguage.structure.CatchVariable" flags="ng" index="XOnhg" />
+      <concept id="1081236700938" name="jetbrains.mps.baseLanguage.structure.StaticMethodDeclaration" flags="ig" index="2YIFZL" />
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+        <reference id="1144433194310" name="classConcept" index="1Pybhc" />
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+      <concept id="1164991038168" name="jetbrains.mps.baseLanguage.structure.ThrowStatement" flags="nn" index="YS8fn">
+        <child id="1164991057263" name="throwable" index="YScLw" />
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+      <concept id="1070534058343" name="jetbrains.mps.baseLanguage.structure.NullLiteral" flags="nn" index="10Nm6u" />
+      <concept id="1070534370425" name="jetbrains.mps.baseLanguage.structure.IntegerType" flags="in" index="10Oyi0" />
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+        <child id="1070534760952" name="componentType" index="10Q1$1" />
+      </concept>
+      <concept id="1070534934090" name="jetbrains.mps.baseLanguage.structure.CastExpression" flags="nn" index="10QFUN">
+        <child id="1070534934091" name="type" index="10QFUM" />
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+      <concept id="1068390468198" name="jetbrains.mps.baseLanguage.structure.ClassConcept" flags="ig" index="312cEu" />
+      <concept id="1068431474542" name="jetbrains.mps.baseLanguage.structure.VariableDeclaration" flags="ng" index="33uBYm">
+        <property id="1176718929932" name="isFinal" index="3TUv4t" />
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+      </concept>
+      <concept id="1513279640923991009" name="jetbrains.mps.baseLanguage.structure.IGenericClassCreator" flags="ng" index="366HgL">
+        <property id="1513279640906337053" name="inferTypeParams" index="373rjd" />
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+      <concept id="1068498886296" name="jetbrains.mps.baseLanguage.structure.VariableReference" flags="nn" index="37vLTw">
+        <reference id="1068581517664" name="variableDeclaration" index="3cqZAo" />
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+      <concept id="1068498886292" name="jetbrains.mps.baseLanguage.structure.ParameterDeclaration" flags="ir" index="37vLTG" />
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+      <concept id="1225271177708" name="jetbrains.mps.baseLanguage.structure.StringType" flags="in" index="17QB3L" />
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+        <child id="5680397130376446158" name="type" index="1tU5fm" />
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+      <concept id="1068580123132" name="jetbrains.mps.baseLanguage.structure.BaseMethodDeclaration" flags="ng" index="3clF44">
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+        <child id="1068580123156" name="expression" index="3clFbG" />
+      </concept>
+      <concept id="1068580123157" name="jetbrains.mps.baseLanguage.structure.Statement" flags="nn" index="3clFbH" />
+      <concept id="1068580123159" name="jetbrains.mps.baseLanguage.structure.IfStatement" flags="nn" index="3clFbJ">
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+      <concept id="1068580123136" name="jetbrains.mps.baseLanguage.structure.StatementList" flags="sn" stub="5293379017992965193" index="3clFbS">
+        <child id="1068581517665" name="statement" index="3cqZAp" />
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+        <property id="1068580320021" name="value" index="3cmrfH" />
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+      <concept id="1068581242878" name="jetbrains.mps.baseLanguage.structure.ReturnStatement" flags="nn" index="3cpWs6">
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+      <concept id="1204053956946" name="jetbrains.mps.baseLanguage.structure.IMethodCall" flags="ng" index="1ndlxa">
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+                        <node concept="37vLTw" id="3SfdbygpBwZ" role="37vLTJ">
+                          <ref role="3cqZAo" node="3SfdbygpyiO" resolve="crtLineLength" />
+                        </node>
+                      </node>
+                    </node>
+                    <node concept="3clFbF" id="3SfdbygpDEO" role="3cqZAp">
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+                        <node concept="37vLTw" id="3SfdbygpDEM" role="2Oq$k0">
+                          <ref role="3cqZAo" node="3SfdbygpvgO" resolve="res" />
+                        </node>
+                        <node concept="liA8E" id="3SfdbygpEJZ" role="2OqNvi">
+                          <ref role="37wK5l" to="wyt6:~StringBuffer.append(char)" resolve="append" />
+                          <node concept="1Xhbcc" id="3SfdbygpEPF" role="37wK5m">
+                            <property role="1XhdNS" value="\n" />
+                          </node>
+                        </node>
+                      </node>
+                    </node>
+                    <node concept="3N13vt" id="3SfdbygpWfD" role="3cqZAp" />
+                  </node>
+                </node>
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+                  <node concept="2GrUjf" id="3SfdbygpHcZ" role="37wK5m">
+                    <ref role="2Gs0qQ" node="3SfdbygpyKv" resolve="ch" />
+                  </node>
+                </node>
+              </node>
+            </node>
+          </node>
+        </node>
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+              <ref role="3cqZAo" node="3SfdbygpvgO" resolve="res" />
+            </node>
+            <node concept="liA8E" id="3SfdbygpxZH" role="2OqNvi">
+              <ref role="37wK5l" to="wyt6:~StringBuffer.toString()" resolve="toString" />
+            </node>
+          </node>
+        </node>
+      </node>
+      <node concept="3Tm1VV" id="3SfdbygptYs" role="1B3o_S" />
+      <node concept="17QB3L" id="3Sfdbygpuzl" role="3clF45" />
+      <node concept="37vLTG" id="3Sfdbygpv1n" role="3clF46">
+        <property role="TrG5h" value="desc" />
+        <node concept="17QB3L" id="3Sfdbygpv1m" role="1tU5fm" />
+      </node>
+    </node>
+    <node concept="3Tm1VV" id="6E_Wr0YM2ZH" role="1B3o_S" />
+  </node>
+</model>
+
diff --git a/code/languages/com.mbeddr.formal.safety/languages/com.mbeddr.formal.safety.gsn/models/com.mbeddr.formal.safety.gsn.editor.mps b/code/languages/com.mbeddr.formal.safety/languages/com.mbeddr.formal.safety.gsn/models/com.mbeddr.formal.safety.gsn.editor.mps
index af07ea7d7..a31921c85 100644
--- a/code/languages/com.mbeddr.formal.safety/languages/com.mbeddr.formal.safety.gsn/models/com.mbeddr.formal.safety.gsn.editor.mps
+++ b/code/languages/com.mbeddr.formal.safety/languages/com.mbeddr.formal.safety.gsn/models/com.mbeddr.formal.safety.gsn.editor.mps
@@ -3797,6 +3797,11 @@
       <property role="TrG5h" value="GOAL_STRUCTURE_DIFF_VIEW" />
       <property role="2BUmq6" value="Plain Textual Projection" />
     </node>
+    <node concept="2BsEeg" id="3Sfdbygn1_l" role="2ABdcP">
+      <property role="2gpH_U" value="true" />
+      <property role="TrG5h" value="LAYOUT_INFO_ONLY" />
+      <property role="2BUmq6" value="LAYOUT_INFO_ONLY" />
+    </node>
   </node>
   <node concept="312cEu" id="6f7vJBUc0xj">
     <property role="3GE5qa" value="" />
@@ -12429,6 +12434,11 @@
           <property role="VOm3f" value="true" />
         </node>
         <node concept="VPxyj" id="1jzC6AK4MO9" role="3F10Kt" />
+        <node concept="2w$q5c" id="3Sfdbygn1xy" role="78xua">
+          <node concept="2aJ2om" id="3Sfdbygn1xz" role="2w$qW5">
+            <ref role="2$4xQ3" node="3Sfdbygn1_l" resolve="LAYOUT_INFO_ONLY" />
+          </node>
+        </node>
       </node>
       <node concept="3F0ifn" id="3EDV2YKAnez" role="3EZMnx">
         <property role="3F0ifm" value="Entities:" />
@@ -12489,25 +12499,6 @@
           </node>
         </node>
       </node>
-      <node concept="3F0ifn" id="3EDV2YKNkyj" role="3EZMnx">
-        <node concept="pkWqt" id="3EDV2YKNkyk" role="pqm2j">
-          <node concept="3clFbS" id="3EDV2YKNkyl" role="2VODD2">
-            <node concept="3clFbF" id="3EDV2YKNkym" role="3cqZAp">
-              <node concept="2OqwBi" id="3EDV2YKNkyn" role="3clFbG">
-                <node concept="2OqwBi" id="3EDV2YKNkyo" role="2Oq$k0">
-                  <node concept="pncrf" id="3EDV2YKNkyp" role="2Oq$k0" />
-                  <node concept="1mfA1w" id="3EDV2YKNkyq" role="2OqNvi" />
-                </node>
-                <node concept="3w_OXm" id="3EDV2YKNkyr" role="2OqNvi" />
-              </node>
-            </node>
-          </node>
-        </node>
-      </node>
-      <node concept="PMmxH" id="336$aoTFLwC" role="3EZMnx">
-        <ref role="PMmxG" node="1qrXfdH1Y7r" resolve="GoalStructureDiagramEditorComponent" />
-      </node>
-      <node concept="3F0ifn" id="336$aoTD246" role="3EZMnx" />
       <node concept="PMmxH" id="3EDV2YKNkzt" role="3EZMnx">
         <ref role="PMmxG" node="3EDV2YKBoSr" resolve="GoalStructure_Diff_View" />
       </node>
@@ -12937,16 +12928,6 @@
       </node>
     </node>
   </node>
-  <node concept="24kQdi" id="1jzC6AJYEMm">
-    <property role="3GE5qa" value="diff_view" />
-    <ref role="1XX52x" to="suqv:7L$rKAVfLie" resolve="LayoutMap" />
-    <node concept="3F0ifn" id="1jzC6AJZE7_" role="2wV5jI">
-      <property role="3F0ifm" value="layout information" />
-    </node>
-    <node concept="2aJ2om" id="1jzC6AJYERh" role="CpUAK">
-      <ref role="2$4xQ3" node="3EDV2YKAndh" resolve="GOAL_STRUCTURE_DIFF_VIEW" />
-    </node>
-  </node>
   <node concept="PKFIW" id="3ydH56R7QiE">
     <property role="TrG5h" value="GoalStructureInInspector_EditorComponent" />
     <ref role="1XX52x" to="py52:3GRi4m$qNsQ" resolve="GoalStructure" />
@@ -13000,5 +12981,15 @@
       <ref role="2$4xQ3" node="5uFV_KKBhnn" resolve="GOAL_STRUCTURE_TEXTUAL" />
     </node>
   </node>
+  <node concept="24kQdi" id="1jzC6AJYEMm">
+    <property role="3GE5qa" value="diff_view" />
+    <ref role="1XX52x" to="suqv:7L$rKAVfLie" resolve="LayoutMap" />
+    <node concept="2aJ2om" id="1jzC6AJYERh" role="CpUAK">
+      <ref role="2$4xQ3" node="3Sfdbygn1_l" resolve="LAYOUT_INFO_ONLY" />
+    </node>
+    <node concept="3F0ifn" id="1jzC6AJZE7_" role="2wV5jI">
+      <property role="3F0ifm" value="layout information" />
+    </node>
+  </node>
 </model>
 
diff --git a/code/languages/com.mbeddr.formal.safety/solutions/com.fasten.assurance.build/models/com.fasten.assurance.build.mps b/code/languages/com.mbeddr.formal.safety/solutions/com.fasten.assurance.build/models/com.fasten.assurance.build.mps
index 4bd79571c..4bbfb5dd7 100644
--- a/code/languages/com.mbeddr.formal.safety/solutions/com.fasten.assurance.build/models/com.fasten.assurance.build.mps
+++ b/code/languages/com.mbeddr.formal.safety/solutions/com.fasten.assurance.build/models/com.fasten.assurance.build.mps
@@ -4599,6 +4599,81 @@
           </node>
         </node>
       </node>
+      <node concept="1E1JtD" id="5L9YWLTDLG6" role="2G$12L">
+        <property role="BnDLt" value="true" />
+        <property role="TrG5h" value="com.mbeddr.formal.safety.gsn.importer" />
+        <property role="3LESm3" value="a7775cc7-19db-41cf-a724-3212ac4437b9" />
+        <node concept="398BVA" id="5L9YWLTDLVL" role="3LF7KH">
+          <ref role="398BVh" node="6hyv0iVPlDX" resolve="mbeddr.formal.safety.code" />
+          <node concept="2Ry0Ak" id="5L9YWLTDM9h" role="iGT6I">
+            <property role="2Ry0Am" value="languages" />
+            <node concept="2Ry0Ak" id="5L9YWLTDMtt" role="2Ry0An">
+              <property role="2Ry0Am" value="com.mbeddr.formal.safety.gsn.importer" />
+              <node concept="2Ry0Ak" id="5L9YWLTDMEW" role="2Ry0An">
+                <property role="2Ry0Am" value="com.mbeddr.formal.safety.gsn.importer.mpl" />
+              </node>
+            </node>
+          </node>
+        </node>
+        <node concept="1SiIV0" id="5L9YWLTDMZj" role="3bR37C">
+          <node concept="3bR9La" id="5L9YWLTDMZk" role="1SiIV1">
+            <ref role="3bR37D" node="6hyv0iVPlGt" resolve="com.mbeddr.formal.safety.gsn" />
+          </node>
+        </node>
+        <node concept="1SiIV0" id="5L9YWLTDMZn" role="3bR37C">
+          <node concept="3bR9La" id="5L9YWLTDMZo" role="1SiIV1">
+            <ref role="3bR37D" to="90a9:PE3B26QCrP" resolve="org.apache.commons" />
+          </node>
+        </node>
+        <node concept="1SiIV0" id="5L9YWLTDMZp" role="3bR37C">
+          <node concept="3bR9La" id="5L9YWLTDMZq" role="1SiIV1">
+            <ref role="3bR37D" to="al5i:Vtr7jyAKU4" resolve="com.mbeddr.mpsutil.filepicker" />
+          </node>
+        </node>
+        <node concept="1SiIV0" id="5L9YWLTDMZr" role="3bR37C">
+          <node concept="3bR9La" id="5L9YWLTDMZs" role="1SiIV1">
+            <ref role="3bR37D" to="90a9:1sO539bGQvB" resolve="de.slisson.mps.richtext" />
+          </node>
+        </node>
+        <node concept="1BupzO" id="5L9YWLTDMZC" role="3bR31x">
+          <property role="3ZfqAx" value="models" />
+          <property role="1Hdu6h" value="true" />
+          <property role="1HemKv" value="true" />
+          <node concept="3LXTmp" id="5L9YWLTDMZD" role="1HemKq">
+            <node concept="398BVA" id="5L9YWLTDMZt" role="3LXTmr">
+              <ref role="398BVh" node="6hyv0iVPlDX" resolve="mbeddr.formal.safety.code" />
+              <node concept="2Ry0Ak" id="5L9YWLTDMZu" role="iGT6I">
+                <property role="2Ry0Am" value="languages" />
+                <node concept="2Ry0Ak" id="5L9YWLTDMZv" role="2Ry0An">
+                  <property role="2Ry0Am" value="com.mbeddr.formal.safety.gsn.importer" />
+                  <node concept="2Ry0Ak" id="5L9YWLTDMZw" role="2Ry0An">
+                    <property role="2Ry0Am" value="models" />
+                  </node>
+                </node>
+              </node>
+            </node>
+            <node concept="3qWCbU" id="5L9YWLTDMZE" role="3LXTna">
+              <property role="3qWCbO" value="**/*.mps, **/*.mpsr, **/.model" />
+            </node>
+          </node>
+        </node>
+        <node concept="3rtmxn" id="5L9YWLTDN9N" role="3bR31x">
+          <node concept="3LXTmp" id="5L9YWLTDN9O" role="3rtmxm">
+            <node concept="398BVA" id="5L9YWLTDN9P" role="3LXTmr">
+              <ref role="398BVh" node="6hyv0iVPlDX" resolve="mbeddr.formal.safety.code" />
+              <node concept="2Ry0Ak" id="5L9YWLTDN9Q" role="iGT6I">
+                <property role="2Ry0Am" value="languages" />
+                <node concept="2Ry0Ak" id="5L9YWLTDN9R" role="2Ry0An">
+                  <property role="2Ry0Am" value="com.mbeddr.formal.safety.gsn.importer" />
+                </node>
+              </node>
+            </node>
+            <node concept="3qWCbU" id="5L9YWLTDN9T" role="3LXTna">
+              <property role="3qWCbO" value="icons/**, resources/**" />
+            </node>
+          </node>
+        </node>
+      </node>
       <node concept="1E1JtA" id="y1G8y6eZfq" role="2G$12L">
         <property role="BnDLt" value="true" />
         <property role="TrG5h" value="com.mbeddr.formal.safety.argument.modelquery.genplan" />
@@ -6082,6 +6157,9 @@
         <node concept="3LEDTy" id="8xY_IhvzQb" role="3LEDUa">
           <ref role="3LEDTV" to="90a9:1sO539bGQvB" resolve="de.slisson.mps.richtext" />
         </node>
+        <node concept="3LEDTy" id="1Z78qHuQxb3" role="3LEDUa">
+          <ref role="3LEDTV" node="5L9YWLTDLG6" resolve="com.mbeddr.formal.safety.gsn.importer" />
+        </node>
       </node>
     </node>
     <node concept="2G$12M" id="4eD_5l3mKZ4" role="3989C9">
diff --git a/code/languages/com.mbeddr.formal.safety/solutions/com.fasten.process.review.sandbox/com.fasten.process.review.sandbox.msd b/code/languages/com.mbeddr.formal.safety/solutions/com.fasten.process.review.sandbox/com.fasten.process.review.sandbox.msd
index 1d054363b..cae88aef9 100644
--- a/code/languages/com.mbeddr.formal.safety/solutions/com.fasten.process.review.sandbox/com.fasten.process.review.sandbox.msd
+++ b/code/languages/com.mbeddr.formal.safety/solutions/com.fasten.process.review.sandbox/com.fasten.process.review.sandbox.msd
@@ -19,6 +19,7 @@
     <language slang="l:402c6c59-bdb3-47fc-8dfa-74ab35e75274:com.mbeddr.formal.safety.cae.external_evidence" version="0" />
     <language slang="l:e8a04d94-4307-4f88-95a2-25f7c4f39437:com.mbeddr.formal.safety.gsn" version="3" />
     <language slang="l:5e7ffa70-8e23-49f4-8c13-a887bba14c36:com.mbeddr.formal.safety.gsn.external_evidence" version="0" />
+    <language slang="l:a7775cc7-19db-41cf-a724-3212ac4437b9:com.mbeddr.formal.safety.gsn.importer" version="0" />
     <language slang="l:ca32bc98-ea47-4b42-82e1-76bebf8a4e7d:com.mbeddr.formal.safety.gsn.xml_gen" version="0" />
     <language slang="l:8ca79d43-eb45-4791-bdd4-0d6130ff895b:de.itemis.mps.editor.diagram.layout" version="0" />
     <language slang="l:92d2ea16-5a42-4fdf-a676-c7604efe3504:de.slisson.mps.richtext" version="0" />
diff --git a/code/languages/com.mbeddr.formal.safety/solutions/com.fasten.safety.bayesian_network.sandbox/models/com.fasten.safety.bayesian_network.sandbox._010_sandbox.mps b/code/languages/com.mbeddr.formal.safety/solutions/com.fasten.safety.bayesian_network.sandbox/models/com.fasten.safety.bayesian_network.sandbox._010_sandbox.mps
index 0ec7df546..a5c8df12e 100644
--- a/code/languages/com.mbeddr.formal.safety/solutions/com.fasten.safety.bayesian_network.sandbox/models/com.fasten.safety.bayesian_network.sandbox._010_sandbox.mps
+++ b/code/languages/com.mbeddr.formal.safety/solutions/com.fasten.safety.bayesian_network.sandbox/models/com.fasten.safety.bayesian_network.sandbox._010_sandbox.mps
@@ -305,23 +305,23 @@
       </node>
     </node>
     <node concept="W0abB" id="3sgpJkbnoft" role="W0VcW">
-      <ref role="W0abx" node="3sgpJkb5jxJ" resolve="A" />
-      <ref role="W0abz" node="3sgpJkb5jy7" resolve="D" />
+      <ref role="W0abx" node="3sgpJkb5jxJ" />
+      <ref role="W0abz" node="3sgpJkb5jy7" />
     </node>
     <node concept="W0abB" id="3sgpJkbnofD" role="W0VcW">
-      <ref role="W0abx" node="3sgpJkb5jxP" resolve="B" />
-      <ref role="W0abz" node="3sgpJkb5jy7" resolve="D" />
+      <ref role="W0abx" node="3sgpJkb5jxP" />
+      <ref role="W0abz" node="3sgpJkb5jy7" />
     </node>
     <node concept="W0ak8" id="3sgpJkbnyoa" role="W0VcW">
       <property role="TrG5h" value="E" />
     </node>
     <node concept="W0abB" id="3sgpJkbnyoP" role="W0VcW">
-      <ref role="W0abx" node="3sgpJkb5jxJ" resolve="A" />
-      <ref role="W0abz" node="3sgpJkbnyoa" resolve="E" />
+      <ref role="W0abx" node="3sgpJkb5jxJ" />
+      <ref role="W0abz" node="3sgpJkbnyoa" />
     </node>
     <node concept="W0abB" id="3sgpJkbnyp4" role="W0VcW">
-      <ref role="W0abx" node="3sgpJkb5jxX" resolve="C" />
-      <ref role="W0abz" node="3sgpJkbnyoa" resolve="E" />
+      <ref role="W0abx" node="3sgpJkb5jxX" />
+      <ref role="W0abz" node="3sgpJkbnyoa" />
     </node>
   </node>
 </model>
diff --git a/code/languages/com.mbeddr.formal.safety/solutions/com.mbeddr.formal.safety.argument.runtime.sandbox/com.mbeddr.formal.safety.argument.runtime.sandbox.msd b/code/languages/com.mbeddr.formal.safety/solutions/com.mbeddr.formal.safety.argument.runtime.sandbox/com.mbeddr.formal.safety.argument.runtime.sandbox.msd
index e0962f836..9570660b0 100644
--- a/code/languages/com.mbeddr.formal.safety/solutions/com.mbeddr.formal.safety.argument.runtime.sandbox/com.mbeddr.formal.safety.argument.runtime.sandbox.msd
+++ b/code/languages/com.mbeddr.formal.safety/solutions/com.mbeddr.formal.safety.argument.runtime.sandbox/com.mbeddr.formal.safety.argument.runtime.sandbox.msd
@@ -19,6 +19,7 @@
     <language slang="l:402c6c59-bdb3-47fc-8dfa-74ab35e75274:com.mbeddr.formal.safety.cae.external_evidence" version="0" />
     <language slang="l:e8a04d94-4307-4f88-95a2-25f7c4f39437:com.mbeddr.formal.safety.gsn" version="3" />
     <language slang="l:5e7ffa70-8e23-49f4-8c13-a887bba14c36:com.mbeddr.formal.safety.gsn.external_evidence" version="0" />
+    <language slang="l:a7775cc7-19db-41cf-a724-3212ac4437b9:com.mbeddr.formal.safety.gsn.importer" version="0" />
     <language slang="l:ca32bc98-ea47-4b42-82e1-76bebf8a4e7d:com.mbeddr.formal.safety.gsn.xml_gen" version="0" />
     <language slang="l:8ca79d43-eb45-4791-bdd4-0d6130ff895b:de.itemis.mps.editor.diagram.layout" version="0" />
     <language slang="l:92d2ea16-5a42-4fdf-a676-c7604efe3504:de.slisson.mps.richtext" version="0" />
diff --git a/code/languages/com.mbeddr.formal.safety/solutions/com.mbeddr.formal.safety.build/models/com.mbeddr.formal.safety.build.mps b/code/languages/com.mbeddr.formal.safety/solutions/com.mbeddr.formal.safety.build/models/com.mbeddr.formal.safety.build.mps
index e76cafea6..1c4ec39ad 100644
--- a/code/languages/com.mbeddr.formal.safety/solutions/com.mbeddr.formal.safety.build/models/com.mbeddr.formal.safety.build.mps
+++ b/code/languages/com.mbeddr.formal.safety/solutions/com.mbeddr.formal.safety.build/models/com.mbeddr.formal.safety.build.mps
@@ -9784,6 +9784,86 @@
           </node>
         </node>
       </node>
+      <node concept="1E1JtD" id="5L9YWLTDNSJ" role="2G$12L">
+        <property role="BnDLt" value="true" />
+        <property role="TrG5h" value="com.mbeddr.formal.safety.gsn.importer" />
+        <property role="3LESm3" value="a7775cc7-19db-41cf-a724-3212ac4437b9" />
+        <node concept="398BVA" id="5L9YWLTDOoC" role="3LF7KH">
+          <ref role="398BVh" node="7he_lUurqtF" resolve="mbeddr.formal.safety.code" />
+          <node concept="2Ry0Ak" id="5L9YWLTDOwD" role="iGT6I">
+            <property role="2Ry0Am" value="languages" />
+            <node concept="2Ry0Ak" id="5L9YWLTDOSv" role="2Ry0An">
+              <property role="2Ry0Am" value="com.mbeddr.formal.safety.gsn.importer" />
+              <node concept="2Ry0Ak" id="5L9YWLTDP8q" role="2Ry0An">
+                <property role="2Ry0Am" value="com.mbeddr.formal.safety.gsn.importer.mpl" />
+              </node>
+            </node>
+          </node>
+        </node>
+        <node concept="1SiIV0" id="5L9YWLTDPEo" role="3bR37C">
+          <node concept="3bR9La" id="5L9YWLTDPEp" role="1SiIV1">
+            <ref role="3bR37D" node="7he_lUury9o" resolve="com.mbeddr.formal.safety.gsn" />
+          </node>
+        </node>
+        <node concept="1SiIV0" id="5L9YWLTDPEq" role="3bR37C">
+          <node concept="3bR9La" id="5L9YWLTDPEr" role="1SiIV1">
+            <ref role="3bR37D" to="90a9:3$A0JaN5bpX" resolve="MPS.ThirdParty" />
+          </node>
+        </node>
+        <node concept="1SiIV0" id="5L9YWLTDPEs" role="3bR37C">
+          <node concept="3bR9La" id="5L9YWLTDPEt" role="1SiIV1">
+            <ref role="3bR37D" to="90a9:PE3B26QCrP" resolve="org.apache.commons" />
+          </node>
+        </node>
+        <node concept="1SiIV0" id="5L9YWLTDPEu" role="3bR37C">
+          <node concept="3bR9La" id="5L9YWLTDPEv" role="1SiIV1">
+            <ref role="3bR37D" to="al5i:Vtr7jyAKU4" resolve="com.mbeddr.mpsutil.filepicker" />
+          </node>
+        </node>
+        <node concept="1SiIV0" id="5L9YWLTDPEw" role="3bR37C">
+          <node concept="3bR9La" id="5L9YWLTDPEx" role="1SiIV1">
+            <ref role="3bR37D" to="90a9:1sO539bGQvB" resolve="de.slisson.mps.richtext" />
+          </node>
+        </node>
+        <node concept="1BupzO" id="5L9YWLTDPEH" role="3bR31x">
+          <property role="3ZfqAx" value="models" />
+          <property role="1Hdu6h" value="true" />
+          <property role="1HemKv" value="true" />
+          <node concept="3LXTmp" id="5L9YWLTDPEI" role="1HemKq">
+            <node concept="398BVA" id="5L9YWLTDPEy" role="3LXTmr">
+              <ref role="398BVh" node="7he_lUurqtF" resolve="mbeddr.formal.safety.code" />
+              <node concept="2Ry0Ak" id="5L9YWLTDPEz" role="iGT6I">
+                <property role="2Ry0Am" value="languages" />
+                <node concept="2Ry0Ak" id="5L9YWLTDPE$" role="2Ry0An">
+                  <property role="2Ry0Am" value="com.mbeddr.formal.safety.gsn.importer" />
+                  <node concept="2Ry0Ak" id="5L9YWLTDPE_" role="2Ry0An">
+                    <property role="2Ry0Am" value="models" />
+                  </node>
+                </node>
+              </node>
+            </node>
+            <node concept="3qWCbU" id="5L9YWLTDPEJ" role="3LXTna">
+              <property role="3qWCbO" value="**/*.mps, **/*.mpsr, **/.model" />
+            </node>
+          </node>
+        </node>
+        <node concept="3rtmxn" id="5L9YWLTDPRQ" role="3bR31x">
+          <node concept="3LXTmp" id="5L9YWLTDPRR" role="3rtmxm">
+            <node concept="398BVA" id="5L9YWLTDPRS" role="3LXTmr">
+              <ref role="398BVh" node="7he_lUurqtF" resolve="mbeddr.formal.safety.code" />
+              <node concept="2Ry0Ak" id="5L9YWLTDPRT" role="iGT6I">
+                <property role="2Ry0Am" value="languages" />
+                <node concept="2Ry0Ak" id="5L9YWLTDPRU" role="2Ry0An">
+                  <property role="2Ry0Am" value="com.mbeddr.formal.safety.gsn.importer" />
+                </node>
+              </node>
+            </node>
+            <node concept="3qWCbU" id="5L9YWLTDPRW" role="3LXTna">
+              <property role="3qWCbO" value="icons/**, resources/**" />
+            </node>
+          </node>
+        </node>
+      </node>
       <node concept="1X3_iC" id="1FMyjUPhIJF" role="lGtFl">
         <property role="3V$3am" value="modules" />
         <property role="3V$3ak" value="0cf935df-4699-4e9c-a132-fa109541cba3/1500819558095907805/1500819558095907806" />
@@ -12204,6 +12284,9 @@
         <node concept="3LEDTy" id="8xY_Ihvz2I" role="3LEDUa">
           <ref role="3LEDTV" to="90a9:1sO539bGQvB" resolve="de.slisson.mps.richtext" />
         </node>
+        <node concept="3LEDTy" id="5L9YWLTDQuY" role="3LEDUa">
+          <ref role="3LEDTV" node="5L9YWLTDNSJ" resolve="com.mbeddr.formal.safety.gsn.importer" />
+        </node>
       </node>
     </node>
     <node concept="2G$12M" id="4eD_5l3mKZ4" role="3989C9">
@@ -15672,6 +15755,11 @@
             <ref role="3bR37D" node="4eD_5l3aLAv" resolve="com.mbeddr.formal.safety.gsn.confidence.dempster_shafer" />
           </node>
         </node>
+        <node concept="1SiIV0" id="1Z78qHuRUQq" role="3bR37C">
+          <node concept="3bR9La" id="1Z78qHuRUQr" role="1SiIV1">
+            <ref role="3bR37D" node="5L9YWLTDNSJ" resolve="com.mbeddr.formal.safety.gsn.importer" />
+          </node>
+        </node>
       </node>
       <node concept="1E1JtA" id="6ucyvMUDFgv" role="2G$12L">
         <property role="BnDLt" value="true" />
diff --git a/code/languages/com.mbeddr.formal.safety/solutions/com.mbeddr.formal.safety.cae.sandbox/com.mbeddr.formal.safety.cae.sandbox.msd b/code/languages/com.mbeddr.formal.safety/solutions/com.mbeddr.formal.safety.cae.sandbox/com.mbeddr.formal.safety.cae.sandbox.msd
index 08db1effd..22b4f729a 100644
--- a/code/languages/com.mbeddr.formal.safety/solutions/com.mbeddr.formal.safety.cae.sandbox/com.mbeddr.formal.safety.cae.sandbox.msd
+++ b/code/languages/com.mbeddr.formal.safety/solutions/com.mbeddr.formal.safety.cae.sandbox/com.mbeddr.formal.safety.cae.sandbox.msd
@@ -22,6 +22,7 @@
     <language slang="l:e8a04d94-4307-4f88-95a2-25f7c4f39437:com.mbeddr.formal.safety.gsn" version="3" />
     <language slang="l:6464626a-ab04-4051-908e-5e8dc75acd78:com.mbeddr.formal.safety.gsn.ext" version="2" />
     <language slang="l:5e7ffa70-8e23-49f4-8c13-a887bba14c36:com.mbeddr.formal.safety.gsn.external_evidence" version="0" />
+    <language slang="l:a7775cc7-19db-41cf-a724-3212ac4437b9:com.mbeddr.formal.safety.gsn.importer" version="0" />
     <language slang="l:ca32bc98-ea47-4b42-82e1-76bebf8a4e7d:com.mbeddr.formal.safety.gsn.xml_gen" version="0" />
     <language slang="l:8ca79d43-eb45-4791-bdd4-0d6130ff895b:de.itemis.mps.editor.diagram.layout" version="0" />
     <language slang="l:92d2ea16-5a42-4fdf-a676-c7604efe3504:de.slisson.mps.richtext" version="0" />
diff --git a/code/languages/com.mbeddr.formal.safety/solutions/com.mbeddr.formal.safety.gsn.patterns.lib/com.mbeddr.formal.safety.gsn.patterns.lib.msd b/code/languages/com.mbeddr.formal.safety/solutions/com.mbeddr.formal.safety.gsn.patterns.lib/com.mbeddr.formal.safety.gsn.patterns.lib.msd
index b568897b9..4f1907c5e 100644
--- a/code/languages/com.mbeddr.formal.safety/solutions/com.mbeddr.formal.safety.gsn.patterns.lib/com.mbeddr.formal.safety.gsn.patterns.lib.msd
+++ b/code/languages/com.mbeddr.formal.safety/solutions/com.mbeddr.formal.safety.gsn.patterns.lib/com.mbeddr.formal.safety.gsn.patterns.lib.msd
@@ -31,6 +31,7 @@
     <language slang="l:d2864642-8e1f-4dd8-b3a6-71f0d9d33ae8:com.mbeddr.formal.safety.gsn.confidence.dempster_shafer" version="0" />
     <language slang="l:6464626a-ab04-4051-908e-5e8dc75acd78:com.mbeddr.formal.safety.gsn.ext" version="2" />
     <language slang="l:5e7ffa70-8e23-49f4-8c13-a887bba14c36:com.mbeddr.formal.safety.gsn.external_evidence" version="0" />
+    <language slang="l:a7775cc7-19db-41cf-a724-3212ac4437b9:com.mbeddr.formal.safety.gsn.importer" version="0" />
     <language slang="l:f465db4c-63d4-40ef-afda-acd713dc19a1:com.mbeddr.formal.safety.gsn.patterns" version="0" />
     <language slang="l:ca32bc98-ea47-4b42-82e1-76bebf8a4e7d:com.mbeddr.formal.safety.gsn.xml_gen" version="0" />
     <language slang="l:17da266c-02d9-4bbd-b69b-8a656b49f45c:com.mbeddr.formal.safety.hara" version="0" />
diff --git a/code/languages/com.mbeddr.formal.safety/solutions/com.mbeddr.formal.safety.gsn.sandbox/com.mbeddr.formal.safety.gsn.sandbox.msd b/code/languages/com.mbeddr.formal.safety/solutions/com.mbeddr.formal.safety.gsn.sandbox/com.mbeddr.formal.safety.gsn.sandbox.msd
index 4427d9bf7..d7c204bcb 100644
--- a/code/languages/com.mbeddr.formal.safety/solutions/com.mbeddr.formal.safety.gsn.sandbox/com.mbeddr.formal.safety.gsn.sandbox.msd
+++ b/code/languages/com.mbeddr.formal.safety/solutions/com.mbeddr.formal.safety.gsn.sandbox/com.mbeddr.formal.safety.gsn.sandbox.msd
@@ -54,6 +54,7 @@
     <language slang="l:42606624-2faa-4717-ba66-77021cc11b53:com.mbeddr.formal.safety.gsn.doc" version="1" />
     <language slang="l:6464626a-ab04-4051-908e-5e8dc75acd78:com.mbeddr.formal.safety.gsn.ext" version="2" />
     <language slang="l:5e7ffa70-8e23-49f4-8c13-a887bba14c36:com.mbeddr.formal.safety.gsn.external_evidence" version="0" />
+    <language slang="l:a7775cc7-19db-41cf-a724-3212ac4437b9:com.mbeddr.formal.safety.gsn.importer" version="0" />
     <language slang="l:8c301636-fbda-4009-bce8-7e00c3c1bac5:com.mbeddr.formal.safety.gsn.odd" version="0" />
     <language slang="l:f465db4c-63d4-40ef-afda-acd713dc19a1:com.mbeddr.formal.safety.gsn.patterns" version="0" />
     <language slang="l:2ec00dc3-d0e8-497d-8fe3-82d556eb83ba:com.mbeddr.formal.safety.gsn.req" version="0" />
diff --git a/code/languages/com.mbeddr.formal.safety/solutions/com.mbeddr.formal.safety.gsn.web.sandbox/com.mbeddr.formal.safety.gsn.web.sandbox.msd b/code/languages/com.mbeddr.formal.safety/solutions/com.mbeddr.formal.safety.gsn.web.sandbox/com.mbeddr.formal.safety.gsn.web.sandbox.msd
index e19241dcc..25706ae6d 100644
--- a/code/languages/com.mbeddr.formal.safety/solutions/com.mbeddr.formal.safety.gsn.web.sandbox/com.mbeddr.formal.safety.gsn.web.sandbox.msd
+++ b/code/languages/com.mbeddr.formal.safety/solutions/com.mbeddr.formal.safety.gsn.web.sandbox/com.mbeddr.formal.safety.gsn.web.sandbox.msd
@@ -18,6 +18,7 @@
     <language slang="l:402c6c59-bdb3-47fc-8dfa-74ab35e75274:com.mbeddr.formal.safety.cae.external_evidence" version="0" />
     <language slang="l:e8a04d94-4307-4f88-95a2-25f7c4f39437:com.mbeddr.formal.safety.gsn" version="3" />
     <language slang="l:5e7ffa70-8e23-49f4-8c13-a887bba14c36:com.mbeddr.formal.safety.gsn.external_evidence" version="0" />
+    <language slang="l:a7775cc7-19db-41cf-a724-3212ac4437b9:com.mbeddr.formal.safety.gsn.importer" version="0" />
     <language slang="l:ca32bc98-ea47-4b42-82e1-76bebf8a4e7d:com.mbeddr.formal.safety.gsn.xml_gen" version="0" />
     <language slang="l:8ca79d43-eb45-4791-bdd4-0d6130ff895b:de.itemis.mps.editor.diagram.layout" version="0" />
     <language slang="l:92d2ea16-5a42-4fdf-a676-c7604efe3504:de.slisson.mps.richtext" version="0" />
diff --git a/code/languages/com.mbeddr.formal.safety/tests/test.com.fasten.safety.doc2word/test.com.fasten.safety.doc2word.msd b/code/languages/com.mbeddr.formal.safety/tests/test.com.fasten.safety.doc2word/test.com.fasten.safety.doc2word.msd
index 5ccbeeded..32510dd67 100644
--- a/code/languages/com.mbeddr.formal.safety/tests/test.com.fasten.safety.doc2word/test.com.fasten.safety.doc2word.msd
+++ b/code/languages/com.mbeddr.formal.safety/tests/test.com.fasten.safety.doc2word/test.com.fasten.safety.doc2word.msd
@@ -36,6 +36,7 @@
     <language slang="l:42606624-2faa-4717-ba66-77021cc11b53:com.mbeddr.formal.safety.gsn.doc" version="1" />
     <language slang="l:6464626a-ab04-4051-908e-5e8dc75acd78:com.mbeddr.formal.safety.gsn.ext" version="2" />
     <language slang="l:5e7ffa70-8e23-49f4-8c13-a887bba14c36:com.mbeddr.formal.safety.gsn.external_evidence" version="0" />
+    <language slang="l:a7775cc7-19db-41cf-a724-3212ac4437b9:com.mbeddr.formal.safety.gsn.importer" version="0" />
     <language slang="l:ca32bc98-ea47-4b42-82e1-76bebf8a4e7d:com.mbeddr.formal.safety.gsn.xml_gen" version="0" />
     <language slang="l:63e0e566-5131-447e-90e3-12ea330e1a00:com.mbeddr.mpsutil.blutil" version="1" />
     <language slang="l:d3a0fd26-445a-466c-900e-10444ddfed52:com.mbeddr.mpsutil.filepicker" version="0" />
diff --git a/code/languages/com.mbeddr.formal.safety/tests/test.com.fasten.safety.ft/test.com.fasten.safety.ft.msd b/code/languages/com.mbeddr.formal.safety/tests/test.com.fasten.safety.ft/test.com.fasten.safety.ft.msd
index 6d712f5a1..3884ed204 100644
--- a/code/languages/com.mbeddr.formal.safety/tests/test.com.fasten.safety.ft/test.com.fasten.safety.ft.msd
+++ b/code/languages/com.mbeddr.formal.safety/tests/test.com.fasten.safety.ft/test.com.fasten.safety.ft.msd
@@ -36,6 +36,7 @@
     <language slang="l:d2864642-8e1f-4dd8-b3a6-71f0d9d33ae8:com.mbeddr.formal.safety.gsn.confidence.dempster_shafer" version="0" />
     <language slang="l:6464626a-ab04-4051-908e-5e8dc75acd78:com.mbeddr.formal.safety.gsn.ext" version="2" />
     <language slang="l:5e7ffa70-8e23-49f4-8c13-a887bba14c36:com.mbeddr.formal.safety.gsn.external_evidence" version="0" />
+    <language slang="l:a7775cc7-19db-41cf-a724-3212ac4437b9:com.mbeddr.formal.safety.gsn.importer" version="0" />
     <language slang="l:ca32bc98-ea47-4b42-82e1-76bebf8a4e7d:com.mbeddr.formal.safety.gsn.xml_gen" version="0" />
     <language slang="l:17da266c-02d9-4bbd-b69b-8a656b49f45c:com.mbeddr.formal.safety.hara" version="0" />
     <language slang="l:a798113f-e2cd-4e21-a8e2-ca1903cb9c43:com.mbeddr.formal.safety.iso26262" version="1" />
diff --git a/code/languages/com.mbeddr.formal.safety/tests/test.mbeddr.formal.gsn.patterns/test.mbeddr.formal.gsn.patterns.msd b/code/languages/com.mbeddr.formal.safety/tests/test.mbeddr.formal.gsn.patterns/test.mbeddr.formal.gsn.patterns.msd
index ab6204d9f..10c8048ba 100644
--- a/code/languages/com.mbeddr.formal.safety/tests/test.mbeddr.formal.gsn.patterns/test.mbeddr.formal.gsn.patterns.msd
+++ b/code/languages/com.mbeddr.formal.safety/tests/test.mbeddr.formal.gsn.patterns/test.mbeddr.formal.gsn.patterns.msd
@@ -32,6 +32,7 @@
     <language slang="l:e8a04d94-4307-4f88-95a2-25f7c4f39437:com.mbeddr.formal.safety.gsn" version="3" />
     <language slang="l:6464626a-ab04-4051-908e-5e8dc75acd78:com.mbeddr.formal.safety.gsn.ext" version="2" />
     <language slang="l:5e7ffa70-8e23-49f4-8c13-a887bba14c36:com.mbeddr.formal.safety.gsn.external_evidence" version="0" />
+    <language slang="l:a7775cc7-19db-41cf-a724-3212ac4437b9:com.mbeddr.formal.safety.gsn.importer" version="0" />
     <language slang="l:f465db4c-63d4-40ef-afda-acd713dc19a1:com.mbeddr.formal.safety.gsn.patterns" version="0" />
     <language slang="l:ca32bc98-ea47-4b42-82e1-76bebf8a4e7d:com.mbeddr.formal.safety.gsn.xml_gen" version="0" />
     <language slang="l:17da266c-02d9-4bbd-b69b-8a656b49f45c:com.mbeddr.formal.safety.hara" version="0" />
diff --git a/code/languages/com.mbeddr.formal.safety/tests/test.mbeddr.formal.gsn/models/test.mbeddr.formal.gsn._110_gsn_import_tests@tests.mps b/code/languages/com.mbeddr.formal.safety/tests/test.mbeddr.formal.gsn/models/test.mbeddr.formal.gsn._110_gsn_import_tests@tests.mps
new file mode 100644
index 000000000..2d897ac53
--- /dev/null
+++ b/code/languages/com.mbeddr.formal.safety/tests/test.mbeddr.formal.gsn/models/test.mbeddr.formal.gsn._110_gsn_import_tests@tests.mps
@@ -0,0 +1,236 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<model ref="r:1351d3e0-1c03-49d2-8ffb-9de86f06eb6b(test.mbeddr.formal.gsn._110_gsn_import_tests@tests)">
+  <persistence version="9" />
+  <languages>
+    <use id="8585453e-6bfb-4d80-98de-b16074f1d86c" name="jetbrains.mps.lang.test" version="6" />
+    <use id="f61473f9-130f-42f6-b98d-6c438812c2f6" name="jetbrains.mps.baseLanguage.unitTest" version="1" />
+    <use id="e8a04d94-4307-4f88-95a2-25f7c4f39437" name="com.mbeddr.formal.safety.gsn" version="3" />
+    <use id="d2864642-8e1f-4dd8-b3a6-71f0d9d33ae8" name="com.mbeddr.formal.safety.gsn.confidence.dempster_shafer" version="0" />
+    <use id="8ca79d43-eb45-4791-bdd4-0d6130ff895b" name="de.itemis.mps.editor.diagram.layout" version="0" />
+    <use id="7866978e-a0f0-4cc7-81bc-4d213d9375e1" name="jetbrains.mps.lang.smodel" version="19" />
+    <use id="63650c59-16c8-498a-99c8-005c7ee9515d" name="jetbrains.mps.lang.access" version="0" />
+    <use id="f3061a53-9226-4cc5-a443-f952ceaf5816" name="jetbrains.mps.baseLanguage" version="12" />
+    <use id="a247e09e-2435-45ba-b8d2-07e93feba96a" name="jetbrains.mps.baseLanguage.tuples" version="0" />
+  </languages>
+  <imports>
+    <import index="amuf" ref="r:b775b7e1-c824-441c-afe0-ed9eafc83544(com.mbeddr.formal.safety.gsn.confidence.dempster_shafer.plugin)" />
+    <import index="z1c3" ref="6ed54515-acc8-4d1e-a16c-9fd6cfe951ea/java:jetbrains.mps.project(MPS.Core/)" />
+    <import index="py52" ref="r:14bd9e1a-63cf-4fde-816f-1d68e4acbfba(com.mbeddr.formal.safety.gsn.structure)" />
+    <import index="tpck" ref="r:00000000-0000-4000-0000-011c89590288(jetbrains.mps.lang.core.structure)" />
+    <import index="wyt6" ref="6354ebe7-c22a-4a0f-ac54-50b52ab9b065/java:java.lang(JDK/)" />
+    <import index="lui2" ref="8865b7a8-5271-43d3-884c-6fd1d9cfdd34/java:org.jetbrains.mps.openapi.module(MPS.OpenAPI/)" />
+    <import index="ete6" ref="r:c6bdd195-1038-4b99-a42c-224032348902(com.mbeddr.formal.safety.gsn.confidence.dempster_shafer.typesystem)" />
+    <import index="mn49" ref="r:ebac6728-c6a8-4013-bfe5-28454fe70ff7(com.mbeddr.formal.safety.gsn.importer.util)" />
+  </imports>
+  <registry>
+    <language id="8585453e-6bfb-4d80-98de-b16074f1d86c" name="jetbrains.mps.lang.test">
+      <concept id="5097124989038916362" name="jetbrains.mps.lang.test.structure.TestInfo" flags="ng" index="2XOHcx">
+        <property id="5097124989038916363" name="projectPath" index="2XOHcw" />
+      </concept>
+      <concept id="1216913645126" name="jetbrains.mps.lang.test.structure.NodesTestCase" flags="lg" index="1lH9Xt">
+        <property id="2616911529524314943" name="accessMode" index="3DII0k" />
+        <property id="6339244025081158986" name="needsNoWriteAction" index="3OwPAg" />
+        <child id="1217501895093" name="testMethods" index="1SL9yI" />
+      </concept>
+      <concept id="1225978065297" name="jetbrains.mps.lang.test.structure.SimpleNodeTest" flags="ng" index="1LZb2c" />
+    </language>
+    <language id="f3061a53-9226-4cc5-a443-f952ceaf5816" name="jetbrains.mps.baseLanguage">
+      <concept id="1197027756228" name="jetbrains.mps.baseLanguage.structure.DotExpression" flags="nn" index="2OqwBi">
+        <child id="1197027771414" name="operand" index="2Oq$k0" />
+        <child id="1197027833540" name="operation" index="2OqNvi" />
+      </concept>
+      <concept id="1145552977093" name="jetbrains.mps.baseLanguage.structure.GenericNewExpression" flags="nn" index="2ShNRf">
+        <child id="1145553007750" name="creator" index="2ShVmc" />
+      </concept>
+      <concept id="1070475926800" name="jetbrains.mps.baseLanguage.structure.StringLiteral" flags="nn" index="Xl_RD">
+        <property id="1070475926801" name="value" index="Xl_RC" />
+      </concept>
+      <concept id="1081236700937" name="jetbrains.mps.baseLanguage.structure.StaticMethodCall" flags="nn" index="2YIFZM">
+        <reference id="1144433194310" name="classConcept" index="1Pybhc" />
+      </concept>
+      <concept id="1068431474542" name="jetbrains.mps.baseLanguage.structure.VariableDeclaration" flags="ng" index="33uBYm">
+        <child id="1068431790190" name="initializer" index="33vP2m" />
+      </concept>
+      <concept id="1068498886296" name="jetbrains.mps.baseLanguage.structure.VariableReference" flags="nn" index="37vLTw">
+        <reference id="1068581517664" name="variableDeclaration" index="3cqZAo" />
+      </concept>
+      <concept id="1225271177708" name="jetbrains.mps.baseLanguage.structure.StringType" flags="in" index="17QB3L" />
+      <concept id="4972933694980447171" name="jetbrains.mps.baseLanguage.structure.BaseVariableDeclaration" flags="ng" index="19Szcq">
+        <child id="5680397130376446158" name="type" index="1tU5fm" />
+      </concept>
+      <concept id="1068580123132" name="jetbrains.mps.baseLanguage.structure.BaseMethodDeclaration" flags="ng" index="3clF44">
+        <child id="1068580123133" name="returnType" index="3clF45" />
+        <child id="1068580123135" name="body" index="3clF47" />
+      </concept>
+      <concept id="1068580123155" name="jetbrains.mps.baseLanguage.structure.ExpressionStatement" flags="nn" index="3clFbF">
+        <child id="1068580123156" name="expression" index="3clFbG" />
+      </concept>
+      <concept id="1068580123157" name="jetbrains.mps.baseLanguage.structure.Statement" flags="nn" index="3clFbH" />
+      <concept id="1068580123136" name="jetbrains.mps.baseLanguage.structure.StatementList" flags="sn" stub="5293379017992965193" index="3clFbS">
+        <child id="1068581517665" name="statement" index="3cqZAp" />
+      </concept>
+      <concept id="1068580320020" name="jetbrains.mps.baseLanguage.structure.IntegerConstant" flags="nn" index="3cmrfG">
+        <property id="1068580320021" name="value" index="3cmrfH" />
+      </concept>
+      <concept id="1068581242864" name="jetbrains.mps.baseLanguage.structure.LocalVariableDeclarationStatement" flags="nn" index="3cpWs8">
+        <child id="1068581242865" name="localVariableDeclaration" index="3cpWs9" />
+      </concept>
+      <concept id="1068581242863" name="jetbrains.mps.baseLanguage.structure.LocalVariableDeclaration" flags="nr" index="3cpWsn" />
+      <concept id="1068581517677" name="jetbrains.mps.baseLanguage.structure.VoidType" flags="in" index="3cqZAl" />
+      <concept id="1204053956946" name="jetbrains.mps.baseLanguage.structure.IMethodCall" flags="ng" index="1ndlxa">
+        <reference id="1068499141037" name="baseMethodDeclaration" index="37wK5l" />
+        <child id="1068499141038" name="actualArgument" index="37wK5m" />
+      </concept>
+    </language>
+    <language id="f61473f9-130f-42f6-b98d-6c438812c2f6" name="jetbrains.mps.baseLanguage.unitTest">
+      <concept id="8427750732757990717" name="jetbrains.mps.baseLanguage.unitTest.structure.BinaryAssert" flags="nn" index="3tpDYu">
+        <child id="8427750732757990725" name="actual" index="3tpDZA" />
+        <child id="8427750732757990724" name="expected" index="3tpDZB" />
+      </concept>
+      <concept id="1171978097730" name="jetbrains.mps.baseLanguage.unitTest.structure.AssertEquals" flags="nn" index="3vlDli" />
+    </language>
+    <language id="7866978e-a0f0-4cc7-81bc-4d213d9375e1" name="jetbrains.mps.lang.smodel">
+      <concept id="1180636770613" name="jetbrains.mps.lang.smodel.structure.SNodeCreator" flags="nn" index="3zrR0B">
+        <child id="1180636770616" name="createdType" index="3zrR0E" />
+      </concept>
+      <concept id="1138055754698" name="jetbrains.mps.lang.smodel.structure.SNodeType" flags="in" index="3Tqbb2">
+        <reference id="1138405853777" name="concept" index="ehGHo" />
+      </concept>
+      <concept id="1138056282393" name="jetbrains.mps.lang.smodel.structure.SLinkListAccess" flags="nn" index="3Tsc0h">
+        <reference id="1138056546658" name="link" index="3TtcxE" />
+      </concept>
+    </language>
+    <language id="ceab5195-25ea-4f22-9b92-103b95ca8c0c" name="jetbrains.mps.lang.core">
+      <concept id="1169194658468" name="jetbrains.mps.lang.core.structure.INamedConcept" flags="ng" index="TrEIO">
+        <property id="1169194664001" name="name" index="TrG5h" />
+      </concept>
+    </language>
+    <language id="83888646-71ce-4f1c-9c53-c54016f6ad4f" name="jetbrains.mps.baseLanguage.collections">
+      <concept id="540871147943773365" name="jetbrains.mps.baseLanguage.collections.structure.SingleArgumentSequenceOperation" flags="nn" index="25WWJ4">
+        <child id="540871147943773366" name="argument" index="25WWJ7" />
+      </concept>
+      <concept id="1151688443754" name="jetbrains.mps.baseLanguage.collections.structure.ListType" flags="in" index="_YKpA">
+        <child id="1151688676805" name="elementType" index="_ZDj9" />
+      </concept>
+      <concept id="1237721394592" name="jetbrains.mps.baseLanguage.collections.structure.AbstractContainerCreator" flags="nn" index="HWqM0">
+        <child id="1237721435807" name="elementType" index="HW$YZ" />
+      </concept>
+      <concept id="1160600644654" name="jetbrains.mps.baseLanguage.collections.structure.ListCreatorWithInit" flags="nn" index="Tc6Ow" />
+      <concept id="1160612413312" name="jetbrains.mps.baseLanguage.collections.structure.AddElementOperation" flags="nn" index="TSZUe" />
+      <concept id="1162935959151" name="jetbrains.mps.baseLanguage.collections.structure.GetSizeOperation" flags="nn" index="34oBXx" />
+    </language>
+  </registry>
+  <node concept="1lH9Xt" id="6E_Wr0YXXdC">
+    <property role="TrG5h" value="_010_import_from_csv_tests" />
+    <property role="3OwPAg" value="true" />
+    <property role="3DII0k" value="2hh8MJdVwqT/none" />
+    <node concept="1LZb2c" id="6E_Wr0YXXdD" role="1SL9yI">
+      <property role="TrG5h" value="_010_csv_smoke_test" />
+      <node concept="3cqZAl" id="6E_Wr0YXXdI" role="3clF45" />
+      <node concept="3clFbS" id="6E_Wr0YXXdJ" role="3clF47">
+        <node concept="3cpWs8" id="6E_Wr0YZW_1" role="3cqZAp">
+          <node concept="3cpWsn" id="6E_Wr0YZW_4" role="3cpWs9">
+            <property role="TrG5h" value="goalStructure" />
+            <node concept="3Tqbb2" id="6E_Wr0YZW$Z" role="1tU5fm">
+              <ref role="ehGHo" to="py52:3GRi4m$qNsQ" resolve="GoalStructure" />
+            </node>
+            <node concept="2ShNRf" id="6E_Wr0YZWBK" role="33vP2m">
+              <node concept="3zrR0B" id="6E_Wr0YZXlp" role="2ShVmc">
+                <node concept="3Tqbb2" id="6E_Wr0YZXlr" role="3zrR0E">
+                  <ref role="ehGHo" to="py52:3GRi4m$qNsQ" resolve="GoalStructure" />
+                </node>
+              </node>
+            </node>
+          </node>
+        </node>
+        <node concept="3clFbH" id="6E_Wr0YZXmf" role="3cqZAp" />
+        <node concept="3cpWs8" id="6E_Wr0YZXnk" role="3cqZAp">
+          <node concept="3cpWsn" id="6E_Wr0YZXnn" role="3cpWs9">
+            <property role="TrG5h" value="lines" />
+            <node concept="_YKpA" id="6E_Wr0YZXng" role="1tU5fm">
+              <node concept="17QB3L" id="6E_Wr0YZXo6" role="_ZDj9" />
+            </node>
+            <node concept="2ShNRf" id="6E_Wr0YZXpg" role="33vP2m">
+              <node concept="Tc6Ow" id="6E_Wr0YZXU5" role="2ShVmc">
+                <node concept="17QB3L" id="6E_Wr0YZZ6m" role="HW$YZ" />
+              </node>
+            </node>
+          </node>
+        </node>
+        <node concept="3clFbF" id="6E_Wr0YZZ7S" role="3cqZAp">
+          <node concept="2OqwBi" id="6E_Wr0YZZT6" role="3clFbG">
+            <node concept="37vLTw" id="6E_Wr0YZZ7Q" role="2Oq$k0">
+              <ref role="3cqZAo" node="6E_Wr0YZXnn" resolve="lines" />
+            </node>
+            <node concept="TSZUe" id="6E_Wr0Z01Wb" role="2OqNvi">
+              <node concept="Xl_RD" id="6E_Wr0Z01ZC" role="25WWJ7">
+                <property role="Xl_RC" value="Claim;C0;Our autonomous driver is safe enough to deploy.;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;" />
+              </node>
+            </node>
+          </node>
+        </node>
+        <node concept="3clFbF" id="6E_Wr0Z026k" role="3cqZAp">
+          <node concept="2OqwBi" id="6E_Wr0Z026l" role="3clFbG">
+            <node concept="37vLTw" id="6E_Wr0Z026m" role="2Oq$k0">
+              <ref role="3cqZAo" node="6E_Wr0YZXnn" resolve="lines" />
+            </node>
+            <node concept="TSZUe" id="6E_Wr0Z026n" role="2OqNvi">
+              <node concept="Xl_RD" id="6E_Wr0Z026o" role="25WWJ7">
+                <property role="Xl_RC" value="Argument;A0;;We've achieved positive trust balance.;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;" />
+              </node>
+            </node>
+          </node>
+        </node>
+        <node concept="3clFbH" id="6E_Wr0YZXmG" role="3cqZAp" />
+        <node concept="3clFbF" id="6E_Wr0Z0oqX" role="3cqZAp">
+          <node concept="2YIFZM" id="6E_Wr0Z0wxK" role="3clFbG">
+            <ref role="37wK5l" to="mn49:6E_Wr0YZH3H" resolve="populateGoalStructure" />
+            <ref role="1Pybhc" to="mn49:6E_Wr0YM2ZG" resolve="CsvImporter" />
+            <node concept="37vLTw" id="6E_Wr0Z0wyr" role="37wK5m">
+              <ref role="3cqZAo" node="6E_Wr0YZXnn" resolve="lines" />
+            </node>
+            <node concept="37vLTw" id="6E_Wr0Z0wLU" role="37wK5m">
+              <ref role="3cqZAo" node="6E_Wr0YZW_4" resolve="goalStructure" />
+            </node>
+          </node>
+        </node>
+        <node concept="3vlDli" id="6E_Wr0YXXdV" role="3cqZAp">
+          <node concept="2OqwBi" id="6E_Wr0Z05aZ" role="3tpDZA">
+            <node concept="2OqwBi" id="6E_Wr0Z02pq" role="2Oq$k0">
+              <node concept="37vLTw" id="6E_Wr0YXXev" role="2Oq$k0">
+                <ref role="3cqZAo" node="6E_Wr0YZW_4" resolve="goalStructure" />
+              </node>
+              <node concept="3Tsc0h" id="6E_Wr0Z02O7" role="2OqNvi">
+                <ref role="3TtcxE" to="py52:3GRi4m$qPV0" resolve="content" />
+              </node>
+            </node>
+            <node concept="34oBXx" id="6E_Wr0Z09fP" role="2OqNvi" />
+          </node>
+          <node concept="3cmrfG" id="6E_Wr0Z02c0" role="3tpDZB">
+            <property role="3cmrfH" value="2" />
+          </node>
+        </node>
+        <node concept="3vlDli" id="6E_Wr0YXXdW" role="3cqZAp">
+          <node concept="2OqwBi" id="6E_Wr0Z0c3j" role="3tpDZA">
+            <node concept="2OqwBi" id="6E_Wr0Z09u_" role="2Oq$k0">
+              <node concept="37vLTw" id="6E_Wr0YXXex" role="2Oq$k0">
+                <ref role="3cqZAo" node="6E_Wr0YZW_4" resolve="goalStructure" />
+              </node>
+              <node concept="3Tsc0h" id="6E_Wr0Z0apu" role="2OqNvi">
+                <ref role="3TtcxE" to="py52:3GRi4m$sIHx" resolve="connections" />
+              </node>
+            </node>
+            <node concept="34oBXx" id="6E_Wr0Z0eet" role="2OqNvi" />
+          </node>
+          <node concept="3cmrfG" id="6E_Wr0YXXey" role="3tpDZB">
+            <property role="3cmrfH" value="1" />
+          </node>
+        </node>
+      </node>
+    </node>
+  </node>
+  <node concept="2XOHcx" id="6E_Wr0YXXgB">
+    <property role="2XOHcw" value="${mbeddr.formal.home}/code/languages/com.mbeddr.formal.safety/" />
+  </node>
+</model>
+
diff --git a/code/languages/com.mbeddr.formal.safety/tests/test.mbeddr.formal.gsn/test.mbeddr.formal.gsn.msd b/code/languages/com.mbeddr.formal.safety/tests/test.mbeddr.formal.gsn/test.mbeddr.formal.gsn.msd
index 2a1f10c9c..6fd5e512e 100644
--- a/code/languages/com.mbeddr.formal.safety/tests/test.mbeddr.formal.gsn/test.mbeddr.formal.gsn.msd
+++ b/code/languages/com.mbeddr.formal.safety/tests/test.mbeddr.formal.gsn/test.mbeddr.formal.gsn.msd
@@ -32,6 +32,7 @@
     <dependency reexport="false">ceab5195-25ea-4f22-9b92-103b95ca8c0c(jetbrains.mps.lang.core)</dependency>
     <dependency reexport="false">5e7ffa70-8e23-49f4-8c13-a887bba14c36(com.mbeddr.formal.safety.gsn.external_evidence)</dependency>
     <dependency reexport="false">d2864642-8e1f-4dd8-b3a6-71f0d9d33ae8(com.mbeddr.formal.safety.gsn.confidence.dempster_shafer)</dependency>
+    <dependency reexport="false">a7775cc7-19db-41cf-a724-3212ac4437b9(com.mbeddr.formal.safety.gsn.importer)</dependency>
   </dependencies>
   <languageVersions>
     <language slang="l:e4dd8dcd-fbfe-4e69-bcdd-b4371f25f476:com.fasten.base.git" version="0" />
@@ -57,6 +58,7 @@
     <language slang="l:e8a04d94-4307-4f88-95a2-25f7c4f39437:com.mbeddr.formal.safety.gsn" version="3" />
     <language slang="l:d2864642-8e1f-4dd8-b3a6-71f0d9d33ae8:com.mbeddr.formal.safety.gsn.confidence.dempster_shafer" version="0" />
     <language slang="l:5e7ffa70-8e23-49f4-8c13-a887bba14c36:com.mbeddr.formal.safety.gsn.external_evidence" version="0" />
+    <language slang="l:a7775cc7-19db-41cf-a724-3212ac4437b9:com.mbeddr.formal.safety.gsn.importer" version="0" />
     <language slang="l:8c301636-fbda-4009-bce8-7e00c3c1bac5:com.mbeddr.formal.safety.gsn.odd" version="0" />
     <language slang="l:f465db4c-63d4-40ef-afda-acd713dc19a1:com.mbeddr.formal.safety.gsn.patterns" version="0" />
     <language slang="l:7f3eac5a-7f9a-4fbe-8264-f69c70ece985:com.mbeddr.formal.safety.gsn.smv" version="9" />
@@ -102,6 +104,7 @@
     <module reference="6eae6fbd-9940-4c94-855c-110c062b01e3(com.mbeddr.formal.safety.gsn.cbd.pluginSolution)" version="0" />
     <module reference="d2864642-8e1f-4dd8-b3a6-71f0d9d33ae8(com.mbeddr.formal.safety.gsn.confidence.dempster_shafer)" version="0" />
     <module reference="5e7ffa70-8e23-49f4-8c13-a887bba14c36(com.mbeddr.formal.safety.gsn.external_evidence)" version="0" />
+    <module reference="a7775cc7-19db-41cf-a724-3212ac4437b9(com.mbeddr.formal.safety.gsn.importer)" version="0" />
     <module reference="8c301636-fbda-4009-bce8-7e00c3c1bac5(com.mbeddr.formal.safety.gsn.odd)" version="0" />
     <module reference="f465db4c-63d4-40ef-afda-acd713dc19a1(com.mbeddr.formal.safety.gsn.patterns)" version="0" />
     <module reference="7f3eac5a-7f9a-4fbe-8264-f69c70ece985(com.mbeddr.formal.safety.gsn.smv)" version="8" />
diff --git a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/com.mbeddr.formal.safety.tutorial.msd b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/com.mbeddr.formal.safety.tutorial.msd
index 7e0d18382..0c9a3fcd5 100644
--- a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/com.mbeddr.formal.safety.tutorial.msd
+++ b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/com.mbeddr.formal.safety.tutorial.msd
@@ -17,7 +17,9 @@
   </dependencies>
   <languageVersions>
     <language slang="l:3b22dedc-d6cf-4626-9445-6e9909b3e04a:com.fasten.base.arch.msc" version="0" />
+    <language slang="l:e4dd8dcd-fbfe-4e69-bcdd-b4371f25f476:com.fasten.base.git" version="0" />
     <language slang="l:81f6a079-965e-4523-87c3-8e6194f66585:com.fasten.base.msc" version="0" />
+    <language slang="l:6d475058-7ea2-490d-87e7-0f7f46dccc66:com.fasten.process.review" version="0" />
     <language slang="l:65ed2ac6-4499-4751-951e-3819684a4b8d:com.fasten.req.ontology" version="1" />
     <language slang="l:b43c548b-f75f-46e2-ad24-de9edd93e95e:com.fasten.safety.fmea" version="0" />
     <language slang="l:1110e3ef-a98e-444f-9748-1d61fe61c7f7:com.fasten.safety.fmea.arch" version="0" />
@@ -27,6 +29,7 @@
     <language slang="l:c6d7e8a3-3d80-479a-8799-a11fe1902b1c:com.fasten.safety.hiphops" version="0" />
     <language slang="l:521724dc-29ef-4d5a-9c15-25f6b680b809:com.fasten.safety.hiphops.arch" version="0" />
     <language slang="l:d4280a54-f6df-4383-aa41-d1b2bffa7eb1:com.mbeddr.core.base" version="6" />
+    <language slang="l:2374bc90-7e37-41f1-a9c4-c2e35194c36a:com.mbeddr.doc" version="4" />
     <language slang="l:83ed2dfe-f724-46cc-852a-dce086daee3f:com.mbeddr.formal.base" version="0" />
     <language slang="l:71797868-de95-425c-8470-36aa52c8ebc4:com.mbeddr.formal.base.arch" version="1" />
     <language slang="l:b0b65429-cd22-4e2a-83e7-cd58bc6dd72f:com.mbeddr.formal.base.expressions" version="0" />
@@ -59,12 +62,15 @@
     <language slang="l:e8a04d94-4307-4f88-95a2-25f7c4f39437:com.mbeddr.formal.safety.gsn" version="3" />
     <language slang="l:00a2e56d-f195-410b-8afe-5a3c7e505658:com.mbeddr.formal.safety.gsn.confidence.acp" version="0" />
     <language slang="l:d2864642-8e1f-4dd8-b3a6-71f0d9d33ae8:com.mbeddr.formal.safety.gsn.confidence.dempster_shafer" version="0" />
+    <language slang="l:42606624-2faa-4717-ba66-77021cc11b53:com.mbeddr.formal.safety.gsn.doc" version="1" />
     <language slang="l:6464626a-ab04-4051-908e-5e8dc75acd78:com.mbeddr.formal.safety.gsn.ext" version="2" />
     <language slang="l:5e7ffa70-8e23-49f4-8c13-a887bba14c36:com.mbeddr.formal.safety.gsn.external_evidence" version="0" />
+    <language slang="l:a7775cc7-19db-41cf-a724-3212ac4437b9:com.mbeddr.formal.safety.gsn.importer" version="0" />
     <language slang="l:8c301636-fbda-4009-bce8-7e00c3c1bac5:com.mbeddr.formal.safety.gsn.odd" version="0" />
     <language slang="l:f465db4c-63d4-40ef-afda-acd713dc19a1:com.mbeddr.formal.safety.gsn.patterns" version="0" />
     <language slang="l:2ec00dc3-d0e8-497d-8fe3-82d556eb83ba:com.mbeddr.formal.safety.gsn.req" version="0" />
     <language slang="l:7f3eac5a-7f9a-4fbe-8264-f69c70ece985:com.mbeddr.formal.safety.gsn.smv" version="9" />
+    <language slang="l:ca32bc98-ea47-4b42-82e1-76bebf8a4e7d:com.mbeddr.formal.safety.gsn.xml_gen" version="0" />
     <language slang="l:17da266c-02d9-4bbd-b69b-8a656b49f45c:com.mbeddr.formal.safety.hara" version="0" />
     <language slang="l:a798113f-e2cd-4e21-a8e2-ca1903cb9c43:com.mbeddr.formal.safety.iso26262" version="1" />
     <language slang="l:434b2bfb-bd7a-47c9-bced-b445035e6d96:com.mbeddr.formal.safety.req" version="1" />
@@ -77,7 +83,7 @@
     <language slang="l:b4d28e19-7d2d-47e9-943e-3a41f97a0e52:com.mbeddr.mpsutil.plantuml.node" version="0" />
     <language slang="l:8ca79d43-eb45-4791-bdd4-0d6130ff895b:de.itemis.mps.editor.diagram.layout" version="0" />
     <language slang="l:92d2ea16-5a42-4fdf-a676-c7604efe3504:de.slisson.mps.richtext" version="0" />
-    <language slang="l:f3061a53-9226-4cc5-a443-f952ceaf5816:jetbrains.mps.baseLanguage" version="11" />
+    <language slang="l:f3061a53-9226-4cc5-a443-f952ceaf5816:jetbrains.mps.baseLanguage" version="12" />
     <language slang="l:fd392034-7849-419d-9071-12563d152375:jetbrains.mps.baseLanguage.closures" version="0" />
     <language slang="l:83888646-71ce-4f1c-9c53-c54016f6ad4f:jetbrains.mps.baseLanguage.collections" version="1" />
     <language slang="l:ceab5195-25ea-4f22-9b92-103b95ca8c0c:jetbrains.mps.lang.core" version="2" />
@@ -86,6 +92,7 @@
     <language slang="l:9ded098b-ad6a-4657-bfd9-48636cfe8bc3:jetbrains.mps.lang.traceable" version="0" />
   </languageVersions>
   <dependencyVersions>
+    <module reference="e1b41d7d-269e-4a91-a7d8-91bd657028d7(com.fasten.safety.doc2word)" version="0" />
     <module reference="4dc47fba-0f4f-4162-820b-d2e1e306482d(com.fasten.safety.ft.pluginSolution)" version="0" />
     <module reference="54912f5b-43b5-48a6-b710-8bbe3bcf9649(com.fasten.safety.ft.xfta.pluginSolution)" version="0" />
     <module reference="676b5323-9c6d-4b8d-a4fc-5d159c3d8aed(com.mbeddr.formal.safety.gsn.patterns.lib)" version="0" />
diff --git a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/external_documents/files_to_import/goal_structure_csv_format_demo.csv b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/external_documents/files_to_import/goal_structure_csv_format_demo.csv
new file mode 100644
index 000000000..0b128ecbe
--- /dev/null
+++ b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/external_documents/files_to_import/goal_structure_csv_format_demo.csv
@@ -0,0 +1,19 @@
+Claim;C0;Our autonomous driver is safe enough to deploy.;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+Argument;A0;;We've achieved positive trust balance.;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+Claim;C1;;;Our organization is trustworthy.;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+Claim;C2;;;;Our suppliers are trustworthy;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+Argument;A1;;;;We have a track record of a strong safety culture, management, and processes;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+Claim;C4;;;;;We do not deploy the system before demonstrating that it is ""safe enough"";;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+Argument;A4;;;;;;Our SMS follows international standards.;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+Claim;C14;;;;;;;We established and implement a safety plan.;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+Claim;C44;;;;;;;;Independent assessors review whether safety plan satisfies this claim.;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+Evidence;E1;;;;;;;;;Review of System Safety Program Plan;;;;;;;;;;;;;;;;;;;;;;;;;;;
+Claim;C15;;;;;;;We established and implement Safety Risk Managment processes.;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+Claim;C45;;;;;;;;Independent assessors review whether Safety Risk Managment satisfies this claim.;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+Evidence;E2;;;;;;;;;Review of System Safety Program Plan;;;;;;;;;;;;;;;;;;;;;;;;;;;
+Claim;C16;;;;;;;We established and implement Safety Assessment processes.;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+Claim;C46;;;;;;;;Independent assessors review whether Safety Assessment satisfies this claim.;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+Evidence;E3;;;;;;;;;Review of Safety Assessment process;;;;;;;;;;;;;;;;;;;;;;;;;;;
+Claim;C17;;;;;;;We established and implement Safety Program Plan.;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+Claim;C47;;;;;;;;Independent assessors review whether Safety Program Plan satisfy this claim.;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+Evidence;E4;;;;;;;;;Review of System Safety Program Plan;;;;;;;;;;;;;;;;;;;;;;;;;;;
\ No newline at end of file
diff --git a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._010_requirements.mps b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._010_requirements.mps
index bac854197..81ca56d98 100644
--- a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._010_requirements.mps
+++ b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._010_requirements.mps
@@ -567,24 +567,24 @@
         </node>
       </node>
       <node concept="12noo2" id="4g_LT4l9MBz" role="1QQeAC">
-        <ref role="12no6r" node="4g_LT4l9MA1" />
+        <ref role="12no6r" node="4g_LT4l9MA1" resolve="AirbagSystem" />
         <node concept="12utKC" id="4g_LT4l9MBT" role="3z0uXc">
           <node concept="12ukSO" id="4g_LT4l9MBU" role="12ut_$" />
           <node concept="12uYXO" id="4g_LT4l9MBV" role="12ut_r">
             <node concept="3Ug1Ap" id="4g_LT4l9MCs" role="12uYXx">
-              <ref role="3Ug1Ao" node="4g_LT4l9M$p" />
+              <ref role="3Ug1Ao" node="4g_LT4l9M$p" resolve="collision_detected" />
             </node>
           </node>
         </node>
         <node concept="12utKC" id="4g_LT4l9MBX" role="3z0uXc">
           <node concept="12uYNE" id="4g_LT4l9MBY" role="12ut_$">
             <node concept="3Ug1Ap" id="4g_LT4l9MCc" role="12uYNq">
-              <ref role="3Ug1Ao" node="4g_LT4l9M$p" />
+              <ref role="3Ug1Ao" node="4g_LT4l9M$p" resolve="collision_detected" />
             </node>
           </node>
           <node concept="12uYM5" id="4g_LT4l9MC0" role="12ut_r">
             <node concept="3Ug1Ap" id="4g_LT4l9MCD" role="12uYM6">
-              <ref role="3Ug1Ao" node="4g_LT4l9M_h" />
+              <ref role="3Ug1Ao" node="4g_LT4l9M_h" resolve="explode_command" />
             </node>
           </node>
         </node>
@@ -609,12 +609,12 @@
         </node>
       </node>
       <node concept="12noo2" id="4g_LT4l9MDd" role="1QQeAC">
-        <ref role="12no6r" node="4g_LT4l9MA1" />
+        <ref role="12no6r" node="4g_LT4l9MA1" resolve="AirbagSystem" />
         <node concept="12utKC" id="4g_LT4l9MDx" role="3z0uXc">
           <node concept="12ukSO" id="4g_LT4l9MDy" role="12ut_$" />
           <node concept="12uYXO" id="4g_LT4l9MDz" role="12ut_r">
             <node concept="3Ug1Ap" id="4g_LT4l9ME1" role="12uYXx">
-              <ref role="3Ug1Ao" node="4g_LT4l9M$U" />
+              <ref role="3Ug1Ao" node="4g_LT4l9M$U" resolve="deactivate_airbag" />
             </node>
           </node>
         </node>
@@ -624,13 +624,13 @@
         <node concept="12utKC" id="4g_LT4l9MDA" role="3z0uXc">
           <node concept="12uYNE" id="4g_LT4l9MDB" role="12ut_$">
             <node concept="3Ug1Ap" id="4g_LT4l9MDS" role="12uYNq">
-              <ref role="3Ug1Ao" node="4g_LT4l9M$U" />
+              <ref role="3Ug1Ao" node="4g_LT4l9M$U" resolve="deactivate_airbag" />
             </node>
           </node>
           <node concept="12uYM5" id="4g_LT4l9MDD" role="12ut_r">
             <node concept="1yA0yd" id="4g_LT4l9MDE" role="12uYM6">
               <node concept="3Ug1Ap" id="4g_LT4l9ME5" role="32OYtT">
-                <ref role="3Ug1Ao" node="4g_LT4l9M_h" />
+                <ref role="3Ug1Ao" node="4g_LT4l9M_h" resolve="explode_command" />
               </node>
             </node>
           </node>
@@ -661,7 +661,7 @@
     <node concept="2dDAV0" id="4g_LT4l9MA1" role="2HcuB8">
       <property role="TrG5h" value="AirbagSystem" />
       <node concept="3Ug1AZ" id="4g_LT4l9MAh" role="2p5x1W">
-        <ref role="3Ug1AY" node="4g_LT4l9MzZ" />
+        <ref role="3Ug1AY" node="4g_LT4l9MzZ" resolve="AirbagInterface" />
       </node>
       <node concept="37mRI7" id="4g_LT4l9MAl" role="lGtFl">
         <node concept="37mRIm" id="4g_LT4l9MAm" role="37mRID">
@@ -718,7 +718,7 @@
         <node concept="JlCpM" id="1L4MZBxTand" role="32O2ov">
           <property role="TrG5h" value="airbag_explode_command" />
           <node concept="2He$iJ" id="1L4MZBxTane" role="1zoetD">
-            <ref role="2He$iI" node="1L4MZBxTang" />
+            <ref role="2He$iI" node="1L4MZBxTang" resolve="explode_state" />
           </node>
         </node>
       </node>
@@ -735,47 +735,47 @@
       <node concept="2Hfkzp" id="1L4MZBxTap4" role="2HcbjO">
         <node concept="2HfkAV" id="1L4MZBxTaqE" role="2HfkAP">
           <node concept="2He$iJ" id="1L4MZBxTaqV" role="2He$ia">
-            <ref role="2He$iI" node="1L4MZBxTapX" />
+            <ref role="2He$iI" node="1L4MZBxTapX" resolve="deactivated_state" />
           </node>
           <node concept="1yCjT0" id="1L4MZBxTatV" role="2He$i0" />
         </node>
         <node concept="2HevG6" id="1L4MZBxTarY" role="2HfkAP">
           <node concept="2He$iJ" id="1L4MZBxTasi" role="2He$ia">
-            <ref role="2He$iI" node="1L4MZBxTapX" />
+            <ref role="2He$iI" node="1L4MZBxTapX" resolve="deactivated_state" />
           </node>
           <node concept="2HbMDt" id="1L4MZBxTau$" role="2He$i0">
             <node concept="32Ogvo" id="1L4MZBxTav0" role="2H9Ial">
-              <ref role="32Ogvr" node="1L4MZBxTani" />
+              <ref role="32Ogvr" node="1L4MZBxTani" resolve="deactivate_airbag" />
             </node>
             <node concept="2He$iJ" id="1L4MZBxTaug" role="2H9Iav">
-              <ref role="2He$iI" node="1L4MZBxTapX" />
+              <ref role="2He$iI" node="1L4MZBxTapX" resolve="deactivated_state" />
             </node>
           </node>
         </node>
         <node concept="2HeLW8" id="1L4MZBxTavE" role="2HfkAP" />
         <node concept="2HfkAV" id="1L4MZBxTava" role="2HfkAP">
           <node concept="2He$iJ" id="1L4MZBxTaw4" role="2He$ia">
-            <ref role="2He$iI" node="1L4MZBxTang" />
+            <ref role="2He$iI" node="1L4MZBxTang" resolve="explode_state" />
           </node>
           <node concept="1yCjT0" id="1L4MZBxTavc" role="2He$i0" />
         </node>
         <node concept="2HevG6" id="1L4MZBxTav5" role="2HfkAP">
           <node concept="2He$iJ" id="1L4MZBxTawB" role="2He$ia">
-            <ref role="2He$iI" node="1L4MZBxTang" />
+            <ref role="2He$iI" node="1L4MZBxTang" resolve="explode_state" />
           </node>
           <node concept="2HbMDt" id="1L4MZBxTazU" role="2He$i0">
             <node concept="2He$iJ" id="1L4MZBxTay6" role="2H9Iav">
-              <ref role="2He$iI" node="1L4MZBxTang" />
+              <ref role="2He$iI" node="1L4MZBxTang" resolve="explode_state" />
             </node>
             <node concept="32OYss" id="1L4MZBxTazV" role="2H9Ial">
               <node concept="2HbMbg" id="1L4MZBxTazW" role="32OYtT">
                 <node concept="1yA0yd" id="1L4MZBxTazX" role="2H9Iav">
                   <node concept="2He$iJ" id="1L4MZBxTazH" role="32OYtT">
-                    <ref role="2He$iI" node="1L4MZBxTapX" />
+                    <ref role="2He$iI" node="1L4MZBxTapX" resolve="deactivated_state" />
                   </node>
                 </node>
                 <node concept="32Ogvo" id="1L4MZBxTa$K" role="2H9Ial">
-                  <ref role="32Ogvr" node="1L4MZBxTanj" />
+                  <ref role="32Ogvr" node="1L4MZBxTanj" resolve="collision_detected" />
                 </node>
               </node>
             </node>
@@ -809,12 +809,12 @@
         <node concept="2Hdskp" id="1L4MZBxTanr" role="2Hfkx9">
           <property role="TrG5h" value="a" />
           <node concept="1zigX2" id="1L4MZBxTans" role="2HdssA">
-            <ref role="1zigX1" node="1L4MZBxTanb" />
+            <ref role="1zigX1" node="1L4MZBxTanb" resolve="airbag" />
             <node concept="2He$iJ" id="1L4MZBxTant" role="1zigYY">
-              <ref role="2He$iI" node="1L4MZBxTann" />
+              <ref role="2He$iI" node="1L4MZBxTann" resolve="my_deactivate_airbag" />
             </node>
             <node concept="2He$iJ" id="1L4MZBxTanu" role="1zigYY">
-              <ref role="2He$iI" node="1L4MZBxTanp" />
+              <ref role="2He$iI" node="1L4MZBxTanp" resolve="my_collision_detected" />
             </node>
           </node>
         </node>
@@ -842,7 +842,7 @@
         </node>
       </node>
       <node concept="0mxsP" id="1L4MZBxTaBG" role="1QQeAC">
-        <ref role="2rfAiQ" node="1L4MZBxTanb" />
+        <ref role="2rfAiQ" node="1L4MZBxTanb" resolve="airbag" />
       </node>
     </node>
   </node>
@@ -880,7 +880,7 @@
         <node concept="JlCpM" id="4g_LT4l9MeJ" role="32O2ov">
           <property role="TrG5h" value="airbag_explode_command" />
           <node concept="2He$iJ" id="4g_LT4l9MeK" role="1zoetD">
-            <ref role="2He$iI" node="4g_LT4l9MeM" />
+            <ref role="2He$iI" node="4g_LT4l9MeM" resolve="explode_state" />
           </node>
         </node>
       </node>
@@ -912,12 +912,12 @@
         <node concept="2Hdskp" id="4g_LT4l9MeX" role="2Hfkx9">
           <property role="TrG5h" value="a" />
           <node concept="1zigX2" id="4g_LT4l9MeY" role="2HdssA">
-            <ref role="1zigX1" node="4g_LT4l9MeH" />
+            <ref role="1zigX1" node="4g_LT4l9MeH" resolve="airbag" />
             <node concept="2He$iJ" id="4g_LT4l9MeZ" role="1zigYY">
-              <ref role="2He$iI" node="4g_LT4l9MeT" />
+              <ref role="2He$iI" node="4g_LT4l9MeT" resolve="my_deactivate_airbag" />
             </node>
             <node concept="2He$iJ" id="4g_LT4l9Mf0" role="1zigYY">
-              <ref role="2He$iI" node="4g_LT4l9MeV" />
+              <ref role="2He$iI" node="4g_LT4l9MeV" resolve="my_collision_detected" />
             </node>
           </node>
         </node>
@@ -945,24 +945,24 @@
         </node>
       </node>
       <node concept="12noo3" id="4g_LT4l9Mga" role="1QQeAC">
-        <ref role="12no6s" node="4g_LT4l9MeH" />
+        <ref role="12no6s" node="4g_LT4l9MeH" resolve="airbag" />
         <node concept="12utKC" id="4g_LT4l9Mgb" role="3z0uXc">
           <node concept="12ukSO" id="4g_LT4l9Mgc" role="12ut_$" />
           <node concept="12uYXO" id="4g_LT4l9Mgd" role="12ut_r">
             <node concept="12qyU8" id="4g_LT4l9Mge" role="12uYXx">
-              <ref role="12qyFn" node="4g_LT4l9MeP" />
+              <ref role="12qyFn" node="4g_LT4l9MeP" resolve="collision_detected" />
             </node>
           </node>
         </node>
         <node concept="12utKC" id="4g_LT4l9Mgf" role="3z0uXc">
           <node concept="12uYNE" id="4g_LT4l9Mgg" role="12ut_$">
             <node concept="12qyU8" id="4g_LT4l9Mgh" role="12uYNq">
-              <ref role="12qyFn" node="4g_LT4l9MeP" />
+              <ref role="12qyFn" node="4g_LT4l9MeP" resolve="collision_detected" />
             </node>
           </node>
           <node concept="12uYM5" id="4g_LT4l9Mgi" role="12ut_r">
             <node concept="12qLwa" id="4g_LT4l9Mgj" role="12uYM6">
-              <ref role="12qLwd" node="4g_LT4l9MeJ" />
+              <ref role="12qLwd" node="4g_LT4l9MeJ" resolve="airbag_explode_command" />
             </node>
           </node>
         </node>
@@ -987,12 +987,12 @@
         </node>
       </node>
       <node concept="12noo3" id="4g_LT4l9Mgs" role="1QQeAC">
-        <ref role="12no6s" node="4g_LT4l9MeH" />
+        <ref role="12no6s" node="4g_LT4l9MeH" resolve="airbag" />
         <node concept="12utKC" id="4g_LT4l9Mgt" role="3z0uXc">
           <node concept="12ukSO" id="4g_LT4l9Mgu" role="12ut_$" />
           <node concept="12uYXO" id="4g_LT4l9Mgv" role="12ut_r">
             <node concept="12qyU8" id="4g_LT4l9Mgw" role="12uYXx">
-              <ref role="12qyFn" node="4g_LT4l9MeO" />
+              <ref role="12qyFn" node="4g_LT4l9MeO" resolve="deactivate_airbag" />
             </node>
           </node>
         </node>
@@ -1002,13 +1002,13 @@
         <node concept="12utKC" id="4g_LT4l9Mgy" role="3z0uXc">
           <node concept="12uYNE" id="4g_LT4l9Mgz" role="12ut_$">
             <node concept="12qyU8" id="4g_LT4l9Mg$" role="12uYNq">
-              <ref role="12qyFn" node="4g_LT4l9MeO" />
+              <ref role="12qyFn" node="4g_LT4l9MeO" resolve="deactivate_airbag" />
             </node>
           </node>
           <node concept="12uYM5" id="4g_LT4l9Mg_" role="12ut_r">
             <node concept="1yA0yd" id="4g_LT4l9MgA" role="12uYM6">
               <node concept="12qLwa" id="4g_LT4l9MgB" role="32OYtT">
-                <ref role="12qLwd" node="4g_LT4l9MeJ" />
+                <ref role="12qLwd" node="4g_LT4l9MeJ" resolve="airbag_explode_command" />
               </node>
             </node>
           </node>
@@ -1035,7 +1035,7 @@
         <node concept="JlCpM" id="4eD_5l3kF26" role="32O2ov">
           <property role="TrG5h" value="airbag_explode_command" />
           <node concept="2He$iJ" id="4eD_5l3mu68" role="1zoetD">
-            <ref role="2He$iI" node="4eD_5l3mtYL" />
+            <ref role="2He$iI" node="4eD_5l3mtYL" resolve="explode_cmd" />
           </node>
         </node>
       </node>
@@ -1062,88 +1062,88 @@
       <node concept="2aiEES" id="4eD_5l3mnjD" role="2HcbjO">
         <node concept="1tTNHs" id="4eD_5l3mnjP" role="2HfkAP">
           <node concept="1tTNRl" id="4eD_5l3mnjQ" role="2He$ia">
-            <ref role="1tTNPH" node="4eD_5l3mnjI" />
+            <ref role="1tTNPH" node="4eD_5l3mnjI" resolve="_state_" />
           </node>
           <node concept="1tTNP8" id="4eD_5l3mnjR" role="2He$i0">
             <node concept="1IK9QF" id="4eD_5l3mnjS" role="2H9I2x" />
             <node concept="1tTNwp" id="4eD_5l3mtQy" role="2H9I2x">
               <property role="TrG5h" value="T_1" />
               <node concept="1tS8IT" id="4eD_5l3mtQz" role="3JZSx7">
-                <ref role="1tS8HL" node="4eD_5l3mnjK" />
+                <ref role="1tS8HL" node="4eD_5l3mnjK" resolve="active" />
               </node>
               <node concept="1tTNRl" id="4eD_5l3mtQ$" role="3JXa2C">
-                <ref role="1tTNPH" node="4eD_5l3mnjI" />
+                <ref role="1tTNPH" node="4eD_5l3mnjI" resolve="_state_" />
               </node>
               <node concept="2HbLFT" id="4eD_5l3mtTD" role="2H9I4J">
                 <node concept="32Ogvo" id="4eD_5l3mtRk" role="2H9Iav">
-                  <ref role="32Ogvr" node="4eD_5l3mneR" />
+                  <ref role="32Ogvr" node="4eD_5l3mneR" resolve="activate_cmd" />
                 </node>
                 <node concept="2HeeqP" id="4eD_5l3mtRS" role="2H9Ial">
-                  <ref role="2HeeqO" node="4eD_5l3mncu" />
+                  <ref role="2HeeqO" node="4eD_5l3mncu" resolve="deactivate" />
                 </node>
               </node>
               <node concept="1tS8IT" id="4eD_5l3mtQA" role="2H9I4_">
-                <ref role="1tS8HL" node="4eD_5l3mnjL" />
+                <ref role="1tS8HL" node="4eD_5l3mnjL" resolve="innactive" />
               </node>
             </node>
             <node concept="1tTNwp" id="4eD_5l3mtS5" role="2H9I2x">
               <property role="TrG5h" value="T_2" />
               <node concept="1tS8IT" id="4eD_5l3mtS6" role="3JZSx7">
-                <ref role="1tS8HL" node="4eD_5l3mnjL" />
+                <ref role="1tS8HL" node="4eD_5l3mnjL" resolve="innactive" />
               </node>
               <node concept="1tTNRl" id="4eD_5l3mtS7" role="3JXa2C">
-                <ref role="1tTNPH" node="4eD_5l3mnjI" />
+                <ref role="1tTNPH" node="4eD_5l3mnjI" resolve="_state_" />
               </node>
               <node concept="2HbLFT" id="4eD_5l3mGMx" role="2H9I4J">
                 <node concept="2HeeqP" id="4eD_5l3mGML" role="2H9Ial">
-                  <ref role="2HeeqO" node="4eD_5l3mncs" />
+                  <ref role="2HeeqO" node="4eD_5l3mncs" resolve="activate" />
                 </node>
                 <node concept="32Ogvo" id="4eD_5l3mGMp" role="2H9Iav">
-                  <ref role="32Ogvr" node="4eD_5l3mneR" />
+                  <ref role="32Ogvr" node="4eD_5l3mneR" resolve="activate_cmd" />
                 </node>
               </node>
               <node concept="1tS8IT" id="4eD_5l3mtS9" role="2H9I4_">
-                <ref role="1tS8HL" node="4eD_5l3mnjK" />
+                <ref role="1tS8HL" node="4eD_5l3mnjK" resolve="active" />
               </node>
             </node>
             <node concept="1tTNwp" id="4eD_5l3mtWU" role="2H9I2x">
               <property role="TrG5h" value="T_3" />
               <node concept="1tS8IT" id="4eD_5l3mtWV" role="3JZSx7">
-                <ref role="1tS8HL" node="4eD_5l3mnjK" />
+                <ref role="1tS8HL" node="4eD_5l3mnjK" resolve="active" />
               </node>
               <node concept="1tTNRl" id="4eD_5l3mtWW" role="3JXa2C">
-                <ref role="1tTNPH" node="4eD_5l3mnjI" />
+                <ref role="1tTNPH" node="4eD_5l3mnjI" resolve="_state_" />
               </node>
               <node concept="2HbMbg" id="4eD_5l3mGSn" role="2H9I4J">
                 <node concept="dheZm" id="4eD_5l3mGSI" role="2H9Ial">
                   <node concept="2HeeqP" id="4eD_5l3mGT0" role="2H9Ial">
-                    <ref role="2HeeqO" node="4eD_5l3mncu" />
+                    <ref role="2HeeqO" node="4eD_5l3mncu" resolve="deactivate" />
                   </node>
                   <node concept="32Ogvo" id="4eD_5l3mGS_" role="2H9Iav">
-                    <ref role="32Ogvr" node="4eD_5l3mneR" />
+                    <ref role="32Ogvr" node="4eD_5l3mneR" resolve="activate_cmd" />
                   </node>
                 </node>
                 <node concept="32Ogvo" id="4eD_5l3mtYf" role="2H9Iav">
-                  <ref role="32Ogvr" node="4eD_5l3mngn" />
+                  <ref role="32Ogvr" node="4eD_5l3mngn" resolve="collision_detected" />
                 </node>
               </node>
               <node concept="1tS8IT" id="4eD_5l3mtWY" role="2H9I4_">
-                <ref role="1tS8HL" node="4eD_5l3mtUR" />
+                <ref role="1tS8HL" node="4eD_5l3mtUR" resolve="exploded" />
               </node>
             </node>
           </node>
         </node>
         <node concept="2HfkAV" id="4eD_5l3mnjM" role="2HfkAP">
           <node concept="1tTNRl" id="4eD_5l3mnjN" role="2He$ia">
-            <ref role="1tTNPH" node="4eD_5l3mnjI" />
+            <ref role="1tTNPH" node="4eD_5l3mnjI" resolve="_state_" />
           </node>
           <node concept="1tS8IT" id="4eD_5l3mnoP" role="2He$i0">
-            <ref role="1tS8HL" node="4eD_5l3mnjK" />
+            <ref role="1tS8HL" node="4eD_5l3mnjK" resolve="active" />
           </node>
         </node>
         <node concept="2HfkAV" id="4eD_5l3mu3r" role="2HfkAP">
           <node concept="2He$iJ" id="4eD_5l3mu42" role="2He$ia">
-            <ref role="2He$iI" node="4eD_5l3mtYL" />
+            <ref role="2He$iI" node="4eD_5l3mtYL" resolve="explode_cmd" />
           </node>
           <node concept="1yCjT0" id="4eD_5l3mu4n" role="2He$i0" />
         </node>
@@ -1151,13 +1151,13 @@
           <node concept="FsPnB" id="4eD_5l3mu56" role="2He$i0">
             <node concept="FsPnw" id="4eD_5l3mu55" role="2H9I2x">
               <node concept="3JXjYv" id="4eD_5l3mu5R" role="2H9I4J">
-                <ref role="3JXjYu" node="4eD_5l3mtWU" />
+                <ref role="3JXjYu" node="4eD_5l3mtWU" resolve="T_3" />
               </node>
               <node concept="1yCjRe" id="4eD_5l3mu62" role="2H9I4_" />
             </node>
           </node>
           <node concept="2He$iJ" id="4eD_5l3mu5K" role="2He$ia">
-            <ref role="2He$iI" node="4eD_5l3mtYL" />
+            <ref role="2He$iI" node="4eD_5l3mtYL" resolve="explode_cmd" />
           </node>
         </node>
         <node concept="37mRI7" id="4eD_5l3mtQj" role="lGtFl">
@@ -1264,7 +1264,7 @@
       <node concept="3_qfHp" id="4eD_5l3mneR" role="2Hdtzq">
         <property role="TrG5h" value="activate_cmd" />
         <node concept="2XJXdx" id="4eD_5l3mnf_" role="2HdssB">
-          <ref role="2XJXdw" node="4eD_5l3kF4M" />
+          <ref role="2XJXdw" node="4eD_5l3kF4M" resolve="activate_cmd_t" />
         </node>
       </node>
       <node concept="3_qfHp" id="4eD_5l3mngn" role="2Hdtzq">
@@ -1280,20 +1280,20 @@
                 <node concept="2HbMbg" id="4eD_5l3mH__" role="2H9Iav">
                   <node concept="2HbLFT" id="4eD_5l3mH_A" role="2H9Iav">
                     <node concept="32Ogvo" id="4eD_5l3mGmX" role="2H9Iav">
-                      <ref role="32Ogvr" node="4eD_5l3mneR" />
+                      <ref role="32Ogvr" node="4eD_5l3mneR" resolve="activate_cmd" />
                     </node>
                     <node concept="2HeeqP" id="4eD_5l3mGnp" role="2H9Ial">
-                      <ref role="2HeeqO" node="4eD_5l3mncu" />
+                      <ref role="2HeeqO" node="4eD_5l3mncu" resolve="deactivate" />
                     </node>
                   </node>
                   <node concept="1yA0yd" id="4eD_5l3mH_B" role="2H9Ial">
                     <node concept="32OYss" id="4eD_5l3mH_C" role="32OYtT">
                       <node concept="2HbLFT" id="4eD_5l3mH_D" role="32OYtT">
                         <node concept="1tTNRl" id="4eD_5l3mHcO" role="2H9Iav">
-                          <ref role="1tTNPH" node="4eD_5l3mnjI" />
+                          <ref role="1tTNPH" node="4eD_5l3mnjI" resolve="_state_" />
                         </node>
                         <node concept="1tS8IT" id="4eD_5l3mHiy" role="2H9Ial">
-                          <ref role="1tS8HL" node="4eD_5l3mtUR" />
+                          <ref role="1tS8HL" node="4eD_5l3mtUR" resolve="exploded" />
                         </node>
                       </node>
                     </node>
@@ -1303,7 +1303,7 @@
                   <node concept="2Sa8AP" id="4eD_5l3mH_F" role="32OYtT">
                     <node concept="1yA0yd" id="4eD_5l3mH_G" role="1yBIc4">
                       <node concept="1J1L9T" id="4eD_5l3mGo1" role="32OYtT">
-                        <ref role="1J1L9S" node="4eD_5l3kF26" />
+                        <ref role="1J1L9S" node="4eD_5l3kF26" resolve="airbag_explode_command" />
                       </node>
                     </node>
                   </node>
@@ -1321,32 +1321,32 @@
                   <node concept="2HbMbg" id="4eD_5l3mI9I" role="2H9Iav">
                     <node concept="2HbLFT" id="4eD_5l3mI9J" role="2H9Iav">
                       <node concept="1tTNRl" id="4eD_5l3mI0t" role="2H9Iav">
-                        <ref role="1tTNPH" node="4eD_5l3mnjI" />
+                        <ref role="1tTNPH" node="4eD_5l3mnjI" resolve="_state_" />
                       </node>
                       <node concept="1tS8IT" id="4eD_5l3mI0A" role="2H9Ial">
-                        <ref role="1tS8HL" node="4eD_5l3mnjK" />
+                        <ref role="1tS8HL" node="4eD_5l3mnjK" resolve="active" />
                       </node>
                     </node>
                     <node concept="1yA0yd" id="4eD_5l3mIa3" role="2H9Ial">
                       <node concept="32OYss" id="4eD_5l3mIab" role="32OYtT">
                         <node concept="2HbLFT" id="4eD_5l3mIat" role="32OYtT">
                           <node concept="2HeeqP" id="4eD_5l3mImk" role="2H9Ial">
-                            <ref role="2HeeqO" node="4eD_5l3mncu" />
+                            <ref role="2HeeqO" node="4eD_5l3mncu" resolve="deactivate" />
                           </node>
                           <node concept="32Ogvo" id="4eD_5l3mIal" role="2H9Iav">
-                            <ref role="32Ogvr" node="4eD_5l3mneR" />
+                            <ref role="32Ogvr" node="4eD_5l3mneR" resolve="activate_cmd" />
                           </node>
                         </node>
                       </node>
                     </node>
                   </node>
                   <node concept="32Ogvo" id="4eD_5l3mGv2" role="2H9Ial">
-                    <ref role="32Ogvr" node="4eD_5l3mngn" />
+                    <ref role="32Ogvr" node="4eD_5l3mngn" resolve="collision_detected" />
                   </node>
                 </node>
                 <node concept="2Sa8AP" id="4eD_5l3mI9K" role="2H9Ial">
                   <node concept="1J1L9T" id="4eD_5l3mGvl" role="1yBIc4">
-                    <ref role="1J1L9S" node="4eD_5l3kF26" />
+                    <ref role="1J1L9S" node="4eD_5l3kF26" resolve="airbag_explode_command" />
                   </node>
                 </node>
               </node>
@@ -1362,7 +1362,7 @@
         <node concept="2Hdskp" id="4eD_5l3kF2E" role="2Hfkx9">
           <property role="TrG5h" value="my_deactivate_airbag" />
           <node concept="2XJXdx" id="4eD_5l3mu6k" role="2HdssA">
-            <ref role="2XJXdw" node="4eD_5l3kF4M" />
+            <ref role="2XJXdw" node="4eD_5l3kF4M" resolve="activate_cmd_t" />
           </node>
         </node>
         <node concept="2Hdskp" id="4eD_5l3kF2G" role="2Hfkx9">
@@ -1372,12 +1372,12 @@
         <node concept="2Hdskp" id="4eD_5l3kF2I" role="2Hfkx9">
           <property role="TrG5h" value="a" />
           <node concept="1zigX2" id="4eD_5l3kF2J" role="2HdssA">
-            <ref role="1zigX1" node="4eD_5l3kF24" />
+            <ref role="1zigX1" node="4eD_5l3kF24" resolve="airbag_state_machine" />
             <node concept="2He$iJ" id="4eD_5l3kF2K" role="1zigYY">
-              <ref role="2He$iI" node="4eD_5l3kF2E" />
+              <ref role="2He$iI" node="4eD_5l3kF2E" resolve="my_deactivate_airbag" />
             </node>
             <node concept="2He$iJ" id="4eD_5l3kF2L" role="1zigYY">
-              <ref role="2He$iI" node="4eD_5l3kF2G" />
+              <ref role="2He$iI" node="4eD_5l3kF2G" resolve="my_collision_detected" />
             </node>
           </node>
         </node>
@@ -1396,51 +1396,51 @@
     </node>
     <node concept="3SOpcA" id="7Jm8RM1yvWT" role="3SOpfD">
       <property role="TrG5h" value="passive safety" />
-      <ref role="3SOpc_" node="7Jm8RM1yvWB" />
+      <ref role="3SOpc_" node="7Jm8RM1yvWB" resolve="car safety feature" />
     </node>
     <node concept="3SOpcA" id="7Jm8RM1yvX5" role="3SOpfD">
       <property role="TrG5h" value="airbag system" />
-      <ref role="3SOpc_" node="7Jm8RM1yvWT" />
+      <ref role="3SOpc_" node="7Jm8RM1yvWT" resolve="passive safety" />
     </node>
     <node concept="3SOpcA" id="7Jm8RM1yvZv" role="3SOpfD">
       <property role="TrG5h" value="rear passenger airbag" />
-      <ref role="3SOpc_" node="7Jm8RM1yvX5" />
+      <ref role="3SOpc_" node="7Jm8RM1yvX5" resolve="airbag system" />
     </node>
     <node concept="3SOpcA" id="7Jm8RM1yvZh" role="3SOpfD">
       <property role="TrG5h" value="front passenger airbag" />
-      <ref role="3SOpc_" node="7Jm8RM1yvX5" />
+      <ref role="3SOpc_" node="7Jm8RM1yvX5" resolve="airbag system" />
     </node>
     <node concept="3SOpcA" id="7Jm8RM1yvZ4" role="3SOpfD">
       <property role="TrG5h" value="front driver airbag" />
-      <ref role="3SOpc_" node="7Jm8RM1yvX5" />
+      <ref role="3SOpc_" node="7Jm8RM1yvX5" resolve="airbag system" />
     </node>
     <node concept="3SOpcA" id="7Jm8RM1yvXj" role="3SOpfD">
       <property role="TrG5h" value="anti lock brakes" />
-      <ref role="3SOpc_" node="7Jm8RM1yvWT" />
+      <ref role="3SOpc_" node="7Jm8RM1yvWT" resolve="passive safety" />
     </node>
     <node concept="3SOpcA" id="7Jm8RM1yvXz" role="3SOpfD">
       <property role="TrG5h" value="electronic stability control" />
-      <ref role="3SOpc_" node="7Jm8RM1yvWT" />
+      <ref role="3SOpc_" node="7Jm8RM1yvWT" resolve="passive safety" />
     </node>
     <node concept="3SOpcA" id="7Jm8RM1yvXP" role="3SOpfD">
       <property role="TrG5h" value="adaptive headlights" />
-      <ref role="3SOpc_" node="7Jm8RM1yvWT" />
+      <ref role="3SOpc_" node="7Jm8RM1yvWT" resolve="passive safety" />
     </node>
     <node concept="3SOpcA" id="7Jm8RM1yvY9" role="3SOpfD">
       <property role="TrG5h" value="traction control" />
-      <ref role="3SOpc_" node="7Jm8RM1yvWT" />
+      <ref role="3SOpc_" node="7Jm8RM1yvWT" resolve="passive safety" />
     </node>
     <node concept="3SOpcA" id="7Jm8RM1yvWG" role="3SOpfD">
       <property role="TrG5h" value="active safety" />
-      <ref role="3SOpc_" node="7Jm8RM1yvWB" />
+      <ref role="3SOpc_" node="7Jm8RM1yvWB" resolve="car safety feature" />
     </node>
     <node concept="3SOpcA" id="7Jm8RM1yvYv" role="3SOpfD">
       <property role="TrG5h" value="emergency braking" />
-      <ref role="3SOpc_" node="7Jm8RM1yvWG" />
+      <ref role="3SOpc_" node="7Jm8RM1yvWG" resolve="active safety" />
     </node>
     <node concept="3SOpcA" id="7Jm8RM1yvYR" role="3SOpfD">
       <property role="TrG5h" value="collision avoidance maneuver" />
-      <ref role="3SOpc_" node="7Jm8RM1yvWG" />
+      <ref role="3SOpc_" node="7Jm8RM1yvWG" resolve="active safety" />
     </node>
   </node>
   <node concept="1QQeGf" id="7Jm8RM1z5xa">
@@ -1461,7 +1461,7 @@
               <property role="19SUeA" value="Airbag requirements are specified below using sentence boilerplates for temporal patterns&#10;and the predicates can reference ontology concepts -- in this example from " />
             </node>
             <node concept="3UmBE$" id="7Jm8RM1zfC8" role="19SJt6">
-              <ref role="3UmBEB" node="7Jm8RM1yomw" />
+              <ref role="3UmBEB" node="7Jm8RM1yomw" resolve="_000_car_safety_features_ontology" />
             </node>
             <node concept="19SUe$" id="7Jm8RM1zfC9" role="19SJt6">
               <property role="19SUeA" value="." />
@@ -1477,7 +1477,7 @@
               <node concept="19SGf9" id="7Jm8RM1z5xo" role="3z7eFT">
                 <node concept="19SUe$" id="7Jm8RM1z5yP" role="19SJt6" />
                 <node concept="3Un2dA" id="7Jm8RM1z5yN" role="19SJt6">
-                  <ref role="3Un2dz" node="7Jm8RM1yvX5" />
+                  <ref role="3Un2dz" node="7Jm8RM1yvX5" resolve="airbag system" />
                 </node>
                 <node concept="19SUe$" id="7Jm8RM1z5yO" role="19SJt6">
                   <property role="19SUeA" value=" is active unless explicitly deactivated" />
@@ -1498,7 +1498,7 @@
               <node concept="19SGf9" id="7Jm8RM1z5xw" role="3z7eFT">
                 <node concept="19SUe$" id="7Jm8RM1z5yV" role="19SJt6" />
                 <node concept="3Un2dA" id="7Jm8RM1z5yT" role="19SJt6">
-                  <ref role="3Un2dz" node="7Jm8RM1yvZh" />
+                  <ref role="3Un2dz" node="7Jm8RM1yvZh" resolve="front passenger airbag" />
                 </node>
                 <node concept="19SUe$" id="7Jm8RM1z5yU" role="19SJt6">
                   <property role="19SUeA" value=" deactivation button is turned off" />
@@ -1509,7 +1509,7 @@
               <node concept="19SGf9" id="7Jm8RM1z5xz" role="3z7eFT">
                 <node concept="19SUe$" id="7Jm8RM1z5z1" role="19SJt6" />
                 <node concept="3Un2dA" id="7Jm8RM1z5yZ" role="19SJt6">
-                  <ref role="3Un2dz" node="7Jm8RM1yvZh" />
+                  <ref role="3Un2dz" node="7Jm8RM1yvZh" resolve="front passenger airbag" />
                 </node>
                 <node concept="19SUe$" id="7Jm8RM1z5z0" role="19SJt6">
                   <property role="19SUeA" value=" activation button is turned on" />
@@ -1522,7 +1522,7 @@
               <node concept="19SGf9" id="7Jm8RM1z5xB" role="3z7eFT">
                 <node concept="19SUe$" id="7Jm8RM1z5z7" role="19SJt6" />
                 <node concept="3Un2dA" id="7Jm8RM1z5z5" role="19SJt6">
-                  <ref role="3Un2dz" node="7Jm8RM1yvZh" />
+                  <ref role="3Un2dz" node="7Jm8RM1yvZh" resolve="front passenger airbag" />
                 </node>
                 <node concept="19SUe$" id="7Jm8RM1z5z6" role="19SJt6">
                   <property role="19SUeA" value=" does not explode" />
@@ -1575,7 +1575,7 @@
                     <property role="19SUeA" value="the " />
                   </node>
                   <node concept="3Un2dA" id="7Jm8RM1z5zb" role="19SJt6">
-                    <ref role="3Un2dz" node="7Jm8RM1yvX5" />
+                    <ref role="3Un2dz" node="7Jm8RM1yvX5" resolve="airbag system" />
                   </node>
                   <node concept="19SUe$" id="7Jm8RM1z5zc" role="19SJt6">
                     <property role="19SUeA" value=" will be deployed" />
diff --git a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._020_hazards_and_risk_analysis.mps b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._020_hazards_and_risk_analysis.mps
index d46965c19..1f48ea3cd 100644
--- a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._020_hazards_and_risk_analysis.mps
+++ b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._020_hazards_and_risk_analysis.mps
@@ -323,8 +323,8 @@
     <node concept="1XyJaU" id="1L4MZBxVgCS" role="1X_0GB">
       <property role="TrG5h" value="Driver" />
       <node concept="1XypPU" id="1L4MZBxVgDF" role="2I3o71">
-        <ref role="SrP08" node="1L4MZBxVgCS" />
-        <ref role="SrP07" node="1L4MZBxVgwH" />
+        <ref role="SrP08" node="1L4MZBxVgCS" resolve="Driver" />
+        <ref role="SrP07" node="1L4MZBxVgwH" resolve="Airbag Controller" />
         <node concept="Sqzvu" id="1L4MZBxVgDG" role="Sq$B$">
           <property role="TrG5h" value="Deactivate" />
         </node>
@@ -366,15 +366,15 @@
           </node>
         </node>
         <node concept="Sq$B_" id="1L4MZBxVgEn" role="2I3o71">
-          <ref role="SrP08" node="1L4MZBxVgwH" />
-          <ref role="SrP07" node="1L4MZBxVgCS" />
+          <ref role="SrP08" node="1L4MZBxVgwH" resolve="Airbag Controller" />
+          <ref role="SrP07" node="1L4MZBxVgCS" resolve="Driver" />
           <node concept="Sqzvu" id="1L4MZBxVgEo" role="Sq$B$">
             <property role="TrG5h" value="Activation Status" />
           </node>
         </node>
         <node concept="1XypPU" id="1L4MZBxVgFQ" role="2I3o71">
-          <ref role="SrP08" node="1L4MZBxVgwH" />
-          <ref role="SrP07" node="1L4MZBxVgDi" />
+          <ref role="SrP08" node="1L4MZBxVgwH" resolve="Airbag Controller" />
+          <ref role="SrP07" node="1L4MZBxVgDi" resolve="Airbag" />
           <node concept="Sqzvu" id="1L4MZBxVgFR" role="Sq$B$">
             <property role="TrG5h" value="Check Health" />
           </node>
@@ -512,8 +512,8 @@
           </node>
         </node>
         <node concept="1XypPU" id="1L4MZBxVgID" role="2I3o71">
-          <ref role="SrP08" node="1L4MZBxVgCY" />
-          <ref role="SrP07" node="1L4MZBxVgwH" />
+          <ref role="SrP08" node="1L4MZBxVgCY" resolve="Sensors" />
+          <ref role="SrP07" node="1L4MZBxVgwH" resolve="Airbag Controller" />
           <node concept="Sqzvu" id="1L4MZBxVgIE" role="Sq$B$">
             <property role="TrG5h" value="Crash Detected" />
           </node>
@@ -530,8 +530,8 @@
           </node>
         </node>
         <node concept="Sq$B_" id="1L4MZBxVgH7" role="2I3o71">
-          <ref role="SrP08" node="1L4MZBxVgDi" />
-          <ref role="SrP07" node="1L4MZBxVgwH" />
+          <ref role="SrP08" node="1L4MZBxVgDi" resolve="Airbag" />
+          <ref role="SrP07" node="1L4MZBxVgwH" resolve="Airbag Controller" />
           <node concept="Sqzvu" id="1L4MZBxVgKl" role="Sq$B$">
             <property role="TrG5h" value="Airbag Health Status" />
           </node>
@@ -544,11 +544,11 @@
   </node>
   <node concept="1E0nO6" id="1L4MZBxVgKw">
     <property role="TrG5h" value="_020_airbag_unsafe_control_analysis" />
-    <ref role="1E05RL" node="1L4MZBxVgwF" />
+    <ref role="1E05RL" node="1L4MZBxVgwF" resolve="_010_airbag_controller_functional_control_structure" />
     <node concept="1E0nOG" id="1L4MZBxVgKx" role="1E0n_e">
-      <ref role="1E0nOH" node="1L4MZBxVgCS" />
+      <ref role="1E0nOH" node="1L4MZBxVgCS" resolve="Driver" />
       <node concept="1E0nOJ" id="1L4MZBxVgKz" role="1E0nOC">
-        <ref role="1E0n_N" node="1L4MZBxVgEj" />
+        <ref role="1E0n_N" node="1L4MZBxVgEj" resolve="Activate" />
         <node concept="3f6qtF" id="6vZMoXu3Mh5" role="3f6qqO">
           <node concept="1E0COo" id="7L33HENb9v1" role="3f6qtG">
             <property role="TrG5h" value="UCA_DRIVER_ACTIVATE_02" />
@@ -560,7 +560,7 @@
               </node>
             </node>
             <node concept="gxbn0" id="7L33HENb9vU" role="1E0COk">
-              <ref role="gxbni" node="7L33HENb9vN" />
+              <ref role="gxbni" node="7L33HENb9vN" resolve="airbag deploys unintentionally" />
             </node>
           </node>
         </node>
@@ -575,7 +575,7 @@
               </node>
             </node>
             <node concept="gxbn0" id="1L4MZBxVSOM" role="1E0COk">
-              <ref role="gxbni" node="7L33HENb9vA" />
+              <ref role="gxbni" node="7L33HENb9vA" resolve="airbag does not deploy" />
             </node>
           </node>
         </node>
@@ -587,7 +587,7 @@
         </node>
       </node>
       <node concept="1E0nOJ" id="1L4MZBxVzd5" role="1E0nOC">
-        <ref role="1E0n_N" node="1L4MZBxVgDG" />
+        <ref role="1E0n_N" node="1L4MZBxVgDG" resolve="Deactivate" />
         <node concept="3f6qtF" id="6vZMoXu3Mhc" role="3f6qqO">
           <node concept="1E0COo" id="1L4MZBxVzdk" role="3f6qtG">
             <property role="TrG5h" value="UCA_DRIVER_DEACTIVATE_01" />
@@ -599,7 +599,7 @@
               </node>
             </node>
             <node concept="gxbn0" id="1L4MZBxVSOO" role="1E0COk">
-              <ref role="gxbni" node="7L33HENb9vA" />
+              <ref role="gxbni" node="7L33HENb9vA" resolve="airbag does not deploy" />
             </node>
           </node>
         </node>
@@ -615,9 +615,9 @@
       </node>
     </node>
     <node concept="1E0nOG" id="1L4MZBxVzdI" role="1E0n_e">
-      <ref role="1E0nOH" node="1L4MZBxVgwH" />
+      <ref role="1E0nOH" node="1L4MZBxVgwH" resolve="Airbag Controller" />
       <node concept="1E0nOJ" id="1L4MZBxVze7" role="1E0nOC">
-        <ref role="1E0n_N" node="1L4MZBxVgEo" />
+        <ref role="1E0n_N" node="1L4MZBxVgEo" resolve="Activation Status" />
         <node concept="3f6qtF" id="6vZMoXu3Mhg" role="3f6qqO">
           <node concept="1E0COo" id="1L4MZBxVSOT" role="3f6qtG">
             <property role="TrG5h" value="UCA_AIRBAG_STATUS_02" />
@@ -629,7 +629,7 @@
               </node>
             </node>
             <node concept="gxbn0" id="1L4MZBxVSOX" role="1E0COk">
-              <ref role="gxbni" node="7L33HENb9vA" />
+              <ref role="gxbni" node="7L33HENb9vA" resolve="airbag does not deploy" />
             </node>
           </node>
         </node>
@@ -637,10 +637,10 @@
           <node concept="1E0COo" id="1L4MZBxVFnp" role="3f6qtG">
             <property role="TrG5h" value="UCA_AIRBAG_STATUS_01" />
             <node concept="gxbn0" id="1L4MZBxVSOQ" role="1E0COk">
-              <ref role="gxbni" node="7L33HENb9vA" />
+              <ref role="gxbni" node="7L33HENb9vA" resolve="airbag does not deploy" />
             </node>
             <node concept="1YbhHi" id="7Jm8RM1zooa" role="1E0COp">
-              <ref role="1YbhHj" node="7Jm8RM1zoo0" />
+              <ref role="1YbhHj" node="7Jm8RM1zoo0" resolve="vehicle crash at high speed" />
             </node>
           </node>
         </node>
@@ -652,7 +652,7 @@
         </node>
       </node>
       <node concept="1E0nOJ" id="7L33HENb9vW" role="1E0nOC">
-        <ref role="1E0n_N" node="1L4MZBxVgH3" />
+        <ref role="1E0n_N" node="1L4MZBxVgH3" resolve="Deploy Airbag" />
         <node concept="3f6qtF" id="6vZMoXu3Mhk" role="3f6qqO">
           <node concept="1E0COo" id="7L33HENb9wl" role="3f6qtG">
             <property role="TrG5h" value="UCA_AIRBAG_DEPLOY_02" />
@@ -664,7 +664,7 @@
               </node>
             </node>
             <node concept="gxbn0" id="7L33HENb9wp" role="1E0COk">
-              <ref role="gxbni" node="7L33HENb9vN" />
+              <ref role="gxbni" node="7L33HENb9vN" resolve="airbag deploys unintentionally" />
             </node>
           </node>
         </node>
@@ -679,7 +679,7 @@
               </node>
             </node>
             <node concept="gxbn0" id="7L33HENb9wf" role="1E0COk">
-              <ref role="gxbni" node="7L33HENb9vA" />
+              <ref role="gxbni" node="7L33HENb9vA" resolve="airbag does not deploy" />
             </node>
           </node>
         </node>
@@ -694,7 +694,7 @@
               </node>
             </node>
             <node concept="gxbn0" id="7L33HENb9wM" role="1E0COk">
-              <ref role="gxbni" node="7L33HENb9wH" />
+              <ref role="gxbni" node="7L33HENb9wH" resolve="airbag deploys too soon or late" />
             </node>
           </node>
         </node>
@@ -709,7 +709,7 @@
               </node>
             </node>
             <node concept="gxbn0" id="7L33HENb9wT" role="1E0COk">
-              <ref role="gxbni" node="7L33HENb9vA" />
+              <ref role="gxbni" node="7L33HENb9vA" resolve="airbag does not deploy" />
             </node>
           </node>
         </node>
@@ -734,50 +734,50 @@
       <property role="0lsPA" value="H01" />
       <property role="TrG5h" value="airbag does not deploy" />
       <node concept="3Zv_sa" id="7Jm8RM1zooT" role="3Zv_sA">
-        <ref role="3Zv_sb" node="7Jm8RM1zooO" />
+        <ref role="3Zv_sb" node="7Jm8RM1zooO" resolve="driver severe injury which requires hospitalization" />
       </node>
       <node concept="3Zv_sa" id="7Jm8RM1zooY" role="3Zv_sA">
-        <ref role="3Zv_sb" node="7Jm8RM1zooH" />
+        <ref role="3Zv_sb" node="7Jm8RM1zooH" resolve="passenger severe injury which requires hospitalization" />
       </node>
       <node concept="3h3uym" id="55oVyA0mGR1" role="3h3uzw">
         <property role="3h3uzF" value="24PsEXFbNLt/C3" />
         <property role="3h3uzD" value="24PsEXFbNKU/S3" />
-        <ref role="3h3iM1" node="1LvcKAYEWJP" />
+        <ref role="3h3iM1" node="1LvcKAYEWJP" resolve="OS01" />
       </node>
       <node concept="3h3uym" id="1LvcKAYEWK8" role="3h3uzw">
         <property role="3h3uzD" value="24PsEXFbNKN/S1" />
         <property role="3h3uzF" value="24PsEXFbNLp/C2" />
-        <ref role="3h3iM1" node="1LvcKAYEWJZ" />
+        <ref role="3h3iM1" node="1LvcKAYEWJZ" resolve="OS02" />
       </node>
     </node>
     <node concept="1a6Z8w" id="7L33HENb9vN" role="8gIbH">
       <property role="0lsPA" value="H02" />
       <property role="TrG5h" value="airbag deploys unintentionally" />
       <node concept="3Zv_sa" id="7Jm8RM1zop2" role="3Zv_sA">
-        <ref role="3Zv_sb" node="7Jm8RM1zooO" />
+        <ref role="3Zv_sb" node="7Jm8RM1zooO" resolve="driver severe injury which requires hospitalization" />
       </node>
       <node concept="3Zv_sa" id="7Jm8RM1zopl" role="3Zv_sA">
-        <ref role="3Zv_sb" node="7Jm8RM1zooH" />
+        <ref role="3Zv_sb" node="7Jm8RM1zooH" resolve="passenger severe injury which requires hospitalization" />
       </node>
       <node concept="3h3uym" id="55oVyA0mGR2" role="3h3uzw">
         <property role="3h3uzF" value="24PsEXFbNLt/C3" />
         <property role="3h3uzD" value="24PsEXFbNKQ/S2" />
-        <ref role="3h3iM1" node="1LvcKAYEWJP" />
+        <ref role="3h3iM1" node="1LvcKAYEWJP" resolve="OS01" />
       </node>
     </node>
     <node concept="1a6Z8w" id="7L33HENb9wH" role="8gIbH">
       <property role="0lsPA" value="H03" />
       <property role="TrG5h" value="airbag deploys too soon or late" />
       <node concept="3Zv_sa" id="7Jm8RM1zopp" role="3Zv_sA">
-        <ref role="3Zv_sb" node="7Jm8RM1zooN" />
+        <ref role="3Zv_sb" node="7Jm8RM1zooN" resolve="driver light injury which does not require hospitalization" />
       </node>
       <node concept="3Zv_sa" id="7Jm8RM1zopu" role="3Zv_sA">
-        <ref role="3Zv_sb" node="7Jm8RM1zooJ" />
+        <ref role="3Zv_sb" node="7Jm8RM1zooJ" resolve="passenger light injury which does not require hospitalization" />
       </node>
       <node concept="3h3uym" id="55oVyA0mGR3" role="3h3uzw">
         <property role="3h3uzF" value="24PsEXFbNLt/C3" />
         <property role="3h3uzD" value="24PsEXFbNKQ/S2" />
-        <ref role="3h3iM1" node="1LvcKAYEWJP" />
+        <ref role="3h3iM1" node="1LvcKAYEWJP" resolve="OS01" />
       </node>
     </node>
   </node>
diff --git a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._030_safety_requirements.mps b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._030_safety_requirements.mps
index af9ed657b..39ebfb735 100644
--- a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._030_safety_requirements.mps
+++ b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._030_safety_requirements.mps
@@ -53,7 +53,7 @@
       <property role="0ke_I" value="mike" />
       <node concept="2iDXIW" id="7L33HENb9x8" role="0nOlf">
         <node concept="DABN8" id="6W1kQP6Bq6h" role="DABNk">
-          <ref role="DABNb" to="xtgl:7L33HENb9vN" />
+          <ref role="DABNb" to="xtgl:7L33HENb9vN" resolve="airbag deploys unintentionally" />
         </node>
       </node>
       <node concept="19SGf9" id="7L33HENb9x2" role="1QQeG9">
@@ -68,7 +68,7 @@
       <property role="0ke_I" value="john" />
       <node concept="2iDXIW" id="7L33HENduwv" role="0nOlf">
         <node concept="DABN8" id="6W1kQP6Bq6i" role="DABNk">
-          <ref role="DABNb" to="xtgl:7L33HENb9vA" />
+          <ref role="DABNb" to="xtgl:7L33HENb9vA" resolve="airbag does not deploy" />
         </node>
       </node>
       <node concept="19SGf9" id="7L33HENduwj" role="1QQeG9">
diff --git a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._040_safety_models.mps b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._040_safety_models.mps
index ec45581f1..a3c16bfed 100644
--- a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._040_safety_models.mps
+++ b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._040_safety_models.mps
@@ -232,7 +232,7 @@
       <node concept="3UnI9n" id="42QGQFVn3Bg" role="3UnI90">
         <property role="TrG5h" value="data" />
         <node concept="1savGX" id="4eD_5l3mJgj" role="3UnI80">
-          <ref role="1savGW" node="4eD_5l3mJdy" />
+          <ref role="1savGW" node="4eD_5l3mJdy" resolve="frame_stream_t" />
         </node>
       </node>
     </node>
@@ -243,13 +243,13 @@
       <node concept="3UnI9n" id="4eD_5l3mJq1" role="3UnI90">
         <property role="TrG5h" value="object_list" />
         <node concept="1savGX" id="4eD_5l3mJq2" role="3UnI80">
-          <ref role="1savGW" node="4eD_5l3mJc_" />
+          <ref role="1savGW" node="4eD_5l3mJc_" resolve="object_list_t" />
         </node>
       </node>
       <node concept="3UnI81" id="42QGQFVn3Dv" role="3UnI9m">
         <property role="TrG5h" value="camera_data" />
         <node concept="1savGX" id="4eD_5l3mJmh" role="3UnI80">
-          <ref role="1savGW" node="4eD_5l3mJdy" />
+          <ref role="1savGW" node="4eD_5l3mJdy" resolve="frame_stream_t" />
         </node>
       </node>
     </node>
@@ -259,7 +259,7 @@
       <node concept="3UnI81" id="4eD_5l3mJr$" role="3UnI9m">
         <property role="TrG5h" value="objects" />
         <node concept="1savGX" id="4eD_5l3mJs3" role="3UnI80">
-          <ref role="1savGW" node="4eD_5l3mJc_" />
+          <ref role="1savGW" node="4eD_5l3mJc_" resolve="object_list_t" />
         </node>
       </node>
     </node>
@@ -269,46 +269,46 @@
       <node concept="3Ug1AV" id="42QGQFVn3FJ" role="3UgYNK">
         <property role="TrG5h" value="camera" />
         <node concept="3Ug1AZ" id="42QGQFVn3FI" role="3Ug1A_">
-          <ref role="3Ug1AY" node="42QGQFVn3Bd" />
+          <ref role="3Ug1AY" node="42QGQFVn3Bd" resolve="HDCamera" />
         </node>
       </node>
       <node concept="3Ug1AV" id="42QGQFVn3FY" role="3UgYNK">
         <property role="TrG5h" value="objects_detector" />
         <node concept="3Ug1AZ" id="42QGQFVn3FW" role="3Ug1A_">
-          <ref role="3Ug1AY" node="42QGQFVn3Dm" />
+          <ref role="3Ug1AY" node="42QGQFVn3Dm" resolve="ObjectDetection" />
         </node>
       </node>
       <node concept="3Ug1AV" id="4eD_5l3mJsy" role="3UgYNK">
         <property role="TrG5h" value="effector" />
         <node concept="3Ug1AZ" id="4eD_5l3mJsw" role="3Ug1A_">
-          <ref role="3Ug1AY" node="4eD_5l3mJo_" />
+          <ref role="3Ug1AY" node="4eD_5l3mJo_" resolve="Manipulator" />
         </node>
       </node>
       <node concept="3Ug1$w" id="42QGQFVn3Gf" role="3UgYNK">
         <node concept="3Ug1GC" id="42QGQFVn3Gn" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="42QGQFVn3Bg" />
+          <ref role="3Ug1Ha" node="42QGQFVn3Bg" resolve="data" />
           <node concept="3Ug1GJ" id="42QGQFVn3Gm" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="42QGQFVn3FJ" />
+            <ref role="3Ug1GI" node="42QGQFVn3FJ" resolve="camera" />
           </node>
         </node>
         <node concept="3Ug1GC" id="42QGQFVn3GH" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="42QGQFVn3Dv" />
+          <ref role="3Ug1Ha" node="42QGQFVn3Dv" resolve="camera_data" />
           <node concept="3Ug1GJ" id="42QGQFVn3GG" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="42QGQFVn3FY" />
+            <ref role="3Ug1GI" node="42QGQFVn3FY" resolve="objects_detector" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4eD_5l3mJt4" role="3UgYNK">
         <node concept="3Ug1GC" id="4eD_5l3mJt5" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4eD_5l3mJq1" />
+          <ref role="3Ug1Ha" node="4eD_5l3mJq1" resolve="object_list" />
           <node concept="3Ug1GJ" id="4eD_5l3mJtz" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="42QGQFVn3FY" />
+            <ref role="3Ug1GI" node="42QGQFVn3FY" resolve="objects_detector" />
           </node>
         </node>
         <node concept="3Ug1GC" id="4eD_5l3mJt7" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4eD_5l3mJr$" />
+          <ref role="3Ug1Ha" node="4eD_5l3mJr$" resolve="objects" />
           <node concept="3Ug1GJ" id="4eD_5l3mJug" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4eD_5l3mJsy" />
+            <ref role="3Ug1GI" node="4eD_5l3mJsy" resolve="effector" />
           </node>
         </node>
       </node>
@@ -724,28 +724,28 @@
       <property role="TrG5h" value="collision" />
     </node>
     <node concept="21oswF" id="3f8ZVRYa8We" role="3CrHoS">
-      <ref role="21oszt" node="5rwT_Jnw0S4" />
-      <ref role="21oszj" node="3EWkVoQ59gs" />
+      <ref role="21oszt" node="5rwT_Jnw0S4" resolve="erroneously braking distance" />
+      <ref role="21oszj" node="3EWkVoQ59gs" resolve="MAIN_PATH_ERROR" />
     </node>
     <node concept="21oswF" id="3f8ZVRYa8Wv" role="3CrHoS">
-      <ref role="21oszt" node="3EWkVoQ6VEg" />
-      <ref role="21oszj" node="3EWkVoQ5BRe" />
+      <ref role="21oszt" node="3EWkVoQ6VEg" resolve="collision" />
+      <ref role="21oszj" node="3EWkVoQ5BRe" resolve="MAIN_PATH_AND_HUMAN_FALLBACK_ERR" />
     </node>
     <node concept="21oswF" id="3f8ZVRYa8WL" role="3CrHoS">
-      <ref role="21oszt" node="3EWkVoQ5BRe" />
-      <ref role="21oszj" node="3EWkVoQ6VE7" />
+      <ref role="21oszt" node="3EWkVoQ5BRe" resolve="MAIN_PATH_AND_HUMAN_FALLBACK_ERR" />
+      <ref role="21oszj" node="3EWkVoQ6VE7" resolve="driver_not_engaged" />
     </node>
     <node concept="21oswF" id="3f8ZVRYa8X4" role="3CrHoS">
-      <ref role="21oszt" node="3EWkVoQ5BRe" />
-      <ref role="21oszj" node="3EWkVoQ59gs" />
+      <ref role="21oszt" node="3EWkVoQ5BRe" resolve="MAIN_PATH_AND_HUMAN_FALLBACK_ERR" />
+      <ref role="21oszj" node="3EWkVoQ59gs" resolve="MAIN_PATH_ERROR" />
     </node>
     <node concept="21oswF" id="3f8ZVRYa8Xo" role="3CrHoS">
-      <ref role="21oszt" node="3EWkVoQ59gs" />
-      <ref role="21oszj" node="3EWkVoQ6KvA" />
+      <ref role="21oszt" node="3EWkVoQ59gs" resolve="MAIN_PATH_ERROR" />
+      <ref role="21oszj" node="3EWkVoQ6KvA" resolve="erroneous_time" />
     </node>
     <node concept="21oswF" id="3f8ZVRYa8XH" role="3CrHoS">
-      <ref role="21oszt" node="3EWkVoQ59gs" />
-      <ref role="21oszj" node="5rwT_JnuXB6" />
+      <ref role="21oszt" node="3EWkVoQ59gs" resolve="MAIN_PATH_ERROR" />
+      <ref role="21oszj" node="5rwT_JnuXB6" resolve="erroneous_speed" />
     </node>
   </node>
   <node concept="2HdtXS" id="1TeaL8RdujH">
@@ -769,64 +769,64 @@
       <node concept="3Ug1AV" id="62cfieENdWS" role="3UgYNK">
         <property role="TrG5h" value="dsp" />
         <node concept="3Ug1AZ" id="62cfieENdWQ" role="3Ug1A_">
-          <ref role="3Ug1AY" node="1TeaL8RdujJ" />
+          <ref role="3Ug1AY" node="1TeaL8RdujJ" resolve="DeviceSensorsPlausibilization" />
         </node>
       </node>
       <node concept="3Ug1AV" id="62cfieENdZr" role="3UgYNK">
         <property role="TrG5h" value="br" />
         <node concept="3Ug1AZ" id="62cfieENdZp" role="3Ug1A_">
-          <ref role="3Ug1AY" node="62cfieENdX5" />
+          <ref role="3Ug1AY" node="62cfieENdX5" resolve="Braking" />
         </node>
       </node>
       <node concept="3Ug1$w" id="62cfieENdZI" role="3UgYNK">
         <property role="TrG5h" value="c1" />
         <node concept="3Ug1Ap" id="3txYam0cAc2" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="62cfieENdUz" />
+          <ref role="3Ug1Ao" node="62cfieENdUz" resolve="speed" />
         </node>
         <node concept="3Ug1GC" id="62cfieENdZW" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="1TeaL8Rdukn" />
+          <ref role="3Ug1Ha" node="1TeaL8Rdukn" resolve="speed" />
           <node concept="3Ug1GJ" id="62cfieENdZV" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="62cfieENdWS" />
+            <ref role="3Ug1GI" node="62cfieENdWS" resolve="dsp" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="62cfieENe0w" role="3UgYNK">
         <property role="TrG5h" value="c2" />
         <node concept="3Ug1GC" id="62cfieENe0H" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="1TeaL8RdujM" />
+          <ref role="3Ug1Ha" node="1TeaL8RdujM" resolve="plausibilizedSpeed" />
           <node concept="3Ug1GJ" id="62cfieENe0G" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="62cfieENdWS" />
+            <ref role="3Ug1GI" node="62cfieENdWS" resolve="dsp" />
           </node>
         </node>
         <node concept="3Ug1GC" id="62cfieENe0R" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="62cfieENdX6" />
+          <ref role="3Ug1Ha" node="62cfieENdX6" resolve="speed" />
           <node concept="3Ug1GJ" id="62cfieENe0Q" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="62cfieENdZr" />
+            <ref role="3Ug1GI" node="62cfieENdZr" resolve="br" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="62cfieENe1C" role="3UgYNK">
         <property role="TrG5h" value="c3" />
         <node concept="3Ug1GC" id="62cfieENe1U" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="62cfieENdX8" />
+          <ref role="3Ug1Ha" node="62cfieENdX8" resolve="brakeCmd" />
           <node concept="3Ug1GJ" id="62cfieENe1T" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="62cfieENdZr" />
+            <ref role="3Ug1GI" node="62cfieENdZr" resolve="br" />
           </node>
         </node>
         <node concept="3Ug1Ap" id="62cfieENe23" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="62cfieENdVb" />
+          <ref role="3Ug1Ao" node="62cfieENdVb" resolve="brakeCmd" />
         </node>
       </node>
       <node concept="3UnI81" id="62cfieENdUz" role="3UnI9m">
         <property role="TrG5h" value="speed" />
         <node concept="1savGX" id="1xKUpdtGjzr" role="3UnI80">
-          <ref role="1savGW" node="62cfieENpwe" />
+          <ref role="1savGW" node="62cfieENpwe" resolve="speed_t" />
         </node>
       </node>
       <node concept="3UnI9n" id="62cfieENdVb" role="3UnI90">
         <property role="TrG5h" value="brakeCmd" />
         <node concept="1savGX" id="3bh1RFvziB0" role="3UnI80">
-          <ref role="1savGW" node="3bh1RFvziA4" />
+          <ref role="1savGW" node="3bh1RFvziA4" resolve="brake_cmd_t" />
         </node>
       </node>
       <node concept="37mRI7" id="62cfieENdWb" role="lGtFl">
@@ -956,13 +956,13 @@
       <node concept="3UnI81" id="1TeaL8Rdukn" role="3UnI9m">
         <property role="TrG5h" value="speed" />
         <node concept="1savGX" id="62cfieENpy8" role="3UnI80">
-          <ref role="1savGW" node="62cfieENpwe" />
+          <ref role="1savGW" node="62cfieENpwe" resolve="speed_t" />
         </node>
       </node>
       <node concept="3UnI9n" id="1TeaL8RdujM" role="3UnI90">
         <property role="TrG5h" value="plausibilizedSpeed" />
         <node concept="1savGX" id="3bh1RFvziCx" role="3UnI80">
-          <ref role="1savGW" node="3bh1RFvziBC" />
+          <ref role="1savGW" node="3bh1RFvziBC" resolve="plausibilizedSpeed_t" />
         </node>
       </node>
     </node>
@@ -972,13 +972,13 @@
       <node concept="3UnI81" id="62cfieENdX6" role="3UnI9m">
         <property role="TrG5h" value="speed" />
         <node concept="1savGX" id="3bh1RFvziCE" role="3UnI80">
-          <ref role="1savGW" node="3bh1RFvziBC" />
+          <ref role="1savGW" node="3bh1RFvziBC" resolve="plausibilizedSpeed_t" />
         </node>
       </node>
       <node concept="3UnI9n" id="62cfieENdX8" role="3UnI90">
         <property role="TrG5h" value="brakeCmd" />
         <node concept="1savGX" id="3bh1RFvziBi" role="3UnI80">
-          <ref role="1savGW" node="3bh1RFvziA4" />
+          <ref role="1savGW" node="3bh1RFvziA4" resolve="brake_cmd_t" />
         </node>
       </node>
     </node>
@@ -991,7 +991,7 @@
     <property role="TrG5h" value="_020_failure_modes_of_components" />
     <property role="3GE5qa" value="_00_dfmea" />
     <node concept="2VUHfc" id="4eD_5l3mJwQ" role="1POhhj">
-      <ref role="2VUHf6" node="42QGQFVn3Bd" />
+      <ref role="2VUHf6" node="42QGQFVn3Bd" resolve="HDCamera" />
       <node concept="2VUHfq" id="4eD_5l3mJwS" role="2VUBrq">
         <property role="TrG5h" value="bad pixel" />
         <node concept="19SGf9" id="4eD_5l3mJwU" role="2VUHfi">
@@ -1017,7 +1017,7 @@
     </node>
     <node concept="2VURXa" id="4eD_5l3mJxI" role="1POhhj" />
     <node concept="2VUHfc" id="4eD_5l3mJy7" role="1POhhj">
-      <ref role="2VUHf6" node="42QGQFVn3Dm" />
+      <ref role="2VUHf6" node="42QGQFVn3Dm" resolve="ObjectDetection" />
       <node concept="2VUHfq" id="4eD_5l3mJy9" role="2VUBrq">
         <property role="TrG5h" value="erroneous algorithm" />
         <node concept="19SGf9" id="4eD_5l3mJyb" role="2VUHfi">
@@ -1033,7 +1033,7 @@
     </node>
     <node concept="2VURXa" id="4eD_5l3mJ_Y" role="1POhhj" />
     <node concept="2VUHfc" id="4eD_5l3mJ_u" role="1POhhj">
-      <ref role="2VUHf6" node="4eD_5l3mJo_" />
+      <ref role="2VUHf6" node="4eD_5l3mJo_" resolve="Manipulator" />
       <node concept="2VUHfq" id="4eD_5l3mJ_v" role="2VUBrq">
         <property role="TrG5h" value="force too high" />
         <node concept="19SGf9" id="4eD_5l3mJ_w" role="2VUHfi">
@@ -1086,55 +1086,55 @@
     <property role="TrG5h" value="_040_dfmea" />
     <property role="3GE5qa" value="_00_dfmea" />
     <node concept="1PLMAg" id="4eD_5l3mJzR" role="1POhhj">
-      <ref role="1POnuR" node="42QGQFVn3Fg" />
+      <ref role="1POnuR" node="42QGQFVn3Fg" resolve="SmartFactoryPackagingRobot" />
       <node concept="1PLGxJ" id="4eD_5l3mJzY" role="1PLElB">
-        <ref role="1PLGwE" node="42QGQFVn3FJ" />
+        <ref role="1PLGwE" node="42QGQFVn3FJ" resolve="camera" />
         <node concept="1PLKG7" id="4eD_5l3mJ$2" role="1PLCo$">
-          <ref role="1jQAtN" node="4eD_5l3mJwS" />
+          <ref role="1jQAtN" node="4eD_5l3mJwS" resolve="bad pixel" />
           <node concept="1PNyZM" id="4eD_5l3mJ$4" role="1PLCoy">
-            <ref role="2VPQEx" node="4eD_5l3mJz3" />
+            <ref role="2VPQEx" node="4eD_5l3mJz3" resolve="erroneous packaging" />
           </node>
         </node>
         <node concept="1PLKG7" id="4eD_5l3mJ$8" role="1PLCo$">
-          <ref role="1jQAtN" node="4eD_5l3mJx1" />
+          <ref role="1jQAtN" node="4eD_5l3mJx1" resolve="distorted image" />
           <node concept="1PNyZM" id="4eD_5l3mJ$c" role="1PLCoy">
-            <ref role="2VPQEx" node="4eD_5l3mJzn" />
+            <ref role="2VPQEx" node="4eD_5l3mJzn" resolve="misplaced object" />
           </node>
           <node concept="1PNyZM" id="4eD_5l3mJ$h" role="1PLCoy">
-            <ref role="2VPQEx" node="4eD_5l3mJz3" />
+            <ref role="2VPQEx" node="4eD_5l3mJz3" resolve="erroneous packaging" />
           </node>
         </node>
       </node>
       <node concept="1PLGxJ" id="4eD_5l3mJ$l" role="1PLElB">
-        <ref role="1PLGwE" node="42QGQFVn3FY" />
+        <ref role="1PLGwE" node="42QGQFVn3FY" resolve="objects_detector" />
         <node concept="1PLKG7" id="4eD_5l3mJ$v" role="1PLCo$">
-          <ref role="1jQAtN" node="4eD_5l3mJy9" />
+          <ref role="1jQAtN" node="4eD_5l3mJy9" resolve="erroneous algorithm" />
           <node concept="1PNyZM" id="4eD_5l3mJ$x" role="1PLCoy">
-            <ref role="2VPQEx" node="4eD_5l3mJzn" />
+            <ref role="2VPQEx" node="4eD_5l3mJzn" resolve="misplaced object" />
           </node>
         </node>
         <node concept="1PLKG7" id="4eD_5l3mJ$U" role="1PLCo$">
-          <ref role="1jQAtN" node="4eD_5l3mJyt" />
+          <ref role="1jQAtN" node="4eD_5l3mJyt" resolve="low robustness of algorithm" />
           <node concept="1PNyZM" id="4eD_5l3mJ$Y" role="1PLCoy">
-            <ref role="2VPQEx" node="4eD_5l3mJz3" />
+            <ref role="2VPQEx" node="4eD_5l3mJz3" resolve="erroneous packaging" />
           </node>
         </node>
       </node>
       <node concept="1PLGxJ" id="4eD_5l3mJ_0" role="1PLElB">
-        <ref role="1PLGwE" node="4eD_5l3mJsy" />
+        <ref role="1PLGwE" node="4eD_5l3mJsy" resolve="effector" />
         <node concept="1PLKG7" id="4eD_5l3mJ_f" role="1PLCo$">
-          <ref role="1jQAtN" node="4eD_5l3mJ_v" />
+          <ref role="1jQAtN" node="4eD_5l3mJ_v" resolve="force too high" />
           <node concept="1PNyZM" id="4eD_5l3mJAp" role="1PLCoy">
-            <ref role="2VPQEx" node="4eD_5l3mJzw" />
+            <ref role="2VPQEx" node="4eD_5l3mJzw" resolve="damaged object" />
           </node>
         </node>
         <node concept="1PLKG7" id="4eD_5l3mJB3" role="1PLCo$">
-          <ref role="1jQAtN" node="4eD_5l3mJ_y" />
+          <ref role="1jQAtN" node="4eD_5l3mJ_y" resolve="wrong coordinates" />
           <node concept="1PNyZM" id="4eD_5l3mJB7" role="1PLCoy">
-            <ref role="2VPQEx" node="4eD_5l3mJz3" />
+            <ref role="2VPQEx" node="4eD_5l3mJz3" resolve="erroneous packaging" />
           </node>
           <node concept="1PNyZM" id="4eD_5l3mJBc" role="1PLCoy">
-            <ref role="2VPQEx" node="4eD_5l3mJzn" />
+            <ref role="2VPQEx" node="4eD_5l3mJzn" resolve="misplaced object" />
           </node>
         </node>
       </node>
@@ -1157,7 +1157,7 @@
         </node>
       </node>
       <node concept="1savGX" id="62cfieENIia" role="3agqmW">
-        <ref role="1savGW" node="62cfieENpwe" />
+        <ref role="1savGW" node="62cfieENpwe" resolve="speed_t" />
       </node>
     </node>
     <node concept="2VURXa" id="62cfieEOvFI" role="1POhhj" />
@@ -1169,7 +1169,7 @@
         </node>
       </node>
       <node concept="1savGX" id="3bh1RFvziCY" role="3agqmW">
-        <ref role="1savGW" node="3bh1RFvziBC" />
+        <ref role="1savGW" node="3bh1RFvziBC" resolve="plausibilizedSpeed_t" />
       </node>
     </node>
     <node concept="2VURXa" id="3bh1RFvziE1" role="1POhhj" />
@@ -1181,12 +1181,12 @@
         </node>
       </node>
       <node concept="1savGX" id="3bh1RFvziEX" role="3agqmW">
-        <ref role="1savGW" node="3bh1RFvziA4" />
+        <ref role="1savGW" node="3bh1RFvziA4" resolve="brake_cmd_t" />
       </node>
     </node>
     <node concept="2VURXa" id="5g1NREKNQJV" role="1POhhj" />
     <node concept="2VUHfc" id="5g1NREKNQIM" role="1POhhj">
-      <ref role="2VUHf6" node="1TeaL8RdujJ" />
+      <ref role="2VUHf6" node="1TeaL8RdujJ" resolve="DeviceSensorsPlausibilization" />
       <node concept="2VUHfq" id="5g1NREKNQIO" role="2VUBrq">
         <property role="TrG5h" value="innacurate_computation" />
         <node concept="19SGf9" id="5g1NREKNQIQ" role="2VUHfi">
@@ -1202,29 +1202,29 @@
     <property role="TrG5h" value="_220_IFMEAs" />
     <property role="3GE5qa" value="_20_hiphops" />
     <node concept="DuJXM" id="1TeaL8RdXqH" role="1POhhj">
-      <ref role="DuJYV" node="1TeaL8RdujJ" />
+      <ref role="DuJYV" node="1TeaL8RdujJ" resolve="DeviceSensorsPlausibilization" />
       <node concept="DtCCM" id="1f_hJh2rmtB" role="DuvRR">
         <node concept="2vqzn0" id="4TCu33h197y" role="1hIEvS">
           <node concept="DtHRJ" id="1f_hJh2rmwf" role="2H9Iav">
-            <ref role="DtHRG" node="62cfieENIji" />
+            <ref role="DtHRG" node="62cfieENIji" resolve="speed too low" />
             <node concept="3Ug1Ap" id="1f_hJh2rmvv" role="3anSQx">
-              <ref role="3Ug1Ao" node="1TeaL8Rdukn" />
+              <ref role="3Ug1Ao" node="1TeaL8Rdukn" resolve="speed" />
             </node>
           </node>
           <node concept="DtHRJ" id="1f_hJh2rmww" role="2H9Ial">
-            <ref role="DtHRG" node="62cfieENIjB" />
+            <ref role="DtHRG" node="62cfieENIjB" resolve="speed too high" />
             <node concept="3Ug1Ap" id="1f_hJh2rmwx" role="3anSQx">
-              <ref role="3Ug1Ao" node="1TeaL8Rdukn" />
+              <ref role="3Ug1Ao" node="1TeaL8Rdukn" resolve="speed" />
             </node>
           </node>
         </node>
         <node concept="3$NFnr" id="1f_hJh2rmur" role="1hIEvT">
-          <ref role="3$NFno" node="5g1NREKNQIO" />
+          <ref role="3$NFno" node="5g1NREKNQIO" resolve="innacurate_computation" />
         </node>
         <node concept="DtHRJ" id="1f_hJh2rmv5" role="1hIEvZ">
-          <ref role="DtHRG" node="62cfieEOvEC" />
+          <ref role="DtHRG" node="62cfieEOvEC" resolve="speed innacurate" />
           <node concept="3Ug1Ap" id="1f_hJh2rmv3" role="3anSQx">
-            <ref role="3Ug1Ao" node="1TeaL8RdujM" />
+            <ref role="3Ug1Ao" node="1TeaL8RdujM" resolve="plausibilizedSpeed" />
           </node>
         </node>
       </node>
@@ -1238,36 +1238,36 @@
           <property role="TrG5h" value="speed__speed too low" />
         </node>
         <node concept="21oswF" id="6kDcQMvl6S" role="3CrHoS">
-          <ref role="21oszt" node="6kDcQMvl6Q" />
-          <ref role="21oszj" node="6kDcQMvl6R" />
+          <ref role="21oszt" node="6kDcQMvl6Q" resolve="Or Gate 1" />
+          <ref role="21oszj" node="6kDcQMvl6R" resolve="speed__speed too low" />
         </node>
         <node concept="21ATtL" id="6kDcQMvl6T" role="3CrHoS">
           <property role="TrG5h" value="speed__speed too high" />
         </node>
         <node concept="21oswF" id="6kDcQMvl6U" role="3CrHoS">
-          <ref role="21oszt" node="6kDcQMvl6Q" />
-          <ref role="21oszj" node="6kDcQMvl6T" />
+          <ref role="21oszt" node="6kDcQMvl6Q" resolve="Or Gate 1" />
+          <ref role="21oszj" node="6kDcQMvl6T" resolve="speed__speed too high" />
         </node>
         <node concept="cFNQA" id="6kDcQMvl6Q" role="3CrHoS">
           <property role="TrG5h" value="Or Gate 1" />
         </node>
         <node concept="21oswF" id="6kDcQMvl6V" role="3CrHoS">
-          <ref role="21oszt" node="6kDcQMvl6P" />
-          <ref role="21oszj" node="6kDcQMvl6Q" />
+          <ref role="21oszt" node="6kDcQMvl6P" resolve="Or Gate 2" />
+          <ref role="21oszj" node="6kDcQMvl6Q" resolve="Or Gate 1" />
         </node>
         <node concept="21ATtL" id="6kDcQMvl6W" role="3CrHoS">
           <property role="TrG5h" value="innacurate_computation" />
         </node>
         <node concept="21oswF" id="6kDcQMvl6X" role="3CrHoS">
-          <ref role="21oszt" node="6kDcQMvl6P" />
-          <ref role="21oszj" node="6kDcQMvl6W" />
+          <ref role="21oszt" node="6kDcQMvl6P" resolve="Or Gate 2" />
+          <ref role="21oszj" node="6kDcQMvl6W" resolve="innacurate_computation" />
         </node>
         <node concept="cFNQA" id="6kDcQMvl6P" role="3CrHoS">
           <property role="TrG5h" value="Or Gate 2" />
         </node>
         <node concept="21oswF" id="6kDcQMvl6Y" role="3CrHoS">
-          <ref role="21oszt" node="6kDcQMvl6H" />
-          <ref role="21oszj" node="6kDcQMvl6P" />
+          <ref role="21oszt" node="6kDcQMvl6H" resolve="plausibilizedSpeed__speed innacurate" />
+          <ref role="21oszj" node="6kDcQMvl6P" resolve="Or Gate 2" />
         </node>
         <node concept="37mRI7" id="6kDcQMvl82" role="lGtFl">
           <node concept="37mRIm" id="6kDcQMvl83" role="37mRID">
@@ -1417,18 +1417,18 @@
     </node>
     <node concept="2VURXa" id="3bh1RFvziHa" role="1POhhj" />
     <node concept="DuJXM" id="3bh1RFvziFV" role="1POhhj">
-      <ref role="DuJYV" node="62cfieENdX5" />
+      <ref role="DuJYV" node="62cfieENdX5" resolve="Braking" />
       <node concept="DtCCM" id="1f_hJh2rmwJ" role="DuvRR">
         <node concept="DtHRJ" id="1f_hJh2rmx1" role="1hIEvZ">
-          <ref role="DtHRG" node="3bh1RFvziD5" />
+          <ref role="DtHRG" node="3bh1RFvziD5" resolve="brake force innacurate" />
           <node concept="3Ug1Ap" id="1f_hJh2rmwZ" role="3anSQx">
-            <ref role="3Ug1Ao" node="62cfieENdX8" />
+            <ref role="3Ug1Ao" node="62cfieENdX8" resolve="brakeCmd" />
           </node>
         </node>
         <node concept="DtHRJ" id="1f_hJh2rmxm" role="1hIEvS">
-          <ref role="DtHRG" node="62cfieEOvEC" />
+          <ref role="DtHRG" node="62cfieEOvEC" resolve="speed innacurate" />
           <node concept="3Ug1Ap" id="1f_hJh2rmxd" role="3anSQx">
-            <ref role="3Ug1Ao" node="62cfieENdX6" />
+            <ref role="3Ug1Ao" node="62cfieENdX6" resolve="speed" />
           </node>
         </node>
       </node>
@@ -1442,8 +1442,8 @@
           <property role="TrG5h" value="speed__speed innacurate" />
         </node>
         <node concept="21oswF" id="6kDcQMvlcD" role="3CrHoS">
-          <ref role="21oszt" node="6kDcQMvlcB" />
-          <ref role="21oszj" node="6kDcQMvlcC" />
+          <ref role="21oszt" node="6kDcQMvlcB" resolve="brakeCmd__brake force innacurate" />
+          <ref role="21oszj" node="6kDcQMvlcC" resolve="speed__speed innacurate" />
         </node>
         <node concept="37mRI7" id="6kDcQMvldN" role="lGtFl">
           <node concept="37mRIm" id="6kDcQMvldO" role="37mRID">
@@ -1509,24 +1509,24 @@
       <property role="TrG5h" value="Or Gate 2" />
     </node>
     <node concept="21oswF" id="3f8ZVRYdvYT" role="3CrHoS">
-      <ref role="21oszt" node="3f8ZVRYdvYR" />
-      <ref role="21oszj" node="3f8ZVRYdvYA" />
+      <ref role="21oszt" node="3f8ZVRYdvYR" resolve="Or Gate 1" />
+      <ref role="21oszj" node="3f8ZVRYdvYA" resolve="speed__speed too low" />
     </node>
     <node concept="21oswF" id="3f8ZVRYdvYV" role="3CrHoS">
-      <ref role="21oszt" node="3f8ZVRYdvYR" />
-      <ref role="21oszj" node="3f8ZVRYdvYD" />
+      <ref role="21oszt" node="3f8ZVRYdvYR" resolve="Or Gate 1" />
+      <ref role="21oszj" node="3f8ZVRYdvYD" resolve="speed__speed too high" />
     </node>
     <node concept="21oswF" id="3f8ZVRYdvYW" role="3CrHoS">
-      <ref role="21oszt" node="3f8ZVRYdvYQ" />
-      <ref role="21oszj" node="3f8ZVRYdvYR" />
+      <ref role="21oszt" node="3f8ZVRYdvYQ" resolve="Or Gate 2" />
+      <ref role="21oszj" node="3f8ZVRYdvYR" resolve="Or Gate 1" />
     </node>
     <node concept="21oswF" id="3f8ZVRYdvYY" role="3CrHoS">
-      <ref role="21oszt" node="3f8ZVRYdvYQ" />
-      <ref role="21oszj" node="3f8ZVRYdvYX" />
+      <ref role="21oszt" node="3f8ZVRYdvYQ" resolve="Or Gate 2" />
+      <ref role="21oszj" node="3f8ZVRYdvYX" resolve="innacurate_computation" />
     </node>
     <node concept="21oswF" id="3f8ZVRYdvYZ" role="3CrHoS">
-      <ref role="21oszt" node="3f8ZVRYdvYI" />
-      <ref role="21oszj" node="3f8ZVRYdvYQ" />
+      <ref role="21oszt" node="3f8ZVRYdvYI" resolve="plausibilizedSpeed__speed innacurate" />
+      <ref role="21oszj" node="3f8ZVRYdvYQ" resolve="Or Gate 2" />
     </node>
     <node concept="37mRI7" id="3f8ZVRYdw0p" role="lGtFl">
       <node concept="37mRIm" id="3f8ZVRYdw0q" role="37mRID">
diff --git a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._050_structured_assurance_cases.mps b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._050_structured_assurance_cases.mps
index ffe328be5..dd18ce326 100644
--- a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._050_structured_assurance_cases.mps
+++ b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._050_structured_assurance_cases.mps
@@ -610,8 +610,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="7L33HENduxS" role="2vhqc$">
-      <ref role="3VeSjP" node="7L33HENduwJ" />
-      <ref role="3VeSjQ" node="7L33HENduxg" />
+      <ref role="3VeSjP" node="7L33HENduwJ" resolve="G01" />
+      <ref role="3VeSjQ" node="7L33HENduxg" resolve="S01" />
     </node>
     <node concept="2vn7WC" id="7L33HENduy0" role="2vn1q5">
       <property role="TrG5h" value="G02" />
@@ -623,8 +623,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="7L33HENduz7" role="2vhqc$">
-      <ref role="3VeSjP" node="7L33HENduxg" />
-      <ref role="3VeSjQ" node="7L33HENduy0" />
+      <ref role="3VeSjP" node="7L33HENduxg" resolve="S01" />
+      <ref role="3VeSjQ" node="7L33HENduy0" resolve="G02" />
     </node>
     <node concept="2vn7WC" id="3jaLROLvqx6" role="2vn1q5">
       <property role="TrG5h" value="G03" />
@@ -638,8 +638,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="3jaLROLvq$y" role="2vhqc$">
-      <ref role="3VeSjP" node="7L33HENduxg" />
-      <ref role="3VeSjQ" node="3jaLROLvqx6" />
+      <ref role="3VeSjP" node="7L33HENduxg" resolve="S01" />
+      <ref role="3VeSjQ" node="3jaLROLvqx6" resolve="G03" />
     </node>
     <node concept="2vmxSQ" id="2hB9zGID8CE" role="2vn1q5">
       <property role="TrG5h" value="C01" />
@@ -653,8 +653,8 @@
       </node>
     </node>
     <node concept="2vhqFZ" id="2hB9zGID8FF" role="2vhqc$">
-      <ref role="3VeSjP" node="7L33HENduwJ" />
-      <ref role="3VeSjQ" node="2hB9zGID8CE" />
+      <ref role="3VeSjP" node="7L33HENduwJ" resolve="G01" />
+      <ref role="3VeSjQ" node="2hB9zGID8CE" resolve="C01" />
     </node>
     <node concept="1qxpMw" id="2hB9zGID8Pz" role="2vn1q5">
       <property role="TrG5h" value="J01" />
@@ -668,8 +668,8 @@
       </node>
     </node>
     <node concept="2vhqFZ" id="2hB9zGID8U$" role="2vhqc$">
-      <ref role="3VeSjP" node="7L33HENduxg" />
-      <ref role="3VeSjQ" node="2hB9zGID8Pz" />
+      <ref role="3VeSjP" node="7L33HENduxg" resolve="S01" />
+      <ref role="3VeSjQ" node="2hB9zGID8Pz" resolve="J01" />
     </node>
     <node concept="2vmhmH" id="2hB9zGID91J" role="2vn1q5">
       <property role="TrG5h" value="Sol01" />
@@ -680,8 +680,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="2hB9zGID958" role="2vhqc$">
-      <ref role="3VeSjP" node="3jaLROLvqx6" />
-      <ref role="3VeSjQ" node="2hB9zGID91J" />
+      <ref role="3VeSjP" node="3jaLROLvqx6" resolve="G03" />
+      <ref role="3VeSjQ" node="2hB9zGID91J" resolve="Sol01" />
     </node>
     <node concept="2XiGWt" id="2hB9zGID9aw" role="2vn1q5">
       <property role="TrG5h" value="AS01" />
@@ -695,8 +695,8 @@
       </node>
     </node>
     <node concept="2vhqFZ" id="2hB9zGID9e4" role="2vhqc$">
-      <ref role="3VeSjP" node="7L33HENduwJ" />
-      <ref role="3VeSjQ" node="2hB9zGID9aw" />
+      <ref role="3VeSjP" node="7L33HENduwJ" resolve="G01" />
+      <ref role="3VeSjQ" node="2hB9zGID9aw" resolve="AS01" />
     </node>
     <node concept="9kjDo" id="336$aoTKiKp" role="9lmNH">
       <node concept="19SGf9" id="336$aoTKiKq" role="9kjJR">
@@ -973,8 +973,8 @@
           </node>
         </node>
         <node concept="3VeUTF" id="WKGDODSTj5" role="2vhqc$">
-          <ref role="3VeSjP" node="WKGDODSTj1" />
-          <ref role="3VeSjQ" node="WKGDODSTiY" />
+          <ref role="3VeSjP" node="WKGDODSTj1" resolve="S01" />
+          <ref role="3VeSjQ" node="WKGDODSTiY" resolve="G01" />
         </node>
         <node concept="37mRI7" id="WKGDODSTjh" role="lGtFl">
           <node concept="37mRIm" id="WKGDODSTji" role="37mRID">
@@ -1108,16 +1108,16 @@
           </node>
         </node>
         <node concept="3VeUTF" id="WKGDODSTzE" role="2vhqc$">
-          <ref role="3VeSjP" node="WKGDODSTj1" />
-          <ref role="3VeSjQ" node="WKGDODSTv0" />
+          <ref role="3VeSjP" node="WKGDODSTj1" resolve="S01" />
+          <ref role="3VeSjQ" node="WKGDODSTv0" resolve="G02" />
         </node>
         <node concept="3VeUTF" id="WKGDODSU7u" role="2vhqc$">
-          <ref role="3VeSjP" node="WKGDODSTiY" />
-          <ref role="3VeSjQ" node="WKGDODSTH9" />
+          <ref role="3VeSjP" node="WKGDODSTiY" resolve="G01" />
+          <ref role="3VeSjQ" node="WKGDODSTH9" resolve="S02" />
         </node>
         <node concept="3VeUTF" id="WKGDODSUpR" role="2vhqc$">
-          <ref role="3VeSjP" node="WKGDODSTv0" />
-          <ref role="3VeSjQ" node="WKGDODSTIv" />
+          <ref role="3VeSjP" node="WKGDODSTv0" resolve="G02" />
+          <ref role="3VeSjQ" node="WKGDODSTIv" resolve="S03" />
         </node>
       </node>
       <node concept="19SGf9" id="1TD_kqsdgHE" role="2vnaTZ">
@@ -1125,8 +1125,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="WKGDODSTmY" role="2vhqc$">
-      <ref role="3VeSjP" node="3jaLROLvr3A" />
-      <ref role="3VeSjQ" node="WKGDODSTj1" />
+      <ref role="3VeSjP" node="3jaLROLvr3A" resolve="G01" />
+      <ref role="3VeSjQ" node="WKGDODSTj1" resolve="S01" />
     </node>
     <node concept="2vmxQI" id="WKGDODSTH9" role="2vn1q5">
       <property role="TrG5h" value="S02" />
@@ -1177,20 +1177,20 @@
       </node>
     </node>
     <node concept="3VeUTF" id="WKGDODSUan" role="2vhqc$">
-      <ref role="3VeSjP" node="WKGDODSTH9" />
-      <ref role="3VeSjQ" node="WKGDODSTNI" />
+      <ref role="3VeSjP" node="WKGDODSTH9" resolve="S02" />
+      <ref role="3VeSjQ" node="WKGDODSTNI" resolve="G03" />
     </node>
     <node concept="3VeUTF" id="WKGDODSUwt" role="2vhqc$">
-      <ref role="3VeSjP" node="WKGDODSTIv" />
-      <ref role="3VeSjQ" node="WKGDODSTQo" />
+      <ref role="3VeSjP" node="WKGDODSTIv" resolve="S03" />
+      <ref role="3VeSjQ" node="WKGDODSTQo" resolve="G04" />
     </node>
     <node concept="3VeUTF" id="WKGDODSUz3" role="2vhqc$">
-      <ref role="3VeSjP" node="WKGDODSTQo" />
-      <ref role="3VeSjQ" node="WKGDODSU10" />
+      <ref role="3VeSjP" node="WKGDODSTQo" resolve="G04" />
+      <ref role="3VeSjQ" node="WKGDODSU10" resolve="S02" />
     </node>
     <node concept="3VeUTF" id="WKGDODSU_K" role="2vhqc$">
-      <ref role="3VeSjP" node="WKGDODSTNI" />
-      <ref role="3VeSjQ" node="WKGDODSTW1" />
+      <ref role="3VeSjP" node="WKGDODSTNI" resolve="G03" />
+      <ref role="3VeSjQ" node="WKGDODSTW1" resolve="S01" />
     </node>
     <node concept="26s6xy" id="3ALtb$im2a9" role="2WHcHu">
       <property role="2Wzj7u" value="6312041527983384237" />
@@ -1451,26 +1451,26 @@
       </node>
     </node>
     <node concept="3VeUTF" id="2czCwT$U5Yt" role="2vhqc$">
-      <ref role="3VeSjP" node="2czCwT$U5V6" />
-      <ref role="3VeSjQ" node="2czCwT$U5Vn" />
+      <ref role="3VeSjP" node="2czCwT$U5V6" resolve="G01" />
+      <ref role="3VeSjQ" node="2czCwT$U5Vn" resolve="S01" />
     </node>
     <node concept="3VeUTF" id="2czCwT$U5Zj" role="2vhqc$">
-      <ref role="3VeSjP" node="2czCwT$U5Vn" />
-      <ref role="3VeSjQ" node="2czCwT$U5VK" />
+      <ref role="3VeSjP" node="2czCwT$U5Vn" resolve="S01" />
+      <ref role="3VeSjQ" node="2czCwT$U5VK" resolve="G02" />
       <node concept="1WdpKc" id="2czCwT$U6ch" role="1Wbb7D">
         <property role="1WdpNm" value="0.2f" />
       </node>
     </node>
     <node concept="3VeUTF" id="2czCwT$U60g" role="2vhqc$">
-      <ref role="3VeSjP" node="2czCwT$U5Vn" />
-      <ref role="3VeSjQ" node="2czCwT$U5Wb" />
+      <ref role="3VeSjP" node="2czCwT$U5Vn" resolve="S01" />
+      <ref role="3VeSjQ" node="2czCwT$U5Wb" resolve="G03" />
       <node concept="1WdpKc" id="2czCwT$U6cz" role="1Wbb7D">
         <property role="1WdpNm" value="0.4f" />
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     </node>
     <node concept="3VeUTF" id="2czCwT$U61k" role="2vhqc$">
-      <ref role="3VeSjP" node="2czCwT$U5VK" />
-      <ref role="3VeSjQ" node="2czCwT$U5Xk" />
+      <ref role="3VeSjP" node="2czCwT$U5VK" resolve="G02" />
+      <ref role="3VeSjQ" node="2czCwT$U5Xk" resolve="S01" />
     </node>
     <node concept="2vmhmH" id="2czCwT$U64O" role="2vn1q5">
       <property role="TrG5h" value="S02" />
@@ -1485,8 +1485,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="2czCwT$U67d" role="2vhqc$">
-      <ref role="3VeSjP" node="2czCwT$U5Wb" />
-      <ref role="3VeSjQ" node="2czCwT$U64O" />
+      <ref role="3VeSjP" node="2czCwT$U5Wb" resolve="G03" />
+      <ref role="3VeSjQ" node="2czCwT$U64O" resolve="S02" />
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     <node concept="2vn7WC" id="2czCwT$U69p" role="2vn1q5">
       <property role="TrG5h" value="G04" />
@@ -1497,8 +1497,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="2czCwT$U6aM" role="2vhqc$">
-      <ref role="3VeSjP" node="2czCwT$U5Vn" />
-      <ref role="3VeSjQ" node="2czCwT$U69p" />
+      <ref role="3VeSjP" node="2czCwT$U5Vn" resolve="S01" />
+      <ref role="3VeSjQ" node="2czCwT$U69p" resolve="G04" />
       <node concept="1WdpKc" id="2czCwT$U6cP" role="1Wbb7D">
         <property role="1WdpNm" value="0.4f" />
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@@ -1515,8 +1515,8 @@
       </node>
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     <node concept="3VeUTF" id="2czCwT$U6eX" role="2vhqc$">
-      <ref role="3VeSjP" node="2czCwT$U69p" />
-      <ref role="3VeSjQ" node="2czCwT$U6dp" />
+      <ref role="3VeSjP" node="2czCwT$U69p" resolve="G04" />
+      <ref role="3VeSjQ" node="2czCwT$U6dp" resolve="S03" />
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   <node concept="2vn7XN" id="1TD_kqsR8Z6">
@@ -1602,8 +1602,8 @@
       </node>
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     <node concept="3VeUTF" id="1TD_kqsR993" role="2vhqc$">
-      <ref role="3VeSjP" node="1TD_kqsR91Y" />
-      <ref role="3VeSjQ" node="1TD_kqsR95Z" />
+      <ref role="3VeSjP" node="1TD_kqsR91Y" resolve="G01" />
+      <ref role="3VeSjQ" node="1TD_kqsR95Z" resolve="S01" />
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   <node concept="2vn7XN" id="3I9hGreIU2l">
@@ -1750,8 +1750,8 @@
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     <node concept="3VeUTF" id="3I9hGreIUa_" role="2vhqc$">
-      <ref role="3VeSjP" node="3I9hGreIU2z" />
-      <ref role="3VeSjQ" node="3I9hGreIU8d" />
+      <ref role="3VeSjP" node="3I9hGreIU2z" resolve="G01" />
+      <ref role="3VeSjQ" node="3I9hGreIU8d" resolve="S01" />
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   <node concept="2vn7XN" id="4y8PK53Yrzh">
@@ -1869,11 +1869,11 @@
       </node>
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     <node concept="2vhqFZ" id="4y8PK53YrGg" role="2vhqc$">
-      <ref role="3VeSjP" node="4y8PK53Yr$c" />
-      <ref role="3VeSjQ" node="4y8PK53YrDd" />
+      <ref role="3VeSjP" node="4y8PK53Yr$c" resolve="G01" />
+      <ref role="3VeSjQ" node="4y8PK53YrDd" resolve="C01" />
       <node concept="3Ho4uE" id="4y8PK53Ys1A" role="1Wbb7D">
         <property role="TrG5h" value="ACP_01" />
-        <ref role="3Ho4uy" node="4y8PK53YrTN" />
+        <ref role="3Ho4uy" node="4y8PK53YrTN" resolve="_000_confidence_for_ACP_01" />
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     <node concept="2vmhmH" id="4y8PK53YrM4" role="2vn1q5">
@@ -1885,14 +1885,14 @@
       </node>
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     <node concept="3VeUTF" id="4y8PK53YrPl" role="2vhqc$">
-      <ref role="3VeSjP" node="4y8PK53Yr$c" />
-      <ref role="3VeSjQ" node="4y8PK53YrM4" />
+      <ref role="3VeSjP" node="4y8PK53Yr$c" resolve="G01" />
+      <ref role="3VeSjQ" node="4y8PK53YrM4" resolve="S01" />
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   <node concept="3Ho4uJ" id="4y8PK53YrTN">
     <property role="TrG5h" value="_000_confidence_for_ACP_01" />
     <property role="3GE5qa" value="_999_confidence" />
-    <ref role="jB0dY" node="4y8PK53Ys1A" />
+    <ref role="jB0dY" node="4y8PK53Ys1A" resolve="ACP_01" />
     <node concept="2vn7WC" id="4y8PK53YrTO" role="2vn1q5">
       <property role="TrG5h" value="G-C.01" />
       <node concept="19SGf9" id="4y8PK53YrTP" role="2vnaTZ">
@@ -1900,7 +1900,7 @@
           <property role="19SUeA" value="All defeaters for &#10;" />
         </node>
         <node concept="jBRMG" id="4y8PK53YrTR" role="19SJt6">
-          <ref role="jBRFH" node="4y8PK53Ys1A" />
+          <ref role="jBRFH" node="4y8PK53Ys1A" resolve="ACP_01" />
         </node>
         <node concept="19SUe$" id="4y8PK53YrTS" role="19SJt6">
           <property role="19SUeA" value="&#10; have been eliminated" />
@@ -1940,20 +1940,20 @@
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     <node concept="3VeUTF" id="4y8PK53YrU5" role="2vhqc$">
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diff --git a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._051_structured_assurance_cases_doc.mps b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._051_structured_assurance_cases_doc.mps
index 01fac1c0c..84d42f141 100644
--- a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._051_structured_assurance_cases_doc.mps
+++ b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._051_structured_assurance_cases_doc.mps
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+      <ref role="3VeSjQ" node="1$lk9M65ZUP" resolve="Sol01" />
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@@ -1267,8 +1267,8 @@
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-      <ref role="3VeSjQ" node="1$lk9M65ZUR" />
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+      <ref role="3VeSjQ" node="1$lk9M65ZUR" resolve="AS01" />
+      <ref role="3VeSjP" node="1$lk9M65ZUD" resolve="G01" />
     </node>
     <node concept="2vn7WC" id="1$lk9M65ZUT" role="2vn1q5">
       <property role="TrG5h" value="G04" />
@@ -1277,7 +1277,7 @@
           <property role="19SUeA" value="Systematic hazards &#10;idenfitication for &#10;operating environment&#10;" />
         </node>
         <node concept="qcx9v" id="1$lk9M65ZWy" role="19SJt6">
-          <ref role="qcx8m" node="1$lk9M65ZUL" />
+          <ref role="qcx8m" node="1$lk9M65ZUL" resolve="C01_01" />
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         <node concept="19SUe$" id="1$lk9M65ZWz" role="19SJt6">
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@@ -1293,12 +1293,12 @@
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-      <ref role="3VeSjP" node="1$lk9M65ZUF" />
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+      <ref role="3VeSjP" node="1$lk9M65ZUF" resolve="S01" />
+      <ref role="3VeSjQ" node="1$lk9M65ZUT" resolve="G04" />
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+      <ref role="3VeSjP" node="1$lk9M65ZUT" resolve="G04" />
+      <ref role="3VeSjQ" node="1$lk9M65ZUU" resolve="G04_01" />
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     <node concept="2vmhmH" id="1$lk9M6607O" role="2vn1q5">
       <property role="TrG5h" value="S01_H1_Ident" />
@@ -1317,19 +1317,19 @@
       </node>
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-      <ref role="3VeSjP" node="1$lk9M65ZUU" />
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+      <ref role="3VeSjP" node="1$lk9M65ZUU" resolve="G04_01" />
+      <ref role="3VeSjQ" node="1$lk9M6607O" resolve="S01_H1_Ident" />
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+      <ref role="3VeSjP" node="1$lk9M65ZUU" resolve="G04_01" />
+      <ref role="3VeSjQ" node="1$lk9M6608H" resolve="S02_H2_Ident" />
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   <node concept="qdN4g" id="1$lk9M66st8">
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-    <ref role="qdN4h" node="1$lk9M65ZUC" />
-    <ref role="G9hjw" node="2mjHtwTu9dY" />
+    <ref role="qdN4h" node="1$lk9M65ZUC" resolve="_015_cross_referencing_goal_structure" />
+    <ref role="G9hjw" node="2mjHtwTu9dY" resolve="conf" />
     <node concept="1mvXsy" id="1$lk9M66sxD" role="1_0VJ0">
       <property role="TrG5h" value="ch_body" />
       <property role="1_0VJr" value="Explanation of Top-Level Entities" />
@@ -1338,7 +1338,7 @@
         <property role="TrG5h" value="GS_001" />
         <node concept="2hKF2w" id="1$lk9M66suF" role="C6TCM">
           <node concept="2hKZpt" id="1$lk9M66suO" role="1xAuFS">
-            <ref role="2hLmTw" to="6r4f:66sW2d$Fj4H" resolve="A1" />
+            <ref role="2hLmTw" to="6r4f:66sW2d$Fj4H" resolve="A1 - Context Assumptions" />
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@@ -1359,7 +1359,7 @@
         </node>
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           <node concept="2hKZpt" id="1$lk9M66sy5" role="1xAuFS">
-            <ref role="2hLmTw" node="1$lk9M65ZUD" />
+            <ref role="2hLmTw" node="1$lk9M65ZUD" resolve="G01" />
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           <node concept="C7FVz" id="1$lk9M66sy6" role="1xAuFS">
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@@ -1373,7 +1373,7 @@
         </node>
         <node concept="2hKF2w" id="1$lk9M66sAO" role="C6TCM">
           <node concept="2hKZpt" id="1$lk9M66sAP" role="1xAuFS">
-            <ref role="2hLmTw" node="1$lk9M65ZUL" />
+            <ref role="2hLmTw" node="1$lk9M65ZUL" resolve="C01_01" />
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           <node concept="C7FVz" id="1$lk9M66sAQ" role="1xAuFS">
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diff --git a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._052_structured_assurance_import_csv.mps b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._052_structured_assurance_import_csv.mps
new file mode 100644
index 000000000..1658b9e74
--- /dev/null
+++ b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._052_structured_assurance_import_csv.mps
@@ -0,0 +1,39 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<model ref="r:a96ac242-3a3d-4234-b2ec-69f62786c183(_010_features._052_structured_assurance_import_csv)">
+  <persistence version="9" />
+  <languages>
+    <devkit ref="b64463ba-ae31-4cf7-be7b-afc13cab4daa(fasten.safety.gsn)" />
+    <devkit ref="7466bc49-e775-4df7-a9f3-e383173b2eee(fasten.safety.gsn.ext)" />
+  </languages>
+  <imports />
+  <registry>
+    <language id="a7775cc7-19db-41cf-a724-3212ac4437b9" name="com.mbeddr.formal.safety.gsn.importer">
+      <concept id="7684814078447317387" name="com.mbeddr.formal.safety.gsn.importer.structure.CsvImportFormat" flags="ng" index="1ko00V">
+        <child id="7684814078447322331" name="file" index="1koZlF" />
+      </concept>
+      <concept id="7684814078447295187" name="com.mbeddr.formal.safety.gsn.importer.structure.GSNImporter" flags="ng" index="1ko6Hz">
+        <child id="7684814078447306067" name="format" index="1ko3jz" />
+      </concept>
+    </language>
+    <language id="d3a0fd26-445a-466c-900e-10444ddfed52" name="com.mbeddr.mpsutil.filepicker">
+      <concept id="6156524541422549000" name="com.mbeddr.mpsutil.filepicker.structure.AbstractPicker" flags="ng" index="3N1QpV">
+        <property id="6156524541422553710" name="path" index="3N1Lgt" />
+      </concept>
+      <concept id="6156524541423588207" name="com.mbeddr.mpsutil.filepicker.structure.SolutionRelativeFilePicker" flags="ng" index="3NXOOs" />
+    </language>
+    <language id="ceab5195-25ea-4f22-9b92-103b95ca8c0c" name="jetbrains.mps.lang.core">
+      <concept id="1169194658468" name="jetbrains.mps.lang.core.structure.INamedConcept" flags="ng" index="TrEIO">
+        <property id="1169194664001" name="name" index="TrG5h" />
+      </concept>
+    </language>
+  </registry>
+  <node concept="1ko6Hz" id="6E_Wr0YPpU0">
+    <property role="TrG5h" value="csv_demo" />
+    <node concept="1ko00V" id="6E_Wr0YPpU1" role="1ko3jz">
+      <node concept="3NXOOs" id="6E_Wr0YPtkU" role="1koZlF">
+        <property role="3N1Lgt" value="external_documents/files_to_import/goal_structure_csv_format_demo.csv" />
+      </node>
+    </node>
+  </node>
+</model>
+
diff --git a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._060_assurance_case_fragments_reuse_cae.mps b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._060_assurance_case_fragments_reuse_cae.mps
index 9df9db995..3deee789b 100644
--- a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._060_assurance_case_fragments_reuse_cae.mps
+++ b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._060_assurance_case_fragments_reuse_cae.mps
@@ -954,32 +954,32 @@
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-      <ref role="3VeSjQ" node="x1FXqR$ky" />
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+      <ref role="3VeSjQ" node="x1FXqR$ky" resolve="Req_Arg" />
+      <ref role="3VeSjP" node="x1FXqR$9q" resolve="Claim_Req_Well_Defined" />
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-      <ref role="3VeSjQ" node="x1FXqR$oa" />
-      <ref role="3VeSjP" node="x1FXqR$ky" />
+      <ref role="3VeSjQ" node="x1FXqR$oa" resolve="Req_Trac_Claim" />
+      <ref role="3VeSjP" node="x1FXqR$ky" resolve="Req_Arg" />
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-      <ref role="3VeSjQ" node="x1FXqR$Gu" />
-      <ref role="3VeSjP" node="x1FXqR$ky" />
+      <ref role="3VeSjQ" node="x1FXqR$Gu" resolve="Req_Trac_Claim" />
+      <ref role="3VeSjP" node="x1FXqR$ky" resolve="Req_Arg" />
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-      <ref role="3VeSjQ" node="x1FXqR_cf" />
-      <ref role="3VeSjP" node="x1FXqR$ky" />
+      <ref role="3VeSjQ" node="x1FXqR_cf" resolve="Req_Templates" />
+      <ref role="3VeSjP" node="x1FXqR$ky" resolve="Req_Arg" />
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-      <ref role="3VeSjQ" node="x1FXqR_ca" />
-      <ref role="3VeSjP" node="x1FXqR$ky" />
+      <ref role="3VeSjQ" node="x1FXqR_ca" resolve="Req_Review" />
+      <ref role="3VeSjP" node="x1FXqR$ky" resolve="Req_Arg" />
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-      <ref role="3VeSjQ" node="x1FXqR_78" />
-      <ref role="3VeSjP" node="x1FXqR$ky" />
+      <ref role="3VeSjQ" node="x1FXqR_78" resolve="Req_Review" />
+      <ref role="3VeSjP" node="x1FXqR$ky" resolve="Req_Arg" />
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-      <ref role="3VeSjQ" node="x1FXqR$Wa" />
-      <ref role="3VeSjP" node="x1FXqR$ky" />
+      <ref role="3VeSjQ" node="x1FXqR$Wa" resolve="W_Req" />
+      <ref role="3VeSjP" node="x1FXqR$ky" resolve="Req_Arg" />
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   <node concept="2vn7XN" id="x1FXqRz3$">
@@ -1280,7 +1280,7 @@
     </node>
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       <property role="TrG5h" value="C_Haz_Mitigation Ref" />
-      <ref role="1qDcKi" node="x1FXqRzqV" />
+      <ref role="1qDcKi" node="x1FXqRzqV" resolve="C_Haz_Mitigation" />
       <node concept="19SGf9" id="x1FXqRAyQ" role="2vnaTZ">
         <node concept="19SUe$" id="x1FXqRAyR" role="19SJt6">
           <property role="19SUeA" value="Hazard H1 has been&#10;mitigated." />
@@ -1289,7 +1289,7 @@
     </node>
     <node concept="1qSPQa" id="x1FXqRMwb" role="2vn1q5">
       <property role="TrG5h" value="Arg_Req_Fullfillment Ref" />
-      <ref role="1qDcKi" node="x1FXqRMr_" />
+      <ref role="1qDcKi" node="x1FXqRMr_" resolve="Arg_Req_Fullfillment" />
       <node concept="19SGf9" id="x1FXqRMwc" role="2vnaTZ">
         <node concept="19SUe$" id="x1FXqRMwd" role="19SJt6">
           <property role="19SUeA" value="Safety requirements are&#10;fullfilled." />
@@ -1297,12 +1297,12 @@
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-      <ref role="3VeSjQ" node="x1FXqRMwb" />
-      <ref role="3VeSjP" node="x1FXqRAyP" />
+      <ref role="3VeSjQ" node="x1FXqRMwb" resolve="Arg_Req_Fullfillment Ref" />
+      <ref role="3VeSjP" node="x1FXqRAyP" resolve="C_Haz_Mitigation Ref" />
     </node>
     <node concept="1VB52A" id="x1FXqRMAR" role="2vn1q5">
       <property role="TrG5h" value="Safety Requirements Are Well Defined Instance" />
-      <ref role="AygKy" node="x1FXqRz1B" />
+      <ref role="AygKy" node="x1FXqRz1B" resolve="Safety Requirements Are Well Defined" />
       <node concept="19SGf9" id="x1FXqRMAS" role="2vnaTZ">
         <node concept="19SUe$" id="x1FXqRMAT" role="19SJt6">
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@@ -1391,32 +1391,32 @@
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-          <ref role="3VeSjP" node="x1FXqRMAV" />
-          <ref role="3VeSjQ" node="x1FXqRMB2" />
+          <ref role="3VeSjP" node="x1FXqRMAV" resolve="Claim_Req_Well_Defined" />
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-          <ref role="3VeSjP" node="x1FXqRMB2" />
-          <ref role="3VeSjQ" node="x1FXqRMB5" />
+          <ref role="3VeSjP" node="x1FXqRMB2" resolve="Req_Arg" />
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+          <ref role="3VeSjP" node="x1FXqRMB2" resolve="Req_Arg" />
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+          <ref role="3VeSjP" node="x1FXqRMB2" resolve="Req_Arg" />
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+          <ref role="3VeSjP" node="x1FXqRMB2" resolve="Req_Arg" />
+          <ref role="3VeSjQ" node="x1FXqRMBh" resolve="Req_Review" />
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-          <ref role="3VeSjP" node="x1FXqRMB2" />
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+          <ref role="3VeSjP" node="x1FXqRMB2" resolve="Req_Arg" />
+          <ref role="3VeSjQ" node="x1FXqRMBe" resolve="W_Req" />
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@@ -1655,8 +1655,8 @@
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+          <ref role="3VeSjQ" node="x1FXqRMAV" resolve="Claim_Req_Well_Defined" />
+          <ref role="3VeSjP" node="x1FXqRMwb" resolve="Arg_Req_Fullfillment Ref" />
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diff --git a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._060_assurance_case_fragments_reuse_gsn.mps b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._060_assurance_case_fragments_reuse_gsn.mps
index d73f8c398..9cd994665 100644
--- a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._060_assurance_case_fragments_reuse_gsn.mps
+++ b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._060_assurance_case_fragments_reuse_gsn.mps
@@ -461,20 +461,20 @@
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+      <ref role="3VeSjP" node="x1FXqCZYy" resolve="G01" />
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+      <ref role="3VeSjP" node="x1FXqCZZF" resolve="S01" />
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@@ -485,12 +485,12 @@
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-      <ref role="3VeSjP" node="x1FXqD09K" />
-      <ref role="3VeSjQ" node="x1FXqHm6_" />
+      <ref role="3VeSjP" node="x1FXqD09K" resolve="G03" />
+      <ref role="3VeSjQ" node="x1FXqHm6_" resolve="Sol03" />
     </node>
     <node concept="2vmxSQ" id="x1FXqHmYT" role="2vn1q5">
       <property role="TrG5h" value="C01" />
@@ -513,15 +513,15 @@
       </node>
     </node>
     <node concept="2vhqFZ" id="x1FXqHn2G" role="2vhqc$">
-      <ref role="3VeSjP" node="x1FXqCZYy" />
-      <ref role="3VeSjQ" node="x1FXqHmYT" />
+      <ref role="3VeSjP" node="x1FXqCZYy" resolve="G01" />
+      <ref role="3VeSjQ" node="x1FXqHmYT" resolve="C01" />
     </node>
   </node>
   <node concept="2vn7XN" id="x1FXqHms_">
     <property role="TrG5h" value="_010_pattern_instantiation" />
     <node concept="1VB52A" id="x1FXqHmv$" role="2vn1q5">
       <property role="TrG5h" value="Component Is Correctly Implemented Instance" />
-      <ref role="AygKy" node="x1FXqCZXx" />
+      <ref role="AygKy" node="x1FXqCZXx" resolve="Component Is Correctly Implemented" />
       <node concept="19SGf9" id="x1FXqHmv_" role="2vnaTZ">
         <node concept="19SUe$" id="x1FXqHmvA" role="19SJt6">
           <property role="19SUeA" value="" />
@@ -594,32 +594,32 @@
           </node>
         </node>
         <node concept="3VeUTF" id="x1FXqHmw8" role="2vhqc$">
-          <ref role="3VeSjP" node="x1FXqHmvC" />
-          <ref role="3VeSjQ" node="x1FXqHmvJ" />
+          <ref role="3VeSjP" node="x1FXqHmvC" resolve="G01" />
+          <ref role="3VeSjQ" node="x1FXqHmvJ" resolve="S01" />
         </node>
         <node concept="3VeUTF" id="x1FXqHmw9" role="2vhqc$">
-          <ref role="3VeSjP" node="x1FXqHmvJ" />
-          <ref role="3VeSjQ" node="x1FXqHmvM" />
+          <ref role="3VeSjP" node="x1FXqHmvJ" resolve="S01" />
+          <ref role="3VeSjQ" node="x1FXqHmvM" resolve="G02" />
         </node>
         <node concept="3VeUTF" id="x1FXqHmwa" role="2vhqc$">
-          <ref role="3VeSjP" node="x1FXqHmvJ" />
-          <ref role="3VeSjQ" node="x1FXqHmvS" />
+          <ref role="3VeSjP" node="x1FXqHmvJ" resolve="S01" />
+          <ref role="3VeSjQ" node="x1FXqHmvS" resolve="G03" />
         </node>
         <node concept="3VeUTF" id="x1FXqHmwb" role="2vhqc$">
-          <ref role="3VeSjP" node="x1FXqHmvM" />
-          <ref role="3VeSjQ" node="x1FXqHmvP" />
+          <ref role="3VeSjP" node="x1FXqHmvM" resolve="G02" />
+          <ref role="3VeSjQ" node="x1FXqHmvP" resolve="Sol01" />
         </node>
         <node concept="3VeUTF" id="x1FXqHmwc" role="2vhqc$">
-          <ref role="3VeSjP" node="x1FXqHmvS" />
-          <ref role="3VeSjQ" node="x1FXqHmw2" />
+          <ref role="3VeSjP" node="x1FXqHmvS" resolve="G03" />
+          <ref role="3VeSjQ" node="x1FXqHmw2" resolve="Sol02" />
         </node>
         <node concept="2vhqFZ" id="x1FXqHmwd" role="2vhqc$">
-          <ref role="3VeSjP" node="x1FXqHmvS" />
-          <ref role="3VeSjQ" node="x1FXqHmvV" />
+          <ref role="3VeSjP" node="x1FXqHmvS" resolve="G03" />
+          <ref role="3VeSjQ" node="x1FXqHmvV" resolve="J01" />
         </node>
         <node concept="3VeUTF" id="x1FXqHmwe" role="2vhqc$">
-          <ref role="3VeSjP" node="x1FXqHmvS" />
-          <ref role="3VeSjQ" node="x1FXqHmw5" />
+          <ref role="3VeSjP" node="x1FXqHmvS" resolve="G03" />
+          <ref role="3VeSjQ" node="x1FXqHmw5" resolve="Sol03" />
         </node>
         <node concept="37mRI7" id="x1FXqHmxm" role="lGtFl">
           <node concept="37mRIm" id="x1FXqHmxn" role="37mRID">
@@ -900,8 +900,8 @@
           </node>
         </node>
         <node concept="2vhqFZ" id="x1FXqHFTM" role="2vhqc$">
-          <ref role="3VeSjP" node="x1FXqHmvC" />
-          <ref role="3VeSjQ" node="x1FXqHFHq" />
+          <ref role="3VeSjP" node="x1FXqHmvC" resolve="G01" />
+          <ref role="3VeSjQ" node="x1FXqHFHq" resolve="C01" />
         </node>
       </node>
     </node>
@@ -1044,12 +1044,12 @@
       </node>
     </node>
     <node concept="3VeUTF" id="x1FXqHG6q" role="2vhqc$">
-      <ref role="3VeSjP" node="x1FXqHmKY" />
-      <ref role="3VeSjQ" node="x1FXqHG1l" />
+      <ref role="3VeSjP" node="x1FXqHmKY" resolve="G1_0" />
+      <ref role="3VeSjQ" node="x1FXqHG1l" resolve="St01" />
     </node>
     <node concept="3VeUTF" id="x1FXqHGaU" role="2vhqc$">
-      <ref role="3VeSjP" node="x1FXqHG1l" />
-      <ref role="3VeSjQ" node="x1FXqHmvC" />
+      <ref role="3VeSjP" node="x1FXqHG1l" resolve="St01" />
+      <ref role="3VeSjQ" node="x1FXqHmvC" resolve="G01" />
     </node>
     <node concept="2vn7WC" id="x1FXqHGlM" role="2vn1q5">
       <property role="TrG5h" value="G1_1" />
@@ -1061,8 +1061,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="x1FXqHGqa" role="2vhqc$">
-      <ref role="3VeSjP" node="x1FXqHG1l" />
-      <ref role="3VeSjQ" node="x1FXqHGlM" />
+      <ref role="3VeSjP" node="x1FXqHG1l" resolve="St01" />
+      <ref role="3VeSjQ" node="x1FXqHGlM" resolve="G1_1" />
     </node>
   </node>
   <node concept="1qmubD" id="x1FXqHGAV">
@@ -1131,7 +1131,7 @@
     <property role="TrG5h" value="_020_library_entities_reuse" />
     <node concept="1qmubC" id="x1FXqIESp" role="2vn1q5">
       <property role="TrG5h" value="Goal_Process_Compliance Ref" />
-      <ref role="1qDcKi" node="x1FXqIkx4" />
+      <ref role="1qDcKi" node="x1FXqIkx4" resolve="Goal_Process_Compliance" />
       <node concept="19SGf9" id="x1FXqIESq" role="2vnaTZ">
         <node concept="19SUe$" id="x1FXqIESr" role="19SJt6">
           <property role="19SUeA" value="All process steps prescribed &#10;by ISO26262 have been performed." />
@@ -1223,12 +1223,12 @@
       </node>
     </node>
     <node concept="3VeUTF" id="x1FXqRo5A" role="2vhqc$">
-      <ref role="3VeSjP" node="x1FXqIEVH" />
-      <ref role="3VeSjQ" node="x1FXqIEXZ" />
+      <ref role="3VeSjP" node="x1FXqIEVH" resolve="SafetyManagement" />
+      <ref role="3VeSjQ" node="x1FXqIEXZ" resolve="SOTA" />
     </node>
     <node concept="3VeUTF" id="x1FXqRo8x" role="2vhqc$">
-      <ref role="3VeSjP" node="x1FXqIEXZ" />
-      <ref role="3VeSjQ" node="x1FXqIESp" />
+      <ref role="3VeSjP" node="x1FXqIEXZ" resolve="SOTA" />
+      <ref role="3VeSjQ" node="x1FXqIESp" resolve="Goal_Process_Compliance Ref" />
     </node>
   </node>
 </model>
diff --git a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._070_assurance_cases_linked_to_artifacts_models.mps b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._070_assurance_cases_linked_to_artifacts_models.mps
index 65beb96e6..fff2eb75e 100644
--- a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._070_assurance_cases_linked_to_artifacts_models.mps
+++ b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._070_assurance_cases_linked_to_artifacts_models.mps
@@ -124,7 +124,7 @@
         </node>
       </node>
       <node concept="1vGDkK" id="1r1mR59uoPJ" role="2U2l5M">
-        <ref role="1vGDkN" node="1r1mR59sjN5" />
+        <ref role="1vGDkN" node="1r1mR59sjN5" resolve="Josh Manager" />
       </node>
     </node>
     <node concept="37mRI7" id="1r1mR59sWSw" role="lGtFl">
@@ -213,12 +213,12 @@
         </node>
       </node>
       <node concept="1vGDkK" id="1r1mR59tIGf" role="2U2l5M">
-        <ref role="1vGDkN" node="1r1mR59sWS3" />
+        <ref role="1vGDkN" node="1r1mR59sWS3" resolve="Mike Johnson" />
       </node>
     </node>
     <node concept="3VeUTF" id="1r1mR59uoAr" role="2vhqc$">
-      <ref role="3VeSjP" node="1r1mR59s2rI" />
-      <ref role="3VeSjQ" node="1r1mR59to2k" />
+      <ref role="3VeSjP" node="1r1mR59s2rI" resolve="G01" />
+      <ref role="3VeSjQ" node="1r1mR59to2k" resolve="G02" />
     </node>
     <node concept="2vn7WC" id="1r1mR59uoAG" role="2vn1q5">
       <property role="TrG5h" value="G03" />
@@ -228,7 +228,7 @@
         </node>
       </node>
       <node concept="1vGDkK" id="1r1mR59uoAJ" role="2U2l5M">
-        <ref role="1vGDkN" node="1r1mR59sWS3" />
+        <ref role="1vGDkN" node="1r1mR59sWS3" resolve="Mike Johnson" />
       </node>
     </node>
     <node concept="2vmxSQ" id="1r1mR59uoCZ" role="2vn1q5">
@@ -239,16 +239,16 @@
         </node>
       </node>
       <node concept="1vGDkK" id="1r1mR59uoFg" role="2U2l5M">
-        <ref role="1vGDkN" node="1r1mR59sWPu" />
+        <ref role="1vGDkN" node="1r1mR59sWPu" resolve="System Guy" />
       </node>
     </node>
     <node concept="2vhqFZ" id="1r1mR59uoEW" role="2vhqc$">
-      <ref role="3VeSjP" node="1r1mR59s2rI" />
-      <ref role="3VeSjQ" node="1r1mR59uoCZ" />
+      <ref role="3VeSjP" node="1r1mR59s2rI" resolve="G01" />
+      <ref role="3VeSjQ" node="1r1mR59uoCZ" resolve="C01" />
     </node>
     <node concept="3VeUTF" id="1r1mR59uoFI" role="2vhqc$">
-      <ref role="3VeSjP" node="1r1mR59s2rI" />
-      <ref role="3VeSjQ" node="1r1mR59uoAG" />
+      <ref role="3VeSjP" node="1r1mR59s2rI" resolve="G01" />
+      <ref role="3VeSjQ" node="1r1mR59uoAG" resolve="G03" />
     </node>
     <node concept="2vn7WC" id="1r1mR59uoHQ" role="2vn1q5">
       <property role="TrG5h" value="G04" />
@@ -258,12 +258,12 @@
         </node>
       </node>
       <node concept="1vGDkK" id="1r1mR59uoM7" role="2U2l5M">
-        <ref role="1vGDkN" node="1r1mR59sWS1" />
+        <ref role="1vGDkN" node="1r1mR59sWS1" resolve="Lucky Luke" />
       </node>
     </node>
     <node concept="3VeUTF" id="1r1mR59uoK4" role="2vhqc$">
-      <ref role="3VeSjP" node="1r1mR59s2rI" />
-      <ref role="3VeSjQ" node="1r1mR59uoHQ" />
+      <ref role="3VeSjP" node="1r1mR59s2rI" resolve="G01" />
+      <ref role="3VeSjQ" node="1r1mR59uoHQ" resolve="G04" />
     </node>
     <node concept="26s6xy" id="1r1mR59uoM_" role="2WHcHu">
       <property role="2Wzj7u" value="1639692281461329473" />
@@ -272,17 +272,17 @@
   <node concept="UfqZI" id="1r1mR59s2s1">
     <property role="TrG5h" value="_011_implanatable_medical_devices_system_team" />
     <property role="3GE5qa" value="organisation" />
-    <ref role="UfgC$" node="1r1mR59sjN4" />
+    <ref role="UfgC$" node="1r1mR59sjN4" resolve="_010_implanatable_medical_devices_team" />
     <node concept="UfqZF" id="1r1mR59sWPu" role="UfqW8">
       <property role="UfqYJ" value="0023" />
       <property role="1vG6uU" value="System" />
       <property role="1vG6ux" value="Guy" />
       <property role="UfqZG" value="sys_guy@a.com" />
       <node concept="1vGMo9" id="1r1mR59sWRp" role="1vGMrz">
-        <ref role="1vGMo8" node="1r1mR59sWPj" />
+        <ref role="1vGMo8" node="1r1mR59sWPj" resolve="system engineer" />
       </node>
       <node concept="1vGMo9" id="1r1mR59udUo" role="1vGMrz">
-        <ref role="1vGMo8" node="1r1mR59sWPn" />
+        <ref role="1vGMo8" node="1r1mR59sWPn" resolve="hardware engineer" />
       </node>
     </node>
     <node concept="UfqZF" id="1r1mR59sWRB" role="UfqW8">
@@ -291,7 +291,7 @@
       <property role="1vG6ux" value="Guy" />
       <property role="UfqZG" value="hw_guy@a.com" />
       <node concept="1vGMo9" id="1r1mR59sWRC" role="1vGMrz">
-        <ref role="1vGMo8" node="1r1mR59sWPn" />
+        <ref role="1vGMo8" node="1r1mR59sWPn" resolve="hardware engineer" />
       </node>
     </node>
     <node concept="1vGMor" id="1r1mR59sWPj" role="1vGMr$">
@@ -316,21 +316,21 @@
       <property role="1vG6ux" value="Manager" />
       <property role="UfqZG" value="josh_manager@a.com" />
       <node concept="1vGMo9" id="1r1mR59sWSe" role="1vGMrz">
-        <ref role="1vGMo8" node="1r1mR59sWRP" />
+        <ref role="1vGMo8" node="1r1mR59sWRP" resolve="project manager" />
       </node>
     </node>
   </node>
   <node concept="UfqZI" id="1r1mR59sWS0">
     <property role="TrG5h" value="_011_implanatable_medical_devices_safety_team" />
     <property role="3GE5qa" value="organisation" />
-    <ref role="UfgC$" node="1r1mR59sjN4" />
+    <ref role="UfgC$" node="1r1mR59sjN4" resolve="_010_implanatable_medical_devices_team" />
     <node concept="UfqZF" id="1r1mR59sWS1" role="UfqW8">
       <property role="UfqYJ" value="0023" />
       <property role="1vG6uU" value="Lucky" />
       <property role="1vG6ux" value="Luke" />
       <property role="UfqZG" value="luke@a.com" />
       <node concept="1vGMo9" id="1r1mR59sWS2" role="1vGMrz">
-        <ref role="1vGMo8" node="1r1mR59sWS5" />
+        <ref role="1vGMo8" node="1r1mR59sWS5" resolve="safety manager" />
       </node>
     </node>
     <node concept="UfqZF" id="1r1mR59sWS3" role="UfqW8">
@@ -339,7 +339,7 @@
       <property role="1vG6ux" value="Johnson" />
       <property role="UfqZG" value="johnson@a.com" />
       <node concept="1vGMo9" id="1r1mR59sWS4" role="1vGMrz">
-        <ref role="1vGMo8" node="1r1mR59sWS6" />
+        <ref role="1vGMo8" node="1r1mR59sWS6" resolve="safety engineer" />
       </node>
     </node>
     <node concept="1vGMor" id="1r1mR59sWS5" role="1vGMr$">
@@ -352,14 +352,14 @@
   <node concept="UfqZI" id="1r1mR59sWS7">
     <property role="TrG5h" value="_011_implanatable_medical_devices_software_team" />
     <property role="3GE5qa" value="organisation" />
-    <ref role="UfgC$" node="1r1mR59sjN4" />
+    <ref role="UfgC$" node="1r1mR59sjN4" resolve="_010_implanatable_medical_devices_team" />
     <node concept="UfqZF" id="1r1mR59sWS8" role="UfqW8">
       <property role="UfqYJ" value="0023" />
       <property role="1vG6uU" value="Software" />
       <property role="1vG6ux" value="Guy" />
       <property role="UfqZG" value="sw_guy@a.com" />
       <node concept="1vGMo9" id="1r1mR59sWS9" role="1vGMrz">
-        <ref role="1vGMo8" node="1r1mR59sWSc" />
+        <ref role="1vGMo8" node="1r1mR59sWSc" resolve="software engineer" />
       </node>
     </node>
     <node concept="UfqZF" id="1r1mR59sWSa" role="UfqW8">
@@ -368,7 +368,7 @@
       <property role="1vG6ux" value="Guy" />
       <property role="UfqZG" value="test_guy@a.com" />
       <node concept="1vGMo9" id="1r1mR59sWSb" role="1vGMrz">
-        <ref role="1vGMo8" node="1r1mR59sWSd" />
+        <ref role="1vGMo8" node="1r1mR59sWSd" resolve="test engineer" />
       </node>
     </node>
     <node concept="1vGMor" id="1r1mR59sWSc" role="1vGMr$">
diff --git a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._100_checkable_assurance_demo.mps b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._100_checkable_assurance_demo.mps
index aa6bef076..c4bfb1043 100644
--- a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._100_checkable_assurance_demo.mps
+++ b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_010_features._100_checkable_assurance_demo.mps
@@ -4502,7 +4502,7 @@
           <property role="19SUeA" value="All requirements from &#10;" />
         </node>
         <node concept="27blvF" id="2iCnExZHY38" role="19SJt6">
-          <ref role="27blvA" node="35$gPpxdqeD" />
+          <ref role="27blvA" node="35$gPpxdqeD" resolve="_030_airbag_safety_requirements_h1" />
         </node>
         <node concept="19SUe$" id="2iCnExZHY39" role="19SJt6">
           <property role="19SUeA" value="&#10; are satisfied" />
@@ -4523,8 +4523,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="2iCnExZHZHt" role="2vhqc$">
-      <ref role="3VeSjP" node="2iCnExZHY35" />
-      <ref role="3VeSjQ" node="2iCnExZHZqM" />
+      <ref role="3VeSjP" node="2iCnExZHY35" resolve="Str02" />
+      <ref role="3VeSjQ" node="2iCnExZHZqM" resolve="G05" />
     </node>
     <node concept="2iKOIG" id="3O4VKknI_sc" role="2vn1q5">
       <property role="TrG5h" value="G04" />
@@ -4540,8 +4540,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="3O4VKknI_Ju" role="2vhqc$">
-      <ref role="3VeSjP" node="2iCnExZHY35" />
-      <ref role="3VeSjQ" node="3O4VKknI_sc" />
+      <ref role="3VeSjP" node="2iCnExZHY35" resolve="Str02" />
+      <ref role="3VeSjQ" node="3O4VKknI_sc" resolve="G04" />
     </node>
     <node concept="2vn7WC" id="6yFQEkQTDwh" role="2vn1q5">
       <property role="TrG5h" value="G01" />
@@ -4550,7 +4550,7 @@
           <property role="19SUeA" value="System defined in &#10;" />
         </node>
         <node concept="27blvF" id="6yFQEkQTE3L" role="19SJt6">
-          <ref role="27blvA" node="1$M4_qbIbay" />
+          <ref role="27blvA" node="1$M4_qbIbay" resolve="_010_airbag_functional_requirements" />
         </node>
         <node concept="19SUe$" id="6yFQEkQTE3K" role="19SJt6">
           <property role="19SUeA" value="&#10;is sufficiently safe in the given operating context" />
@@ -4564,7 +4564,7 @@
           <property role="19SUeA" value="Hazard " />
         </node>
         <node concept="oY6sn" id="1Y8zh0mgcUG" role="19SJt6">
-          <ref role="oTUVg" node="5P9zxa4g3HE" />
+          <ref role="oTUVg" node="5P9zxa4g3HE" resolve="The airbag is deployed when not nedeed" />
         </node>
         <node concept="19SUe$" id="1Y8zh0mgcUH" role="19SJt6">
           <property role="19SUeA" value="&#10; has been mitigated" />
@@ -4572,8 +4572,8 @@
       </node>
     </node>
     <node concept="8gDHL" id="1Y8zh0mgcUI" role="2vhqc$">
-      <ref role="3VeSjP" node="1Y8zh0mgcU$" />
-      <ref role="3VeSjQ" node="1Y8zh0mgcUD" />
+      <ref role="3VeSjP" node="1Y8zh0mgcU$" resolve="Str01" />
+      <ref role="3VeSjQ" node="1Y8zh0mgcUD" resolve="G02" />
     </node>
     <node concept="atroE" id="1Y8zh0mgcUQ" role="2vn1q5">
       <property role="TrG5h" value="G04" />
@@ -4582,7 +4582,7 @@
           <property role="19SUeA" value="Risk associated with hazard " />
         </node>
         <node concept="oY6sn" id="1Y8zh0mgcUT" role="19SJt6">
-          <ref role="oTUVg" node="5P9zxa4g3IF" />
+          <ref role="oTUVg" node="5P9zxa4g3IF" resolve="The airbag is deployed too early" />
         </node>
         <node concept="19SUe$" id="1Y8zh0mgcUU" role="19SJt6">
           <property role="19SUeA" value="&#10; has been shown negligible" />
@@ -4590,8 +4590,8 @@
       </node>
     </node>
     <node concept="8gDHL" id="1Y8zh0mgcUV" role="2vhqc$">
-      <ref role="3VeSjP" node="1Y8zh0mgcU$" />
-      <ref role="3VeSjQ" node="1Y8zh0mgcUQ" />
+      <ref role="3VeSjP" node="1Y8zh0mgcU$" resolve="Str01" />
+      <ref role="3VeSjQ" node="1Y8zh0mgcUQ" resolve="G04" />
     </node>
     <node concept="atroF" id="1Y8zh0mgcUW" role="2vn1q5">
       <property role="TrG5h" value="G03" />
@@ -4600,7 +4600,7 @@
           <property role="19SUeA" value="Hazard " />
         </node>
         <node concept="oY6sn" id="1Y8zh0mgcUZ" role="19SJt6">
-          <ref role="oTUVg" node="5P9zxa4g3Iq" />
+          <ref role="oTUVg" node="5P9zxa4g3Iq" resolve="The airbag is deployed too late" />
         </node>
         <node concept="19SUe$" id="1Y8zh0mgcV0" role="19SJt6">
           <property role="19SUeA" value=" has been &#10;eliminated and can no longer occur" />
@@ -4608,8 +4608,8 @@
       </node>
     </node>
     <node concept="8gDHL" id="1Y8zh0mgcV1" role="2vhqc$">
-      <ref role="3VeSjP" node="1Y8zh0mgcU$" />
-      <ref role="3VeSjQ" node="1Y8zh0mgcUW" />
+      <ref role="3VeSjP" node="1Y8zh0mgcU$" resolve="Str01" />
+      <ref role="3VeSjQ" node="1Y8zh0mgcUW" resolve="G03" />
     </node>
     <node concept="FXfxu" id="1Y8zh0mgcU$" role="2vn1q5">
       <property role="TrG5h" value="Str01" />
@@ -4618,7 +4618,7 @@
           <property role="19SUeA" value="All hazards from &#10;" />
         </node>
         <node concept="oXkut" id="1Y8zh0mgcUB" role="19SJt6">
-          <ref role="oTdVe" node="1$M4_qbIb5p" />
+          <ref role="oTdVe" node="1$M4_qbIb5p" resolve="_020_airbag_hazards_list" />
         </node>
         <node concept="19SUe$" id="1Y8zh0mgcUC" role="19SJt6">
           <property role="19SUeA" value="&#10; have been addressed" />
@@ -4626,12 +4626,12 @@
       </node>
     </node>
     <node concept="3VeUTF" id="1Y8zh0mgk$I" role="2vhqc$">
-      <ref role="3VeSjP" node="6yFQEkQTDwh" />
-      <ref role="3VeSjQ" node="1Y8zh0mgcU$" />
+      <ref role="3VeSjP" node="6yFQEkQTDwh" resolve="G01" />
+      <ref role="3VeSjQ" node="1Y8zh0mgcU$" resolve="Str01" />
     </node>
     <node concept="3VeUTF" id="1Y8zh0mgkSh" role="2vhqc$">
-      <ref role="3VeSjP" node="1Y8zh0mgcUD" />
-      <ref role="3VeSjQ" node="2iCnExZHY35" />
+      <ref role="3VeSjP" node="1Y8zh0mgcUD" resolve="G02" />
+      <ref role="3VeSjQ" node="2iCnExZHY35" resolve="Str02" />
     </node>
     <node concept="8gVzV" id="55oVyA0rn3s" role="2vn1q5">
       <property role="8uqrb" value="true" />
@@ -4641,7 +4641,7 @@
           <property role="19SUeA" value="Hazard " />
         </node>
         <node concept="oY6sn" id="55oVyA0rn3v" role="19SJt6">
-          <ref role="oTUVg" node="5P9zxa4g3I2" />
+          <ref role="oTUVg" node="5P9zxa4g3I2" resolve="The airbag is not deployed when needed" />
         </node>
         <node concept="19SUe$" id="55oVyA0rn3w" role="19SJt6">
           <property role="19SUeA" value="&#10; has been mitigated" />
@@ -4649,8 +4649,8 @@
       </node>
     </node>
     <node concept="8gDHL" id="55oVyA0rnsx" role="2vhqc$">
-      <ref role="3VeSjP" node="1Y8zh0mgcU$" />
-      <ref role="3VeSjQ" node="55oVyA0rn3s" />
+      <ref role="3VeSjP" node="1Y8zh0mgcU$" resolve="Str01" />
+      <ref role="3VeSjQ" node="55oVyA0rn3s" resolve="G02.1" />
     </node>
   </node>
   <node concept="8gVzP" id="1$M4_qbIb5p">
@@ -4661,7 +4661,7 @@
       <node concept="3h3uym" id="55oVyA0mGR4" role="3h3uzw">
         <property role="3h3uzF" value="24PsEXFbNLt/C3" />
         <property role="3h3uzD" value="24PsEXFbNKQ/S2" />
-        <ref role="3h3iM1" node="5t7SqsaqFRU" />
+        <ref role="3h3iM1" node="5t7SqsaqFRU" resolve="OS1" />
       </node>
     </node>
     <node concept="1a6Z8w" id="5P9zxa4g3I2" role="8gIbH">
@@ -4670,7 +4670,7 @@
       <node concept="3h3uym" id="55oVyA0mGR5" role="3h3uzw">
         <property role="3h3uzF" value="24PsEXFbNLt/C3" />
         <property role="3h3uzD" value="24PsEXFbNKU/S3" />
-        <ref role="3h3iM1" node="5t7SqsaqFS0" />
+        <ref role="3h3iM1" node="5t7SqsaqFS0" resolve="OS2" />
       </node>
     </node>
     <node concept="1a6Z8w" id="5P9zxa4g3Iq" role="8gIbH">
@@ -4679,7 +4679,7 @@
       <node concept="3h3uym" id="55oVyA0mGR6" role="3h3uzw">
         <property role="3h3uzF" value="24PsEXFbNLt/C3" />
         <property role="3h3uzD" value="24PsEXFbNKQ/S2" />
-        <ref role="3h3iM1" node="5t7SqsaqFS0" />
+        <ref role="3h3iM1" node="5t7SqsaqFS0" resolve="OS2" />
       </node>
     </node>
     <node concept="1a6Z8w" id="5P9zxa4g3IF" role="8gIbH">
@@ -4688,7 +4688,7 @@
       <node concept="3h3uym" id="55oVyA0mGR7" role="3h3uzw">
         <property role="3h3uzF" value="24PsEXFbNLt/C3" />
         <property role="3h3uzD" value="24PsEXFbNKQ/S2" />
-        <ref role="3h3iM1" node="5t7SqsaqFS0" />
+        <ref role="3h3iM1" node="5t7SqsaqFS0" resolve="OS2" />
       </node>
     </node>
   </node>
@@ -4748,7 +4748,7 @@
       </node>
       <node concept="2iDXIW" id="1$M4_qbIbb6" role="0nOlf">
         <node concept="DABN8" id="6W1kQP6Bq6j" role="DABNk">
-          <ref role="DABNb" node="5P9zxa4g3I2" />
+          <ref role="DABNb" node="5P9zxa4g3I2" resolve="The airbag is not deployed when needed" />
         </node>
       </node>
       <node concept="1QQeAY" id="35$gPpxdmt2" role="1QQeAC">
@@ -7578,7 +7578,7 @@
         </node>
         <node concept="oK52h" id="65LrkjiXUr_" role="19SJt6">
           <node concept="18ZemM" id="13268isTt_5" role="oK52i">
-            <ref role="18ZemP" node="65VbbGlC$Mz" />
+            <ref role="18ZemP" node="65VbbGlC$Mz" resolve="Device" />
           </node>
         </node>
         <node concept="19SUe$" id="65LrkjiXUrA" role="19SJt6">
@@ -7587,16 +7587,16 @@
       </node>
     </node>
     <node concept="3VeUTF" id="65LrkjiXUrB" role="2vhqc$">
-      <ref role="3VeSjP" node="65LrkjiXUro" />
-      <ref role="3VeSjQ" node="65LrkjiXUrs" />
+      <ref role="3VeSjP" node="65LrkjiXUro" resolve="Str01" />
+      <ref role="3VeSjQ" node="65LrkjiXUrs" resolve="G22" />
     </node>
     <node concept="3VeUTF" id="65LrkjiXUrC" role="2vhqc$">
-      <ref role="3VeSjP" node="65LrkjiXUro" />
-      <ref role="3VeSjQ" node="65LrkjiXUrv" />
+      <ref role="3VeSjP" node="65LrkjiXUro" resolve="Str01" />
+      <ref role="3VeSjQ" node="65LrkjiXUrv" resolve="G21" />
     </node>
     <node concept="3VeUTF" id="65LrkjiXUrD" role="2vhqc$">
-      <ref role="3VeSjP" node="65LrkjiXUro" />
-      <ref role="3VeSjQ" node="65LrkjiXUry" />
+      <ref role="3VeSjP" node="65LrkjiXUro" resolve="Str01" />
+      <ref role="3VeSjQ" node="65LrkjiXUry" resolve="G23" />
     </node>
     <node concept="Zq_KF" id="65LrkjiXUro" role="2vn1q5">
       <property role="TrG5h" value="Str01" />
@@ -7606,7 +7606,7 @@
         </node>
         <node concept="oK52h" id="65LrkjiXUrr" role="19SJt6">
           <node concept="18ZemM" id="13268isTt_6" role="oK52i">
-            <ref role="18ZemP" node="65VbbGlC$M$" />
+            <ref role="18ZemP" node="65VbbGlC$M$" resolve="airbag_system" />
           </node>
         </node>
         <node concept="19SUe$" id="65LrkjiXUrW" role="19SJt6" />
@@ -7620,7 +7620,7 @@
         </node>
         <node concept="oK52h" id="65LrkjiXUS3" role="19SJt6">
           <node concept="18ZemM" id="13268isTt_7" role="oK52i">
-            <ref role="18ZemP" node="65VbbGlC$Mx" />
+            <ref role="18ZemP" node="65VbbGlC$Mx" resolve="Sensor" />
           </node>
         </node>
         <node concept="19SUe$" id="65LrkjiXUS4" role="19SJt6">
@@ -7629,8 +7629,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="65LrkjiXV5w" role="2vhqc$">
-      <ref role="3VeSjP" node="65LrkjiXUro" />
-      <ref role="3VeSjQ" node="65LrkjiXUS0" />
+      <ref role="3VeSjP" node="65LrkjiXUro" resolve="Str01" />
+      <ref role="3VeSjQ" node="65LrkjiXUS0" resolve="G24" />
     </node>
     <node concept="1$GyEX" id="2iCnExZKxUB" role="2vn1q5">
       <property role="TrG5h" value="Sn1" />
@@ -7673,20 +7673,20 @@
       </node>
     </node>
     <node concept="1$Gd3o" id="2iCnExZKyP1" role="2vhqc$">
-      <ref role="3VeSjP" node="65LrkjiXUrv" />
-      <ref role="3VeSjQ" node="2iCnExZKxUB" />
+      <ref role="3VeSjP" node="65LrkjiXUrv" resolve="G21" />
+      <ref role="3VeSjQ" node="2iCnExZKxUB" resolve="Sn1" />
     </node>
     <node concept="1$Gd3o" id="2iCnExZKz1J" role="2vhqc$">
-      <ref role="3VeSjP" node="65LrkjiXUrs" />
-      <ref role="3VeSjQ" node="2iCnExZKy7Y" />
+      <ref role="3VeSjP" node="65LrkjiXUrs" resolve="G22" />
+      <ref role="3VeSjQ" node="2iCnExZKy7Y" resolve="Sn2" />
     </node>
     <node concept="1$Gd3o" id="2iCnExZKze$" role="2vhqc$">
-      <ref role="3VeSjP" node="65LrkjiXUry" />
-      <ref role="3VeSjQ" node="2iCnExZKylo" />
+      <ref role="3VeSjP" node="65LrkjiXUry" resolve="G23" />
+      <ref role="3VeSjQ" node="2iCnExZKylo" resolve="Sn3" />
     </node>
     <node concept="1$Gd3o" id="2iCnExZKzqI" role="2vhqc$">
-      <ref role="3VeSjP" node="65LrkjiXUS0" />
-      <ref role="3VeSjQ" node="2iCnExZKyzB" />
+      <ref role="3VeSjP" node="65LrkjiXUS0" resolve="G24" />
+      <ref role="3VeSjQ" node="2iCnExZKyzB" resolve="Sn4" />
     </node>
     <node concept="2iKOIG" id="3O4VKknI$pY" role="2vn1q5">
       <property role="TrG5h" value="G20" />
@@ -7701,8 +7701,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="3O4VKknI$Oz" role="2vhqc$">
-      <ref role="3VeSjP" node="3O4VKknI$pY" />
-      <ref role="3VeSjQ" node="65LrkjiXUro" />
+      <ref role="3VeSjP" node="3O4VKknI$pY" resolve="G20" />
+      <ref role="3VeSjQ" node="65LrkjiXUro" resolve="Str01" />
     </node>
     <node concept="1CZ1M5" id="4y8PK53YnKP" role="2vn1q5">
       <property role="TrG5h" value="G25" />
@@ -7712,7 +7712,7 @@
         </node>
         <node concept="oK52h" id="4y8PK53YnKS" role="19SJt6">
           <node concept="18ZemM" id="4y8PK53Yocx" role="oK52i">
-            <ref role="18ZemP" node="65VbbGlC$My" />
+            <ref role="18ZemP" node="65VbbGlC$My" resolve="Link" />
           </node>
         </node>
         <node concept="19SUe$" id="4y8PK53YnKT" role="19SJt6">
@@ -7730,12 +7730,12 @@
       </node>
     </node>
     <node concept="3VeUTF" id="4y8PK53Yody" role="2vhqc$">
-      <ref role="3VeSjP" node="65LrkjiXUro" />
-      <ref role="3VeSjQ" node="4y8PK53YnKP" />
+      <ref role="3VeSjP" node="65LrkjiXUro" resolve="Str01" />
+      <ref role="3VeSjQ" node="4y8PK53YnKP" resolve="G25" />
     </node>
     <node concept="1$Gd3o" id="4y8PK53YosA" role="2vhqc$">
-      <ref role="3VeSjP" node="4y8PK53YnKP" />
-      <ref role="3VeSjQ" node="4y8PK53YnMD" />
+      <ref role="3VeSjP" node="4y8PK53YnKP" resolve="G25" />
+      <ref role="3VeSjQ" node="4y8PK53YnMD" resolve="Sn5" />
     </node>
   </node>
   <node concept="2HdtXS" id="57ROGn8Ssaf">
@@ -7760,10 +7760,10 @@
       </node>
       <node concept="2HbMDt" id="57ROGn92YH4" role="hVC8a">
         <node concept="hVCbv" id="24PsEXFfqtP" role="2H9Ial">
-          <ref role="hVCbs" node="57ROGn92YGu" />
+          <ref role="hVCbs" node="57ROGn92YGu" resolve="fault_deletion" />
         </node>
         <node concept="hVCbv" id="24PsEXFfqtG" role="2H9Iav">
-          <ref role="hVCbs" node="57ROGn92YGr" />
+          <ref role="hVCbs" node="57ROGn92YGr" resolve="fault_corruption" />
         </node>
       </node>
     </node>
@@ -7793,10 +7793,10 @@
         <node concept="2HbMbg" id="24PsEXFbz4H" role="1yBDGv">
           <node concept="2HbLFT" id="24PsEXFbz4I" role="2H9Iav">
             <node concept="3Ug1Ap" id="24PsEXFbyVx" role="2H9Iav">
-              <ref role="3Ug1Ao" node="57ROGn8TjNz" />
+              <ref role="3Ug1Ao" node="57ROGn8TjNz" resolve="message" />
             </node>
             <node concept="2HeeqP" id="7Y21hZBdUO0" role="2H9Ial">
-              <ref role="2HeeqO" node="57ROGn8TjNK" />
+              <ref role="2HeeqO" node="57ROGn8TjNK" resolve="no_message" />
             </node>
           </node>
           <node concept="2SafMM" id="24PsEXFbz4U" role="2H9Ial">
@@ -7804,16 +7804,16 @@
               <node concept="2oXAu5" id="24PsEXFbz5h" role="32OYtT">
                 <node concept="2HbLFT" id="24PsEXFbz5W" role="2H9Ial">
                   <node concept="2HeeqP" id="24PsEXFbz6H" role="2H9Ial">
-                    <ref role="2HeeqO" node="57ROGn8TjOw" />
+                    <ref role="2HeeqO" node="57ROGn8TjOw" resolve="explode" />
                   </node>
                   <node concept="1yeVOx" id="24PsEXFbz5I" role="2H9Iav">
                     <node concept="3Ug1Ap" id="24PsEXFbz5S" role="1yeVOw">
-                      <ref role="3Ug1Ao" node="57ROGn8TjNz" />
+                      <ref role="3Ug1Ao" node="57ROGn8TjNz" resolve="message" />
                     </node>
                   </node>
                 </node>
                 <node concept="3Ug1Ap" id="24PsEXFbz5c" role="2H9Iav">
-                  <ref role="3Ug1Ao" node="57ROGn8TjNd" />
+                  <ref role="3Ug1Ao" node="57ROGn8TjNd" resolve="collision" />
                 </node>
               </node>
             </node>
@@ -7877,7 +7877,7 @@
                 <node concept="32OYss" id="2Btqz_w4SeB" role="2H9Iav">
                   <node concept="1yA0yd" id="2Btqz_w4SeC" role="32OYtT">
                     <node concept="3Ug1Ap" id="57ROGn92WbH" role="32OYtT">
-                      <ref role="3Ug1Ao" node="57ROGn92W6Q" />
+                      <ref role="3Ug1Ao" node="57ROGn92W6Q" resolve="fault_deletion" />
                     </node>
                   </node>
                 </node>
@@ -7887,15 +7887,15 @@
                       <node concept="2oXAu5" id="2Btqz_w4SeH" role="32OYtT">
                         <node concept="1yeVOx" id="57ROGn92WcB" role="2H9Iav">
                           <node concept="3Ug1Ap" id="57ROGn92WcP" role="1yeVOw">
-                            <ref role="3Ug1Ao" node="57ROGn92W7E" />
+                            <ref role="3Ug1Ao" node="57ROGn92W7E" resolve="NewDataAvailable" />
                           </node>
                         </node>
                         <node concept="dheZm" id="2Btqz_w4SeI" role="2H9Ial">
                           <node concept="3Ug1Ap" id="57ROGn92WdH" role="2H9Iav">
-                            <ref role="3Ug1Ao" node="57ROGn92W4o" />
+                            <ref role="3Ug1Ao" node="57ROGn92W4o" resolve="in_message" />
                           </node>
                           <node concept="2HeeqP" id="57ROGn92WeN" role="2H9Ial">
-                            <ref role="2HeeqO" node="57ROGn92W8W" />
+                            <ref role="2HeeqO" node="57ROGn92W8W" resolve="no_message" />
                           </node>
                         </node>
                       </node>
@@ -7904,11 +7904,11 @@
                       <node concept="2HbLFT" id="2Btqz_w4SeK" role="32OYtT">
                         <node concept="1yeVOx" id="57ROGn92Whg" role="2H9Iav">
                           <node concept="3Ug1Ap" id="57ROGn92Wh$" role="1yeVOw">
-                            <ref role="3Ug1Ao" node="57ROGn92W8E" />
+                            <ref role="3Ug1Ao" node="57ROGn92W8E" resolve="out_message" />
                           </node>
                         </node>
                         <node concept="3Ug1Ap" id="57ROGn92Wk8" role="2H9Ial">
-                          <ref role="3Ug1Ao" node="57ROGn92W4o" />
+                          <ref role="3Ug1Ao" node="57ROGn92W4o" resolve="in_message" />
                         </node>
                       </node>
                     </node>
@@ -7928,14 +7928,14 @@
                 <node concept="2Sa4HV" id="57ROGn92WBr" role="32OYtT">
                   <node concept="1yA0yd" id="57ROGn92WBx" role="1yBIc4">
                     <node concept="3Ug1Ap" id="57ROGn92WBH" role="32OYtT">
-                      <ref role="3Ug1Ao" node="57ROGn92W6Q" />
+                      <ref role="3Ug1Ao" node="57ROGn92W6Q" resolve="fault_deletion" />
                     </node>
                   </node>
                 </node>
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               <node concept="32OYss" id="57ROGn92WAu" role="2H9Iav">
                 <node concept="3Ug1Ap" id="57ROGn92WAJ" role="32OYtT">
-                  <ref role="3Ug1Ao" node="57ROGn92W7E" />
+                  <ref role="3Ug1Ao" node="57ROGn92W7E" resolve="NewDataAvailable" />
                 </node>
               </node>
             </node>
@@ -7950,12 +7950,12 @@
               <node concept="1yyYsf" id="1wencriIT4D" role="32OYtT">
                 <node concept="1yA0yd" id="1wencriIT53" role="2H9Iav">
                   <node concept="3Ug1Ap" id="57ROGn92WEX" role="32OYtT">
-                    <ref role="3Ug1Ao" node="57ROGn92W66" />
+                    <ref role="3Ug1Ao" node="57ROGn92W66" resolve="fault_corruption" />
                   </node>
                 </node>
                 <node concept="1yeVOx" id="57ROGn92WFm" role="2H9Ial">
                   <node concept="3Ug1Ap" id="57ROGn92WF$" role="1yeVOw">
-                    <ref role="3Ug1Ao" node="57ROGn92W88" />
+                    <ref role="3Ug1Ao" node="57ROGn92W88" resolve="ValidCRC" />
                   </node>
                 </node>
               </node>
@@ -7965,12 +7965,12 @@
             <node concept="32OYss" id="1wencriIT4F" role="1yBIc4">
               <node concept="1yyYsf" id="1wencriIT4G" role="32OYtT">
                 <node concept="3Ug1Ap" id="57ROGn92WGx" role="2H9Iav">
-                  <ref role="3Ug1Ao" node="57ROGn92W88" />
+                  <ref role="3Ug1Ao" node="57ROGn92W88" resolve="ValidCRC" />
                 </node>
                 <node concept="2Sa4HV" id="1wencriIT4H" role="2H9Ial">
                   <node concept="1yA0yd" id="1wencriIT4I" role="1yBIc4">
                     <node concept="3Ug1Ap" id="57ROGn92WH8" role="32OYtT">
-                      <ref role="3Ug1Ao" node="57ROGn92W66" />
+                      <ref role="3Ug1Ao" node="57ROGn92W66" resolve="fault_corruption" />
                     </node>
                   </node>
                 </node>
@@ -8017,7 +8017,7 @@
               <node concept="2Sa8AP" id="7Y21hZBdTho" role="2H9Ial">
                 <node concept="2SafMM" id="7Y21hZBdThp" role="1yBIc4">
                   <node concept="3Ug1Ap" id="7Y21hZBdThq" role="1yBIc4">
-                    <ref role="3Ug1Ao" node="7Y21hZBdTg$" />
+                    <ref role="3Ug1Ao" node="7Y21hZBdTg$" resolve="exploded" />
                   </node>
                 </node>
               </node>
@@ -8028,10 +8028,10 @@
                       <node concept="32OYss" id="7Y21hZBdThv" role="1yBIc4">
                         <node concept="2HbMbg" id="7Y21hZBdThw" role="32OYtT">
                           <node concept="3Ug1Ap" id="7Y21hZBdThx" role="2H9Ial">
-                            <ref role="3Ug1Ao" node="7Y21hZBdTe7" />
+                            <ref role="3Ug1Ao" node="7Y21hZBdTe7" resolve="ValidCRC" />
                           </node>
                           <node concept="3Ug1Ap" id="7Y21hZBdThy" role="2H9Iav">
-                            <ref role="3Ug1Ao" node="7Y21hZBdTe1" />
+                            <ref role="3Ug1Ao" node="7Y21hZBdTe1" resolve="NewDataAvailable" />
                           </node>
                         </node>
                       </node>
@@ -8041,18 +8041,18 @@
                     <node concept="2HbMbg" id="7Y21hZBdThA" role="32OYtT">
                       <node concept="2HbMbg" id="7Y21hZBdThB" role="2H9Iav">
                         <node concept="3Ug1Ap" id="7Y21hZBdThC" role="2H9Iav">
-                          <ref role="3Ug1Ao" node="7Y21hZBdTe1" />
+                          <ref role="3Ug1Ao" node="7Y21hZBdTe1" resolve="NewDataAvailable" />
                         </node>
                         <node concept="3Ug1Ap" id="7Y21hZBdThD" role="2H9Ial">
-                          <ref role="3Ug1Ao" node="7Y21hZBdTe7" />
+                          <ref role="3Ug1Ao" node="7Y21hZBdTe7" resolve="ValidCRC" />
                         </node>
                       </node>
                       <node concept="2HbLFT" id="7Y21hZBdThE" role="2H9Ial">
                         <node concept="3Ug1Ap" id="7Y21hZBdThF" role="2H9Iav">
-                          <ref role="3Ug1Ao" node="7Y21hZBdTe9" />
+                          <ref role="3Ug1Ao" node="7Y21hZBdTe9" resolve="message" />
                         </node>
                         <node concept="2HeeqP" id="7Y21hZBdT$5" role="2H9Ial">
-                          <ref role="2HeeqO" node="7Y21hZBdTec" />
+                          <ref role="2HeeqO" node="7Y21hZBdTec" resolve="explode" />
                         </node>
                       </node>
                     </node>
@@ -8073,25 +8073,25 @@
                   <node concept="2HbMbg" id="7Y21hZBdTip" role="32OYtT">
                     <node concept="2HbMbg" id="7Y21hZBdTiq" role="2H9Iav">
                       <node concept="3Ug1Ap" id="7Y21hZBdTir" role="2H9Iav">
-                        <ref role="3Ug1Ao" node="7Y21hZBdTe1" />
+                        <ref role="3Ug1Ao" node="7Y21hZBdTe1" resolve="NewDataAvailable" />
                       </node>
                       <node concept="3Ug1Ap" id="7Y21hZBdTis" role="2H9Ial">
-                        <ref role="3Ug1Ao" node="7Y21hZBdTe7" />
+                        <ref role="3Ug1Ao" node="7Y21hZBdTe7" resolve="ValidCRC" />
                       </node>
                     </node>
                     <node concept="2HbLFT" id="7Y21hZBdTit" role="2H9Ial">
                       <node concept="2HeeqP" id="7Y21hZBdT$d" role="2H9Ial">
-                        <ref role="2HeeqO" node="7Y21hZBdTec" />
+                        <ref role="2HeeqO" node="7Y21hZBdTec" resolve="explode" />
                       </node>
                       <node concept="3Ug1Ap" id="7Y21hZBdTiv" role="2H9Iav">
-                        <ref role="3Ug1Ao" node="7Y21hZBdTe9" />
+                        <ref role="3Ug1Ao" node="7Y21hZBdTe9" resolve="message" />
                       </node>
                     </node>
                   </node>
                 </node>
               </node>
               <node concept="3Ug1Ap" id="7Y21hZBdTiw" role="2H9Iav">
-                <ref role="3Ug1Ao" node="7Y21hZBdTg$" />
+                <ref role="3Ug1Ao" node="7Y21hZBdTg$" resolve="exploded" />
               </node>
             </node>
           </node>
@@ -8106,119 +8106,119 @@
       <node concept="3Ug1AV" id="57ROGn93azI" role="3UgYNK">
         <property role="TrG5h" value="sensor" />
         <node concept="3Ug1AZ" id="57ROGn93azN" role="3Ug1A_">
-          <ref role="3Ug1AY" node="65VbbGlC$Mx" />
+          <ref role="3Ug1AY" node="65VbbGlC$Mx" resolve="Sensor" />
         </node>
       </node>
       <node concept="3Ug1AV" id="57ROGn93a$0" role="3UgYNK">
         <property role="TrG5h" value="link" />
         <node concept="3Ug1AZ" id="57ROGn93azY" role="3Ug1A_">
-          <ref role="3Ug1AY" node="65VbbGlC$My" />
+          <ref role="3Ug1AY" node="65VbbGlC$My" resolve="Link" />
         </node>
       </node>
       <node concept="3Ug1AV" id="57ROGn93a$m" role="3UgYNK">
         <property role="TrG5h" value="device" />
         <node concept="3Ug1AZ" id="57ROGn93a$k" role="3Ug1A_">
-          <ref role="3Ug1AY" node="65VbbGlC$Mz" />
+          <ref role="3Ug1AY" node="65VbbGlC$Mz" resolve="Device" />
         </node>
       </node>
       <node concept="3Ug1$w" id="57ROGn93a$M" role="3UgYNK">
         <node concept="3Ug1Ap" id="57ROGn93a_2" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="57ROGn93an5" />
+          <ref role="3Ug1Ao" node="57ROGn93an5" resolve="collision" />
         </node>
         <node concept="3Ug1GC" id="57ROGn93a_6" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="57ROGn8TjNd" />
+          <ref role="3Ug1Ha" node="57ROGn8TjNd" resolve="collision" />
           <node concept="3Ug1GJ" id="57ROGn93a_5" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="57ROGn93azI" />
+            <ref role="3Ug1GI" node="57ROGn93azI" resolve="sensor" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="57ROGn93a_y" role="3UgYNK">
         <node concept="3Ug1GC" id="57ROGn93a_V" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="57ROGn8TjNz" />
+          <ref role="3Ug1Ha" node="57ROGn8TjNz" resolve="message" />
           <node concept="3Ug1GJ" id="57ROGn93a_U" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="57ROGn93azI" />
+            <ref role="3Ug1GI" node="57ROGn93azI" resolve="sensor" />
           </node>
         </node>
         <node concept="3Ug1GC" id="57ROGn93aA1" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="57ROGn92W4o" />
+          <ref role="3Ug1Ha" node="57ROGn92W4o" resolve="in_message" />
           <node concept="3Ug1GJ" id="57ROGn93aA0" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="57ROGn93a$0" />
+            <ref role="3Ug1GI" node="57ROGn93a$0" resolve="link" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="57ROGn93aBl" role="3UgYNK">
         <node concept="3Ug1Ap" id="57ROGn93aCf" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="57ROGn93anr" />
+          <ref role="3Ug1Ao" node="57ROGn93anr" resolve="fault_corruption" />
         </node>
         <node concept="3Ug1GC" id="57ROGn93aBo" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="57ROGn92W66" />
+          <ref role="3Ug1Ha" node="57ROGn92W66" resolve="fault_corruption" />
           <node concept="3Ug1GJ" id="57ROGn93aBp" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="57ROGn93a$0" />
+            <ref role="3Ug1GI" node="57ROGn93a$0" resolve="link" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="57ROGn93aCk" role="3UgYNK">
         <node concept="3Ug1Ap" id="57ROGn93aDg" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="57ROGn93anR" />
+          <ref role="3Ug1Ao" node="57ROGn93anR" resolve="fault_deletion" />
         </node>
         <node concept="3Ug1GC" id="57ROGn93aCm" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="57ROGn92W6Q" />
+          <ref role="3Ug1Ha" node="57ROGn92W6Q" resolve="fault_deletion" />
           <node concept="3Ug1GJ" id="57ROGn93aCn" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="57ROGn93a$0" />
+            <ref role="3Ug1GI" node="57ROGn93a$0" resolve="link" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="57ROGn93aEf" role="3UgYNK">
         <node concept="3Ug1GC" id="57ROGn93aFc" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="57ROGn92W7E" />
+          <ref role="3Ug1Ha" node="57ROGn92W7E" resolve="NewDataAvailable" />
           <node concept="3Ug1GJ" id="57ROGn93aFb" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="57ROGn93a$0" />
+            <ref role="3Ug1GI" node="57ROGn93a$0" resolve="link" />
           </node>
         </node>
         <node concept="3Ug1GC" id="57ROGn93aFi" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="7Y21hZBdTe1" />
+          <ref role="3Ug1Ha" node="7Y21hZBdTe1" resolve="NewDataAvailable" />
           <node concept="3Ug1GJ" id="57ROGn93aFh" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="57ROGn93a$m" />
+            <ref role="3Ug1GI" node="57ROGn93a$m" resolve="device" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="57ROGn93aGs" role="3UgYNK">
         <node concept="3Ug1GC" id="57ROGn93aHz" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="57ROGn92W88" />
+          <ref role="3Ug1Ha" node="57ROGn92W88" resolve="ValidCRC" />
           <node concept="3Ug1GJ" id="57ROGn93aHy" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="57ROGn93a$0" />
+            <ref role="3Ug1GI" node="57ROGn93a$0" resolve="link" />
           </node>
         </node>
         <node concept="3Ug1GC" id="57ROGn93aHD" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="7Y21hZBdTe7" />
+          <ref role="3Ug1Ha" node="7Y21hZBdTe7" resolve="ValidCRC" />
           <node concept="3Ug1GJ" id="57ROGn93aHC" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="57ROGn93a$m" />
+            <ref role="3Ug1GI" node="57ROGn93a$m" resolve="device" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="57ROGn93aIX" role="3UgYNK">
         <node concept="3Ug1GC" id="57ROGn93aKe" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="57ROGn92W8E" />
+          <ref role="3Ug1Ha" node="57ROGn92W8E" resolve="out_message" />
           <node concept="3Ug1GJ" id="57ROGn93aKd" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="57ROGn93a$0" />
+            <ref role="3Ug1GI" node="57ROGn93a$0" resolve="link" />
           </node>
         </node>
         <node concept="3Ug1GC" id="57ROGn93aKk" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="7Y21hZBdTe9" />
+          <ref role="3Ug1Ha" node="7Y21hZBdTe9" resolve="message" />
           <node concept="3Ug1GJ" id="57ROGn93aKj" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="57ROGn93a$m" />
+            <ref role="3Ug1GI" node="57ROGn93a$m" resolve="device" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="57ROGn93aNP" role="3UgYNK">
         <node concept="3Ug1GC" id="57ROGn93aPF" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="7Y21hZBdTg$" />
+          <ref role="3Ug1Ha" node="7Y21hZBdTg$" resolve="exploded" />
           <node concept="3Ug1GJ" id="57ROGn93aPD" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="57ROGn93a$m" />
+            <ref role="3Ug1GI" node="57ROGn93a$m" resolve="device" />
           </node>
         </node>
         <node concept="3Ug1Ap" id="57ROGn93aPN" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="57ROGn93apy" />
+          <ref role="3Ug1Ao" node="57ROGn93apy" resolve="exploded" />
         </node>
       </node>
       <node concept="3UnI81" id="57ROGn93an5" role="3UnI9m">
@@ -8249,23 +8249,23 @@
                       <node concept="2Sa8AP" id="1wencriJ5Lq" role="2H9Ial">
                         <node concept="1yA0yd" id="1wencriJ5Lr" role="1yBIc4">
                           <node concept="hVCfL" id="1wencriJ5Ls" role="32OYtT">
-                            <ref role="hVCfQ" node="57ROGn92Yzz" />
+                            <ref role="hVCfQ" node="57ROGn92Yzz" resolve="fault" />
                             <node concept="3Ug1Ap" id="1wencriJ5Lt" role="hVCcu">
-                              <ref role="3Ug1Ao" node="57ROGn93anr" />
+                              <ref role="3Ug1Ao" node="57ROGn93anr" resolve="fault_corruption" />
                             </node>
                             <node concept="3Ug1Ap" id="1wencriJ5Lu" role="hVCcu">
-                              <ref role="3Ug1Ao" node="57ROGn93anR" />
+                              <ref role="3Ug1Ao" node="57ROGn93anR" resolve="fault_deletion" />
                             </node>
                           </node>
                         </node>
                       </node>
                       <node concept="hVCfL" id="1wencriJ5Lv" role="2H9Iav">
-                        <ref role="hVCfQ" node="57ROGn92Yzz" />
+                        <ref role="hVCfQ" node="57ROGn92Yzz" resolve="fault" />
                         <node concept="3Ug1Ap" id="1wencriJ5Lw" role="hVCcu">
-                          <ref role="3Ug1Ao" node="57ROGn93anr" />
+                          <ref role="3Ug1Ao" node="57ROGn93anr" resolve="fault_corruption" />
                         </node>
                         <node concept="3Ug1Ap" id="1wencriJ5Lx" role="hVCcu">
-                          <ref role="3Ug1Ao" node="57ROGn93anR" />
+                          <ref role="3Ug1Ao" node="57ROGn93anR" resolve="fault_deletion" />
                         </node>
                       </node>
                     </node>
@@ -8274,11 +8274,11 @@
                     <node concept="1yyYsf" id="1wencriJ5Lz" role="32OYtT">
                       <node concept="2SafMM" id="1wencriJ5L$" role="2H9Ial">
                         <node concept="3Ug1Ap" id="1wencriJ5L_" role="1yBIc4">
-                          <ref role="3Ug1Ao" node="57ROGn93an5" />
+                          <ref role="3Ug1Ao" node="57ROGn93an5" resolve="collision" />
                         </node>
                       </node>
                       <node concept="3Ug1Ap" id="1wencriJ5LA" role="2H9Iav">
-                        <ref role="3Ug1Ao" node="57ROGn93an5" />
+                        <ref role="3Ug1Ao" node="57ROGn93an5" resolve="collision" />
                       </node>
                     </node>
                   </node>
@@ -8291,11 +8291,11 @@
               <node concept="32OYss" id="1wencriJ5K2" role="1yBIc4">
                 <node concept="1yyYsf" id="1wencriJ5K3" role="32OYtT">
                   <node concept="3Ug1Ap" id="57ROGn93aqC" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="57ROGn93an5" />
+                    <ref role="3Ug1Ao" node="57ROGn93an5" resolve="collision" />
                   </node>
                   <node concept="2Sa3Mo" id="1wencriJ5K4" role="2H9Ial">
                     <node concept="3Ug1Ap" id="57ROGn93arc" role="1yBIc4">
-                      <ref role="3Ug1Ao" node="57ROGn93apy" />
+                      <ref role="3Ug1Ao" node="57ROGn93apy" resolve="exploded" />
                     </node>
                   </node>
                 </node>
@@ -8310,11 +8310,11 @@
           <node concept="32OYss" id="57ROGn93ayN" role="1yBIc4">
             <node concept="1yyYsf" id="57ROGn93az9" role="32OYtT">
               <node concept="3Ug1Ap" id="57ROGn93az1" role="2H9Iav">
-                <ref role="3Ug1Ao" node="57ROGn93apy" />
+                <ref role="3Ug1Ao" node="57ROGn93apy" resolve="exploded" />
               </node>
               <node concept="2Sa4HY" id="1wencriJ541" role="2H9Ial">
                 <node concept="3Ug1Ap" id="1wencriJ54e" role="1yBIc4">
-                  <ref role="3Ug1Ao" node="57ROGn93an5" />
+                  <ref role="3Ug1Ao" node="57ROGn93an5" resolve="collision" />
                 </node>
               </node>
             </node>
@@ -8498,7 +8498,7 @@
       </node>
       <node concept="2iDXIW" id="35$gPpxdqeP" role="0nOlf">
         <node concept="DABN8" id="6W1kQP6Bq6k" role="DABNk">
-          <ref role="DABNb" node="5P9zxa4g3IF" />
+          <ref role="DABNb" node="5P9zxa4g3IF" resolve="The airbag is deployed too early" />
         </node>
       </node>
       <node concept="1QQeAY" id="35$gPpxdqeQ" role="1QQeAC">
@@ -8531,7 +8531,7 @@
       </node>
       <node concept="2iDXIW" id="2sg$KXfW3G$" role="0nOlf">
         <node concept="DABN8" id="6W1kQP6Bq6l" role="DABNk">
-          <ref role="DABNb" node="5P9zxa4g3HE" />
+          <ref role="DABNb" node="5P9zxa4g3HE" resolve="The airbag is deployed when not nedeed" />
         </node>
       </node>
     </node>
@@ -8544,13 +8544,13 @@
         <node concept="JlCpM" id="2iCnExZGhYc" role="32O2ov">
           <property role="TrG5h" value="message" />
           <node concept="2He$iJ" id="2iCnExZGi6A" role="1zoetD">
-            <ref role="2He$iI" node="2iCnExZGhZv" />
+            <ref role="2He$iI" node="2iCnExZGhZv" resolve="my_message" />
           </node>
         </node>
         <node concept="JlCpM" id="2iCnExZGhYS" role="32O2ov">
           <property role="TrG5h" value="counter" />
           <node concept="2He$iJ" id="2iCnExZGi7a" role="1zoetD">
-            <ref role="2He$iI" node="2iCnExZGi0F" />
+            <ref role="2He$iI" node="2iCnExZGi0F" resolve="my_counter" />
           </node>
         </node>
       </node>
@@ -8584,45 +8584,45 @@
       <node concept="2Hfkzp" id="2iCnExZGi2Q" role="2HcbjO">
         <node concept="2HfkAV" id="2iCnExZGi3a" role="2HfkAP">
           <node concept="2He$iJ" id="2iCnExZGi3t" role="2He$ia">
-            <ref role="2He$iI" node="2iCnExZGhZv" />
+            <ref role="2He$iI" node="2iCnExZGhZv" resolve="my_message" />
           </node>
           <node concept="2HeeqP" id="2iCnExZGi41" role="2He$i0">
-            <ref role="2HeeqO" node="2iCnExZGhZZ" />
+            <ref role="2HeeqO" node="2iCnExZGhZZ" resolve="no_message" />
           </node>
         </node>
         <node concept="2HevG6" id="2iCnExZGi8k" role="2HfkAP">
           <node concept="2He$iJ" id="2iCnExZGi8L" role="2He$ia">
-            <ref role="2He$iI" node="2iCnExZGhZv" />
+            <ref role="2He$iI" node="2iCnExZGhZv" resolve="my_message" />
           </node>
           <node concept="2H9I2B" id="2iCnExZGi99" role="2He$i0">
             <node concept="2H9I2A" id="2iCnExZGiaG" role="2H9I2x">
               <node concept="32Ogvo" id="2iCnExZGiaE" role="2H9I4J">
-                <ref role="32Ogvr" node="2iCnExZGhXM" />
+                <ref role="32Ogvr" node="2iCnExZGhXM" resolve="collision" />
               </node>
               <node concept="2HeeqP" id="2iCnExZGib0" role="2H9I4_">
-                <ref role="2HeeqO" node="2iCnExZGi00" />
+                <ref role="2HeeqO" node="2iCnExZGi00" resolve="explode" />
               </node>
             </node>
             <node concept="2H9I2A" id="2iCnExZGibE" role="2H9I2x">
               <node concept="1yCjRe" id="2iCnExZGibC" role="2H9I4J" />
               <node concept="2HeeqP" id="2iCnExZGic0" role="2H9I4_">
-                <ref role="2HeeqO" node="2iCnExZGhZZ" />
+                <ref role="2HeeqO" node="2iCnExZGhZZ" resolve="no_message" />
               </node>
             </node>
           </node>
         </node>
         <node concept="2HevG6" id="2iCnExZGic3" role="2HfkAP">
           <node concept="2He$iJ" id="2iCnExZGicN" role="2He$ia">
-            <ref role="2He$iI" node="2iCnExZGi0F" />
+            <ref role="2He$iI" node="2iCnExZGi0F" resolve="my_counter" />
           </node>
           <node concept="2H9I2B" id="2iCnExZGid8" role="2He$i0">
             <node concept="2H9I2A" id="2iCnExZGies" role="2H9I2x">
               <node concept="dheZm" id="2iCnExZGieI" role="2H9I4J">
                 <node concept="2HeeqP" id="2iCnExZGigh" role="2H9Ial">
-                  <ref role="2HeeqO" node="2iCnExZGhZZ" />
+                  <ref role="2HeeqO" node="2iCnExZGhZZ" resolve="no_message" />
                 </node>
                 <node concept="2He$iJ" id="2iCnExZGieq" role="2H9Iav">
-                  <ref role="2He$iI" node="2iCnExZGhZv" />
+                  <ref role="2He$iI" node="2iCnExZGhZv" resolve="my_message" />
                 </node>
               </node>
               <node concept="32OhRp" id="2iCnExZGimI" role="2H9I4_">
@@ -8632,7 +8632,7 @@
                 <node concept="32OYss" id="2iCnExZGilg" role="2H9Iav">
                   <node concept="2H9FEB" id="2iCnExZGilh" role="32OYtT">
                     <node concept="2He$iJ" id="2iCnExZGihY" role="2H9Iav">
-                      <ref role="2He$iI" node="2iCnExZGi0F" />
+                      <ref role="2He$iI" node="2iCnExZGi0F" resolve="my_counter" />
                     </node>
                     <node concept="2IPVmt" id="2iCnExZGili" role="2H9Ial">
                       <property role="2IPVms" value="1" />
@@ -8644,21 +8644,21 @@
             <node concept="2H9I2A" id="2iCnExZGipp" role="2H9I2x">
               <node concept="2HbLFT" id="2iCnExZGipP" role="2H9I4J">
                 <node concept="2HeeqP" id="2iCnExZGirA" role="2H9Ial">
-                  <ref role="2HeeqO" node="2iCnExZGhZZ" />
+                  <ref role="2HeeqO" node="2iCnExZGhZZ" resolve="no_message" />
                 </node>
                 <node concept="2He$iJ" id="2iCnExZGipn" role="2H9Iav">
-                  <ref role="2He$iI" node="2iCnExZGhZv" />
+                  <ref role="2He$iI" node="2iCnExZGhZv" resolve="my_message" />
                 </node>
               </node>
               <node concept="2He$iJ" id="2iCnExZGitt" role="2H9I4_">
-                <ref role="2He$iI" node="2iCnExZGi0F" />
+                <ref role="2He$iI" node="2iCnExZGi0F" resolve="my_counter" />
               </node>
             </node>
           </node>
         </node>
         <node concept="2HfkAV" id="2iCnExZGi4K" role="2HfkAP">
           <node concept="2He$iJ" id="2iCnExZGi5l" role="2He$ia">
-            <ref role="2He$iI" node="2iCnExZGi0F" />
+            <ref role="2He$iI" node="2iCnExZGi0F" resolve="my_counter" />
           </node>
           <node concept="2IPVmt" id="2iCnExZGi5A" role="2He$i0">
             <property role="2IPVms" value="0" />
@@ -8672,10 +8672,10 @@
     <node concept="eml0t" id="2iCnExZGius" role="2HcuB8">
       <property role="TrG5h" value="sensorE2E_2_impl" />
       <node concept="3Ug1AZ" id="2iCnExZGivo" role="eml14">
-        <ref role="3Ug1AY" node="65VbbGlC$Mx" />
+        <ref role="3Ug1AY" node="65VbbGlC$Mx" resolve="Sensor" />
       </node>
       <node concept="eml1q" id="2iCnExZGivr" role="eml13">
-        <ref role="eml1l" node="2iCnExZGhX$" />
+        <ref role="eml1l" node="2iCnExZGhX$" resolve="sensor_e2e_impl" />
       </node>
     </node>
   </node>
@@ -8699,7 +8699,7 @@
         <node concept="JlCpM" id="2iCnExZGs4q" role="32O2ov">
           <property role="TrG5h" value="exploded" />
           <node concept="2He$iJ" id="2iCnExZGs9B" role="1zoetD">
-            <ref role="2He$iI" node="2iCnExZGs5T" />
+            <ref role="2He$iI" node="2iCnExZGs5T" resolve="my_exploded" />
           </node>
         </node>
       </node>
@@ -8712,13 +8712,13 @@
       <node concept="2Hfkzp" id="2iCnExZGsaq" role="2HcbjO">
         <node concept="2HfkAV" id="2iCnExZGsbA" role="2HfkAP">
           <node concept="2He$iJ" id="2iCnExZGsbW" role="2He$ia">
-            <ref role="2He$iI" node="2iCnExZGs5T" />
+            <ref role="2He$iI" node="2iCnExZGs5T" resolve="my_exploded" />
           </node>
           <node concept="1yCjT0" id="2iCnExZGscd" role="2He$i0" />
         </node>
         <node concept="2HevG6" id="2iCnExZGsbc" role="2HfkAP">
           <node concept="2He$iJ" id="2iCnExZGsbq" role="2He$ia">
-            <ref role="2He$iI" node="2iCnExZGs5T" />
+            <ref role="2He$iI" node="2iCnExZGs5T" resolve="my_exploded" />
           </node>
           <node concept="2H9I2B" id="2iCnExZGscD" role="2He$i0">
             <node concept="2H9I2A" id="2iCnExZGsdF" role="2H9I2x">
@@ -8726,18 +8726,18 @@
                 <node concept="2HbMbg" id="2iCnExZGshS" role="2H9Iav">
                   <node concept="2HbLFT" id="2iCnExZGshT" role="2H9Iav">
                     <node concept="32Ogvo" id="2iCnExZGsdE" role="2H9Iav">
-                      <ref role="32Ogvr" node="2iCnExZGs3W" />
+                      <ref role="32Ogvr" node="2iCnExZGs3W" resolve="message" />
                     </node>
                     <node concept="2HeeqP" id="2iCnExZGvMO" role="2H9Ial">
-                      <ref role="2HeeqO" node="2iCnExZGvME" />
+                      <ref role="2HeeqO" node="2iCnExZGvME" resolve="explode" />
                     </node>
                   </node>
                   <node concept="32Ogvo" id="2iCnExZGseT" role="2H9Ial">
-                    <ref role="32Ogvr" node="2iCnExZGs3F" />
+                    <ref role="32Ogvr" node="2iCnExZGs3F" resolve="NewDataAvailable" />
                   </node>
                 </node>
                 <node concept="32Ogvo" id="2iCnExZGsfB" role="2H9Ial">
-                  <ref role="32Ogvr" node="2iCnExZGs3S" />
+                  <ref role="32Ogvr" node="2iCnExZGs3S" resolve="ValidCRC" />
                 </node>
               </node>
               <node concept="1yCjRe" id="2iCnExZGsjX" role="2H9I4_" />
@@ -8745,7 +8745,7 @@
             <node concept="2H9I2A" id="2iCnExZGskC" role="2H9I2x">
               <node concept="1yCjRe" id="2iCnExZGskA" role="2H9I4J" />
               <node concept="2He$iJ" id="2iCnExZKuwt" role="2H9I4_">
-                <ref role="2He$iI" node="2iCnExZGs5T" />
+                <ref role="2He$iI" node="2iCnExZGs5T" resolve="my_exploded" />
               </node>
             </node>
           </node>
@@ -8764,10 +8764,10 @@
     <node concept="eml0t" id="2iCnExZGsuh" role="2HcuB8">
       <property role="TrG5h" value="device_2_device_impl" />
       <node concept="3Ug1AZ" id="68hjykAQtoh" role="eml14">
-        <ref role="3Ug1AY" node="65VbbGlC$Mz" />
+        <ref role="3Ug1AY" node="65VbbGlC$Mz" resolve="Device" />
       </node>
       <node concept="eml1q" id="2iCnExZGsvv" role="eml13">
-        <ref role="eml1l" node="2iCnExZGrZE" />
+        <ref role="eml1l" node="2iCnExZGrZE" resolve="device_impl" />
       </node>
     </node>
     <node concept="2SQmWS" id="2iCnExZGrZA" role="2HcuB8" />
@@ -8788,7 +8788,7 @@
         <node concept="JlCpM" id="1wencriE020" role="32O2ov">
           <property role="TrG5h" value="out_message" />
           <node concept="2HeeqP" id="1wencriE02L" role="1zoetD">
-            <ref role="2HeeqO" node="1wencriDZsu" />
+            <ref role="2HeeqO" node="1wencriDZsu" resolve="no_message" />
           </node>
         </node>
       </node>
@@ -8840,10 +8840,10 @@
       <property role="eqodo" value="true" />
       <property role="eqodr" value="10" />
       <node concept="3Ug1AZ" id="1wencriDZyP" role="eml14">
-        <ref role="3Ug1AY" node="65VbbGlC$My" />
+        <ref role="3Ug1AY" node="65VbbGlC$My" resolve="Link" />
       </node>
       <node concept="eml1q" id="1wencriDZta" role="eml13">
-        <ref role="eml1l" node="1wencriDZsl" />
+        <ref role="eml1l" node="1wencriDZsl" resolve="link_impl" />
       </node>
     </node>
   </node>
diff --git a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._010_charging_cable._010_safe_charging_cable.mps b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._010_charging_cable._010_safe_charging_cable.mps
index 3871f89f3..095bd9c1e 100644
--- a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._010_charging_cable._010_safe_charging_cable.mps
+++ b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._010_charging_cable._010_safe_charging_cable.mps
@@ -567,7 +567,7 @@
       </node>
       <node concept="2iDXIW" id="5kaUUWfwhcL" role="0nOlf">
         <node concept="DABN8" id="3TSGpjyFlXL" role="DABNk">
-          <ref role="DABNb" node="3TSGpjyEYYX" />
+          <ref role="DABNb" node="3TSGpjyEYYX" resolve="Electrical hazard" />
         </node>
       </node>
     </node>
@@ -590,7 +590,7 @@
       </node>
       <node concept="2iDXIW" id="5kaUUWfwhcQ" role="0nOlf">
         <node concept="DABN8" id="3TSGpjyFlXO" role="DABNk">
-          <ref role="DABNb" node="3TSGpjyEYYX" />
+          <ref role="DABNb" node="3TSGpjyEYYX" resolve="Electrical hazard" />
         </node>
       </node>
     </node>
@@ -600,64 +600,64 @@
     <node concept="1a6Z8w" id="3TSGpjyEYYX" role="8gIbH">
       <property role="TrG5h" value="Electrical hazard" />
       <property role="0lsPB" value="H01" />
-      <ref role="2HxXJk" node="2hOvri9WU6G" />
+      <ref role="2HxXJk" node="2hOvri9WU6G" resolve="Loss of life or serious injury to people" />
       <node concept="3h3uym" id="5ehf6dVA6bI" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNLe/E4" />
         <property role="3h3uzD" value="24PsEXFbNKN/S1" />
         <property role="3h3uzF" value="24PsEXFbNLp/C2" />
-        <ref role="3h3iM1" node="55oVyA0mSMy" />
+        <ref role="3h3iM1" node="55oVyA0mSMy" resolve="OS1" />
       </node>
     </node>
     <node concept="1a6Z8w" id="3TSGpjyFlEA" role="8gIbH">
       <property role="0lsPB" value="H02" />
       <property role="TrG5h" value="Explosion of the car" />
-      <ref role="2HxXJk" node="2hOvri9WU6G" />
+      <ref role="2HxXJk" node="2hOvri9WU6G" resolve="Loss of life or serious injury to people" />
       <node concept="3h3uym" id="5ehf6dVA6bL" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNLe/E4" />
         <property role="3h3uzD" value="24PsEXFbNKU/S3" />
         <property role="3h3uzF" value="24PsEXFbNLt/C3" />
-        <ref role="3h3iM1" node="55oVyA0mSMy" />
+        <ref role="3h3iM1" node="55oVyA0mSMy" resolve="OS1" />
       </node>
     </node>
     <node concept="1a6Z8w" id="3TSGpjyFlES" role="8gIbH">
       <property role="0lsPB" value="H03" />
       <property role="TrG5h" value="Cable temperature too high" />
-      <ref role="2HxXJk" node="2hOvri9WU6H" />
+      <ref role="2HxXJk" node="2hOvri9WU6H" resolve="Electrical damage (economic loss)" />
       <node concept="3h3uym" id="5ehf6dVA6bS" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNLe/E4" />
         <property role="3h3uzF" value="24PsEXFbNLp/C2" />
-        <ref role="3h3iM1" node="55oVyA0mSMy" />
+        <ref role="3h3iM1" node="55oVyA0mSMy" resolve="OS1" />
       </node>
     </node>
     <node concept="1a6Z8w" id="3TSGpjyFlFc" role="8gIbH">
       <property role="0lsPB" value="H04" />
       <property role="TrG5h" value="The cable catches fire" />
-      <ref role="2HxXJk" node="2hOvri9WU6H" />
+      <ref role="2HxXJk" node="2hOvri9WU6H" resolve="Electrical damage (economic loss)" />
       <node concept="3h3uym" id="5ehf6dVA6bV" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNLe/E4" />
         <property role="3h3uzD" value="24PsEXFbNKU/S3" />
         <property role="3h3uzF" value="24PsEXFbNLp/C2" />
-        <ref role="3h3iM1" node="55oVyA0mSMy" />
+        <ref role="3h3iM1" node="55oVyA0mSMy" resolve="OS1" />
       </node>
     </node>
     <node concept="1a6Z8w" id="3TSGpjyFlFy" role="8gIbH">
       <property role="0lsPB" value="H05" />
       <property role="TrG5h" value="Smoke comes out of the cable" />
-      <ref role="2HxXJk" node="2hOvri9WU6H" />
+      <ref role="2HxXJk" node="2hOvri9WU6H" resolve="Electrical damage (economic loss)" />
       <node concept="3h3uym" id="5ehf6dVA6bY" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNLe/E4" />
         <property role="3h3uzD" value="24PsEXFbNKQ/S2" />
         <property role="3h3uzF" value="24PsEXFbNLp/C2" />
-        <ref role="3h3iM1" node="55oVyA0mSMy" />
+        <ref role="3h3iM1" node="55oVyA0mSMy" resolve="OS1" />
       </node>
     </node>
     <node concept="1a6Z8w" id="3TSGpjyFlFU" role="8gIbH">
       <property role="0lsPB" value="H06" />
       <property role="TrG5h" value="Tripping" />
-      <ref role="2HxXJk" node="2hOvri9WU6G" />
+      <ref role="2HxXJk" node="2hOvri9WU6G" resolve="Loss of life or serious injury to people" />
       <node concept="3h3uym" id="5ehf6dVA8Ox" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNLe/E4" />
-        <ref role="3h3iM1" node="55oVyA0mSMy" />
+        <ref role="3h3iM1" node="55oVyA0mSMy" resolve="OS1" />
       </node>
     </node>
   </node>
@@ -678,19 +678,19 @@
       <node concept="3UnI81" id="5kaUUWfwhOj" role="3UnI9m">
         <property role="TrG5h" value="l" />
         <node concept="2XEmfi" id="pWUwO6CUdc" role="3UnI80">
-          <ref role="2XEmfl" node="pWUwO6CU8K" />
+          <ref role="2XEmfl" node="pWUwO6CU8K" resolve="current_range" />
         </node>
       </node>
       <node concept="3UnI81" id="5kaUUWfwhOK" role="3UnI9m">
         <property role="TrG5h" value="n" />
         <node concept="2XEmfi" id="pWUwO6CUdq" role="3UnI80">
-          <ref role="2XEmfl" node="pWUwO6CU8K" />
+          <ref role="2XEmfl" node="pWUwO6CU8K" resolve="current_range" />
         </node>
       </node>
       <node concept="3UnI81" id="5kaUUWfwhR2" role="3UnI9m">
         <property role="TrG5h" value="pe" />
         <node concept="2XEmfi" id="pWUwO6CUe9" role="3UnI80">
-          <ref role="2XEmfl" node="pWUwO6CU8K" />
+          <ref role="2XEmfl" node="pWUwO6CU8K" resolve="current_range" />
         </node>
       </node>
       <node concept="3UnI81" id="5kaUUWfwhUn" role="3UnI9m">
@@ -766,7 +766,7 @@
                 <node concept="2HbMbg" id="pWUwO6CSS0" role="2H9Iav">
                   <node concept="2HbLFT" id="pWUwO6CSS1" role="2H9Iav">
                     <node concept="3Ug1Ap" id="pWUwO6COta" role="2H9Iav">
-                      <ref role="3Ug1Ao" node="5kaUUWfwhOK" />
+                      <ref role="3Ug1Ao" node="5kaUUWfwhOK" resolve="n" />
                     </node>
                     <node concept="2IPVmt" id="pWUwO6CSS2" role="2H9Ial">
                       <property role="2IPVms" value="0" />
@@ -774,7 +774,7 @@
                   </node>
                   <node concept="2HbLFT" id="pWUwO6CSS3" role="2H9Ial">
                     <node concept="3Ug1Ap" id="pWUwO6COyJ" role="2H9Iav">
-                      <ref role="3Ug1Ao" node="5kaUUWfwhR2" />
+                      <ref role="3Ug1Ao" node="5kaUUWfwhR2" resolve="pe" />
                     </node>
                     <node concept="2IPVmt" id="pWUwO6CSS4" role="2H9Ial">
                       <property role="2IPVms" value="0" />
@@ -783,7 +783,7 @@
                 </node>
                 <node concept="2HbLFT" id="pWUwO6CSS5" role="2H9Ial">
                   <node concept="3Ug1Ap" id="pWUwO6CORf" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="5kaUUWfwhOj" />
+                    <ref role="3Ug1Ao" node="5kaUUWfwhOj" resolve="l" />
                   </node>
                   <node concept="2IPVmt" id="pWUwO6CSS6" role="2H9Ial">
                     <property role="2IPVms" value="0" />
@@ -794,10 +794,10 @@
                 <node concept="32OYss" id="pWUwO6CSTe" role="32OYtT">
                   <node concept="2HbMbg" id="pWUwO6CSTt" role="32OYtT">
                     <node concept="3Ug1Ap" id="pWUwO6CTUC" role="2H9Ial">
-                      <ref role="3Ug1Ao" node="5kaUUWfwhWX" />
+                      <ref role="3Ug1Ao" node="5kaUUWfwhWX" resolve="socket_connected" />
                     </node>
                     <node concept="3Ug1Ap" id="pWUwO6CSTo" role="2H9Iav">
-                      <ref role="3Ug1Ao" node="5kaUUWfwhUn" />
+                      <ref role="3Ug1Ao" node="5kaUUWfwhUn" resolve="ev_connected" />
                     </node>
                   </node>
                 </node>
@@ -816,7 +816,7 @@
         <node concept="2HbMbg" id="1ef6u74hUem" role="1yBDGv">
           <node concept="nE0YJ" id="1ef6u74hUen" role="2H9Iav">
             <node concept="3Ug1Ap" id="1ef6u74hU9B" role="2H9Iav">
-              <ref role="3Ug1Ao" node="1ef6u74hTR4" />
+              <ref role="3Ug1Ao" node="1ef6u74hTR4" resolve="voltage" />
             </node>
             <node concept="2IPVmt" id="1ef6u74hUeo" role="2H9Ial">
               <property role="2IPVms" value="225" />
@@ -827,7 +827,7 @@
               <property role="2IPVms" value="235" />
             </node>
             <node concept="3Ug1Ap" id="1ef6u74hUeJ" role="2H9Iav">
-              <ref role="3Ug1Ao" node="1ef6u74hTR4" />
+              <ref role="3Ug1Ao" node="1ef6u74hTR4" resolve="voltage" />
             </node>
           </node>
         </node>
@@ -842,7 +842,7 @@
         <node concept="2HbMbg" id="1ef6u74hUd1" role="1yBDGv">
           <node concept="nE0YJ" id="1ef6u74hUd2" role="2H9Iav">
             <node concept="3Ug1Ap" id="1ef6u74hUaj" role="2H9Iav">
-              <ref role="3Ug1Ao" node="1ef6u74hTRl" />
+              <ref role="3Ug1Ao" node="1ef6u74hTRl" resolve="intensity" />
             </node>
             <node concept="2IPVmt" id="1ef6u74hUd3" role="2H9Ial">
               <property role="2IPVms" value="14" />
@@ -853,7 +853,7 @@
               <property role="2IPVms" value="16" />
             </node>
             <node concept="3Ug1Ap" id="1ef6u74hUdo" role="2H9Iav">
-              <ref role="3Ug1Ao" node="1ef6u74hTRl" />
+              <ref role="3Ug1Ao" node="1ef6u74hTRl" resolve="intensity" />
             </node>
           </node>
         </node>
@@ -869,10 +869,10 @@
           <node concept="32OYss" id="1JJRV36A3BB" role="1yBIc4">
             <node concept="1yyYsf" id="1JJRV36A3OJ" role="32OYtT">
               <node concept="3Ug1Ap" id="1JJRV36A3Pb" role="2H9Ial">
-                <ref role="3Ug1Ao" node="1JJRV36A3xD" />
+                <ref role="3Ug1Ao" node="1JJRV36A3xD" resolve="powered_led" />
               </node>
               <node concept="3Ug1Ap" id="1JJRV36A3OE" role="2H9Iav">
-                <ref role="3Ug1Ao" node="5kaUUWfwhWX" />
+                <ref role="3Ug1Ao" node="5kaUUWfwhWX" resolve="socket_connected" />
               </node>
             </node>
           </node>
@@ -890,17 +890,17 @@
             <node concept="1yyYsf" id="5Jr7irfQCSv" role="32OYtT">
               <node concept="2HbMbg" id="5Jr7irfQCSw" role="2H9Iav">
                 <node concept="3Ug1Ap" id="5Jr7irfQCHK" role="2H9Iav">
-                  <ref role="3Ug1Ao" node="5kaUUWfwhWX" />
+                  <ref role="3Ug1Ao" node="5kaUUWfwhWX" resolve="socket_connected" />
                 </node>
                 <node concept="32OYss" id="5Jr7irfQCSx" role="2H9Ial">
                   <node concept="nE0YJ" id="5Jr7irfQCSy" role="32OYtT">
                     <node concept="2EDkE1" id="5Jr7irfQCHN" role="2H9Iav">
                       <node concept="2H9Eef" id="5Jr7irfQCHO" role="32OYtT">
                         <node concept="3Ug1Ap" id="5Jr7irfQCHP" role="2H9Ial">
-                          <ref role="3Ug1Ao" node="5kaUUWfwhOK" />
+                          <ref role="3Ug1Ao" node="5kaUUWfwhOK" resolve="n" />
                         </node>
                         <node concept="3Ug1Ap" id="5Jr7irfQCHQ" role="2H9Iav">
-                          <ref role="3Ug1Ao" node="5kaUUWfwhOj" />
+                          <ref role="3Ug1Ao" node="5kaUUWfwhOj" resolve="l" />
                         </node>
                       </node>
                     </node>
@@ -912,7 +912,7 @@
               </node>
               <node concept="2Sa8AP" id="5Jr7irfQCS$" role="2H9Ial">
                 <node concept="3Ug1Ap" id="5Jr7irfQCHW" role="1yBIc4">
-                  <ref role="3Ug1Ao" node="6ll6Fcue2YM" />
+                  <ref role="3Ug1Ao" node="6ll6Fcue2YM" resolve="disconnect_led" />
                 </node>
               </node>
             </node>
@@ -932,19 +932,19 @@
       <node concept="3UnI81" id="4bSVeFVFBMF" role="3UnI9m">
         <property role="TrG5h" value="l" />
         <node concept="2XEmfi" id="4bSVeFVFBMG" role="3UnI80">
-          <ref role="2XEmfl" node="pWUwO6CU8K" />
+          <ref role="2XEmfl" node="pWUwO6CU8K" resolve="current_range" />
         </node>
       </node>
       <node concept="3UnI81" id="4bSVeFVFBMH" role="3UnI9m">
         <property role="TrG5h" value="n" />
         <node concept="2XEmfi" id="4bSVeFVFBMI" role="3UnI80">
-          <ref role="2XEmfl" node="pWUwO6CU8K" />
+          <ref role="2XEmfl" node="pWUwO6CU8K" resolve="current_range" />
         </node>
       </node>
       <node concept="3UnI81" id="4bSVeFVFBMJ" role="3UnI9m">
         <property role="TrG5h" value="pe" />
         <node concept="2XEmfi" id="4bSVeFVFBMK" role="3UnI80">
-          <ref role="2XEmfl" node="pWUwO6CU8K" />
+          <ref role="2XEmfl" node="pWUwO6CU8K" resolve="current_range" />
         </node>
       </node>
       <node concept="3UnI81" id="4bSVeFVFBML" role="3UnI9m">
@@ -1050,7 +1050,7 @@
                 <node concept="2HbMbg" id="4bSVeFVFBMn" role="2H9Iav">
                   <node concept="2HbLFT" id="4bSVeFVFBMo" role="2H9Iav">
                     <node concept="3Ug1Ap" id="4bSVeFVFBMp" role="2H9Iav">
-                      <ref role="3Ug1Ao" node="4bSVeFVFBMH" />
+                      <ref role="3Ug1Ao" node="4bSVeFVFBMH" resolve="n" />
                     </node>
                     <node concept="2IPVmt" id="4bSVeFVFBMq" role="2H9Ial">
                       <property role="2IPVms" value="0" />
@@ -1058,7 +1058,7 @@
                   </node>
                   <node concept="2HbLFT" id="4bSVeFVFBMr" role="2H9Ial">
                     <node concept="3Ug1Ap" id="4bSVeFVFBMs" role="2H9Iav">
-                      <ref role="3Ug1Ao" node="4bSVeFVFBMJ" />
+                      <ref role="3Ug1Ao" node="4bSVeFVFBMJ" resolve="pe" />
                     </node>
                     <node concept="2IPVmt" id="4bSVeFVFBMt" role="2H9Ial">
                       <property role="2IPVms" value="0" />
@@ -1067,7 +1067,7 @@
                 </node>
                 <node concept="2HbLFT" id="4bSVeFVFBMu" role="2H9Ial">
                   <node concept="3Ug1Ap" id="4bSVeFVFBMv" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="4bSVeFVFBMF" />
+                    <ref role="3Ug1Ao" node="4bSVeFVFBMF" resolve="l" />
                   </node>
                   <node concept="2IPVmt" id="4bSVeFVFBMw" role="2H9Ial">
                     <property role="2IPVms" value="0" />
@@ -1078,10 +1078,10 @@
                 <node concept="32OYss" id="4bSVeFVFBMy" role="32OYtT">
                   <node concept="2HbMbg" id="4bSVeFVFBMz" role="32OYtT">
                     <node concept="3Ug1Ap" id="4bSVeFVFBM$" role="2H9Ial">
-                      <ref role="3Ug1Ao" node="4bSVeFVFBMN" />
+                      <ref role="3Ug1Ao" node="4bSVeFVFBMN" resolve="socket_connected" />
                     </node>
                     <node concept="3Ug1Ap" id="4bSVeFVFBM_" role="2H9Iav">
-                      <ref role="3Ug1Ao" node="4bSVeFVFBML" />
+                      <ref role="3Ug1Ao" node="4bSVeFVFBML" resolve="ev_connected" />
                     </node>
                   </node>
                 </node>
@@ -1100,7 +1100,7 @@
         <node concept="2HbMbg" id="1ef6u74hUgt" role="1yBDGv">
           <node concept="nE0YJ" id="1ef6u74hUgu" role="2H9Iav">
             <node concept="3Ug1Ap" id="1ef6u74hUoX" role="2H9Iav">
-              <ref role="3Ug1Ao" node="1ef6u74hUlN" />
+              <ref role="3Ug1Ao" node="1ef6u74hUlN" resolve="voltage" />
             </node>
             <node concept="2IPVmt" id="1ef6u74hUgw" role="2H9Ial">
               <property role="2IPVms" value="225" />
@@ -1111,7 +1111,7 @@
               <property role="2IPVms" value="235" />
             </node>
             <node concept="3Ug1Ap" id="1ef6u74hUp9" role="2H9Iav">
-              <ref role="3Ug1Ao" node="1ef6u74hUlN" />
+              <ref role="3Ug1Ao" node="1ef6u74hUlN" resolve="voltage" />
             </node>
           </node>
         </node>
@@ -1126,7 +1126,7 @@
         <node concept="2HbMbg" id="1ef6u74hUii" role="1yBDGv">
           <node concept="nE0YJ" id="1ef6u74hUij" role="2H9Iav">
             <node concept="3Ug1Ap" id="1ef6u74hUp1" role="2H9Iav">
-              <ref role="3Ug1Ao" node="1ef6u74hUmE" />
+              <ref role="3Ug1Ao" node="1ef6u74hUmE" resolve="intensity" />
             </node>
             <node concept="2IPVmt" id="1ef6u74hUil" role="2H9Ial">
               <property role="2IPVms" value="14" />
@@ -1137,7 +1137,7 @@
               <property role="2IPVms" value="18" />
             </node>
             <node concept="3Ug1Ap" id="1ef6u74hUpd" role="2H9Iav">
-              <ref role="3Ug1Ao" node="1ef6u74hUmE" />
+              <ref role="3Ug1Ao" node="1ef6u74hUmE" resolve="intensity" />
             </node>
           </node>
         </node>
@@ -1154,17 +1154,17 @@
             <node concept="1yyYsf" id="1JJRV36A1Le" role="32OYtT">
               <node concept="2HbMbg" id="1JJRV36A68A" role="2H9Iav">
                 <node concept="3Ug1Ap" id="1JJRV36A6fc" role="2H9Iav">
-                  <ref role="3Ug1Ao" node="4bSVeFVFBMN" />
+                  <ref role="3Ug1Ao" node="4bSVeFVFBMN" resolve="socket_connected" />
                 </node>
                 <node concept="32OYss" id="1JJRV36A1Lf" role="2H9Ial">
                   <node concept="nE0YJ" id="1JJRV36A1Lg" role="32OYtT">
                     <node concept="2EDkE1" id="1JJRV36A0vf" role="2H9Iav">
                       <node concept="2H9Eef" id="1JJRV36A0vt" role="32OYtT">
                         <node concept="3Ug1Ap" id="1JJRV36A0vB" role="2H9Ial">
-                          <ref role="3Ug1Ao" node="4bSVeFVFBMH" />
+                          <ref role="3Ug1Ao" node="4bSVeFVFBMH" resolve="n" />
                         </node>
                         <node concept="3Ug1Ap" id="1JJRV36A0vn" role="2H9Iav">
-                          <ref role="3Ug1Ao" node="4bSVeFVFBMF" />
+                          <ref role="3Ug1Ao" node="4bSVeFVFBMF" resolve="l" />
                         </node>
                       </node>
                     </node>
@@ -1178,10 +1178,10 @@
                 <node concept="32OYss" id="1JJRV36A1Lj" role="1yBIc4">
                   <node concept="2HbMbg" id="1JJRV36A1Lk" role="32OYtT">
                     <node concept="3Ug1Ap" id="1JJRV36A1Al" role="2H9Iav">
-                      <ref role="3Ug1Ao" node="4bSVeFVFBMB" />
+                      <ref role="3Ug1Ao" node="4bSVeFVFBMB" resolve="open_circuit" />
                     </node>
                     <node concept="3Ug1Ap" id="6ll6Fcue2YJ" role="2H9Ial">
-                      <ref role="3Ug1Ao" node="6ll6Fcue2NT" />
+                      <ref role="3Ug1Ao" node="6ll6Fcue2NT" resolve="disconnect_led" />
                     </node>
                   </node>
                 </node>
@@ -1204,16 +1204,16 @@
                 <node concept="32OYss" id="1JJRV36A1as" role="32OYtT">
                   <node concept="2HbMbg" id="1JJRV36A1au" role="32OYtT">
                     <node concept="3Ug1Ap" id="1JJRV36A1av" role="2H9Iav">
-                      <ref role="3Ug1Ao" node="4bSVeFVFBMN" />
+                      <ref role="3Ug1Ao" node="4bSVeFVFBMN" resolve="socket_connected" />
                     </node>
                     <node concept="3Ug1Ap" id="1JJRV36A1aw" role="2H9Ial">
-                      <ref role="3Ug1Ao" node="4bSVeFVFBML" />
+                      <ref role="3Ug1Ao" node="4bSVeFVFBML" resolve="ev_connected" />
                     </node>
                   </node>
                 </node>
               </node>
               <node concept="3Ug1Ap" id="1JJRV36A1v9" role="2H9Ial">
-                <ref role="3Ug1Ao" node="4bSVeFVFBMB" />
+                <ref role="3Ug1Ao" node="4bSVeFVFBMB" resolve="open_circuit" />
               </node>
             </node>
           </node>
@@ -1225,14 +1225,14 @@
           <node concept="32OYss" id="1JJRV36A5zD" role="1yBIc4">
             <node concept="1yyYsf" id="1JJRV36A5zE" role="32OYtT">
               <node concept="3Ug1Ap" id="1JJRV36A5_L" role="2H9Iav">
-                <ref role="3Ug1Ao" node="1JJRV36A5_4" />
+                <ref role="3Ug1Ao" node="1JJRV36A5_4" resolve="shutdown_button_pressed" />
               </node>
               <node concept="2HbMbg" id="1JJRV36A5zG" role="2H9Ial">
                 <node concept="3Ug1Ap" id="1JJRV36A5zH" role="2H9Iav">
-                  <ref role="3Ug1Ao" node="4bSVeFVFBMB" />
+                  <ref role="3Ug1Ao" node="4bSVeFVFBMB" resolve="open_circuit" />
                 </node>
                 <node concept="3Ug1Ap" id="1JJRV36A5zI" role="2H9Ial">
-                  <ref role="3Ug1Ao" node="6ll6Fcue2NT" />
+                  <ref role="3Ug1Ao" node="6ll6Fcue2NT" resolve="disconnect_led" />
                 </node>
               </node>
             </node>
@@ -1250,10 +1250,10 @@
           <node concept="32OYss" id="1JJRV36A6mT" role="1yBIc4">
             <node concept="1yyYsf" id="1JJRV36A6mU" role="32OYtT">
               <node concept="3Ug1Ap" id="1JJRV36A6mV" role="2H9Ial">
-                <ref role="3Ug1Ao" node="1JJRV36A5Cg" />
+                <ref role="3Ug1Ao" node="1JJRV36A5Cg" resolve="powered_led" />
               </node>
               <node concept="3Ug1Ap" id="1JJRV36A6mW" role="2H9Iav">
-                <ref role="3Ug1Ao" node="4bSVeFVFBMN" />
+                <ref role="3Ug1Ao" node="4bSVeFVFBMN" resolve="socket_connected" />
               </node>
             </node>
           </node>
@@ -1271,17 +1271,17 @@
             <node concept="1yyYsf" id="1JJRV36A6is" role="32OYtT">
               <node concept="1yA0yd" id="1JJRV36A6it" role="2H9Ial">
                 <node concept="3Ug1Ap" id="1JJRV36A6iu" role="32OYtT">
-                  <ref role="3Ug1Ao" node="4bSVeFVFBMB" />
+                  <ref role="3Ug1Ao" node="4bSVeFVFBMB" resolve="open_circuit" />
                 </node>
               </node>
               <node concept="32OYss" id="1JJRV36A6iv" role="2H9Iav">
                 <node concept="2HbMbg" id="1JJRV36A6iw" role="32OYtT">
                   <node concept="2HbMbg" id="1JJRV36A6ix" role="2H9Iav">
                     <node concept="3Ug1Ap" id="1JJRV36A6iy" role="2H9Iav">
-                      <ref role="3Ug1Ao" node="4bSVeFVFBMN" />
+                      <ref role="3Ug1Ao" node="4bSVeFVFBMN" resolve="socket_connected" />
                     </node>
                     <node concept="3Ug1Ap" id="1JJRV36A6iz" role="2H9Ial">
-                      <ref role="3Ug1Ao" node="4bSVeFVFBML" />
+                      <ref role="3Ug1Ao" node="4bSVeFVFBML" resolve="ev_connected" />
                     </node>
                   </node>
                   <node concept="32OYss" id="1JJRV36A6i$" role="2H9Ial">
@@ -1289,10 +1289,10 @@
                       <node concept="2EDkE1" id="1JJRV36A6iA" role="2H9Iav">
                         <node concept="2H9Eef" id="1JJRV36A6iB" role="32OYtT">
                           <node concept="3Ug1Ap" id="1JJRV36A6iC" role="2H9Ial">
-                            <ref role="3Ug1Ao" node="4bSVeFVFBMH" />
+                            <ref role="3Ug1Ao" node="4bSVeFVFBMH" resolve="n" />
                           </node>
                           <node concept="3Ug1Ap" id="1JJRV36A6iD" role="2H9Iav">
-                            <ref role="3Ug1Ao" node="4bSVeFVFBMF" />
+                            <ref role="3Ug1Ao" node="4bSVeFVFBMF" resolve="l" />
                           </node>
                         </node>
                       </node>
@@ -1339,14 +1339,14 @@
             <node concept="1yyYsf" id="1ef6u74hUsK" role="32OYtT">
               <node concept="2HbLFT" id="1ef6u74hUsL" role="2H9Iav">
                 <node concept="3Ug1Ap" id="1ef6u74hUpH" role="2H9Iav">
-                  <ref role="3Ug1Ao" node="4bSVeFVFBVW" />
+                  <ref role="3Ug1Ao" node="4bSVeFVFBVW" resolve="ping" />
                 </node>
                 <node concept="2IPVmt" id="1ef6u74hUsM" role="2H9Ial">
                   <property role="2IPVms" value="0" />
                 </node>
               </node>
               <node concept="3Ug1Ap" id="1ef6u74hUr2" role="2H9Ial">
-                <ref role="3Ug1Ao" node="4bSVeFVFBWj" />
+                <ref role="3Ug1Ao" node="4bSVeFVFBWj" resolve="reset" />
               </node>
             </node>
           </node>
@@ -1406,19 +1406,19 @@
       <node concept="3UnI9n" id="pWUwO6COmc" role="3UnI90">
         <property role="TrG5h" value="n" />
         <node concept="2XEmfi" id="pWUwO6CUeS" role="3UnI80">
-          <ref role="2XEmfl" node="pWUwO6CU8K" />
+          <ref role="2XEmfl" node="pWUwO6CU8K" resolve="current_range" />
         </node>
       </node>
       <node concept="3UnI9n" id="pWUwO6COmg" role="3UnI90">
         <property role="TrG5h" value="pe" />
         <node concept="2XEmfi" id="pWUwO6CUlh" role="3UnI80">
-          <ref role="2XEmfl" node="pWUwO6CU8K" />
+          <ref role="2XEmfl" node="pWUwO6CU8K" resolve="current_range" />
         </node>
       </node>
       <node concept="3UnI9n" id="pWUwO6COmk" role="3UnI90">
         <property role="TrG5h" value="l" />
         <node concept="2XEmfi" id="pWUwO6CUlI" role="3UnI80">
-          <ref role="2XEmfl" node="pWUwO6CU8K" />
+          <ref role="2XEmfl" node="pWUwO6CU8K" resolve="current_range" />
         </node>
       </node>
       <node concept="3UnI9n" id="6bDIMKp8hai" role="3UnI90">
@@ -1470,7 +1470,7 @@
         <node concept="2HbMbg" id="6bDIMKp8i9C" role="1yBDGv">
           <node concept="nE0YJ" id="6bDIMKp8hfK" role="2H9Iav">
             <node concept="3Ug1Ap" id="6bDIMKp8heL" role="2H9Iav">
-              <ref role="3Ug1Ao" node="6bDIMKp8hai" />
+              <ref role="3Ug1Ao" node="6bDIMKp8hai" resolve="voltage" />
             </node>
             <node concept="2IPVmt" id="6bDIMKp8hfL" role="2H9Ial">
               <property role="2IPVms" value="225" />
@@ -1481,7 +1481,7 @@
               <property role="2IPVms" value="235" />
             </node>
             <node concept="3Ug1Ap" id="6bDIMKp8hg8" role="2H9Iav">
-              <ref role="3Ug1Ao" node="6bDIMKp8hai" />
+              <ref role="3Ug1Ao" node="6bDIMKp8hai" resolve="voltage" />
             </node>
           </node>
         </node>
@@ -1496,7 +1496,7 @@
         <node concept="2HbMbg" id="6bDIMKp8iak" role="1yBDGv">
           <node concept="nE0YJ" id="6bDIMKp8hji" role="2H9Iav">
             <node concept="3Ug1Ap" id="6bDIMKp8hiu" role="2H9Iav">
-              <ref role="3Ug1Ao" node="6bDIMKp8hd6" />
+              <ref role="3Ug1Ao" node="6bDIMKp8hd6" resolve="intensity" />
             </node>
             <node concept="2IPVmt" id="6bDIMKp8hjj" role="2H9Ial">
               <property role="2IPVms" value="14" />
@@ -1507,7 +1507,7 @@
               <property role="2IPVms" value="18" />
             </node>
             <node concept="3Ug1Ap" id="6bDIMKp8hjG" role="2H9Iav">
-              <ref role="3Ug1Ao" node="6bDIMKp8hd6" />
+              <ref role="3Ug1Ao" node="6bDIMKp8hd6" resolve="intensity" />
             </node>
           </node>
         </node>
@@ -1524,18 +1524,18 @@
       <property role="3Ijkdo" value="0" />
       <property role="TrG5h" value="controlBox_impl" />
       <node concept="3Ug1AZ" id="6TziiKuhweK" role="2p5x1W">
-        <ref role="3Ug1AY" node="65VbbGlC$M_" />
+        <ref role="3Ug1AY" node="65VbbGlC$M_" resolve="ControlBox" />
       </node>
       <node concept="3Ug1AV" id="6TziiKuhweO" role="3UgYNK">
         <property role="TrG5h" value="controller" />
         <node concept="3Ug1AZ" id="6TziiKuhweN" role="3Ug1A_">
-          <ref role="3Ug1AY" node="65VbbGlC$MA" />
+          <ref role="3Ug1AY" node="65VbbGlC$MA" resolve="ChargingCableController" />
         </node>
       </node>
       <node concept="3Ug1AV" id="6TziiKuhweX" role="3UgYNK">
         <property role="TrG5h" value="watchDog" />
         <node concept="3Ug1AZ" id="6TziiKuhweV" role="3Ug1A_">
-          <ref role="3Ug1AY" node="65VbbGlC$MB" />
+          <ref role="3Ug1AY" node="65VbbGlC$MB" resolve="WatchDog" />
         </node>
         <node concept="0Sh09" id="7n39yospaYn" role="lGtFl">
           <node concept="hnKMr" id="55oVyA0rar1" role="hnKMk">
@@ -1546,26 +1546,26 @@
       <node concept="3Ug1AV" id="6W1kQP6__5$" role="3UgYNK">
         <property role="TrG5h" value="circuitBreaker" />
         <node concept="3Ug1AZ" id="6W1kQP6__5y" role="3Ug1A_">
-          <ref role="3Ug1AY" node="65VbbGlC$MC" />
+          <ref role="3Ug1AY" node="65VbbGlC$MC" resolve="CircuitBreaker" />
         </node>
       </node>
       <node concept="3Ug1AV" id="6W1kQP6__X6" role="3UgYNK">
         <property role="TrG5h" value="tempSensor" />
         <node concept="3Ug1AZ" id="6W1kQP6__X4" role="3Ug1A_">
-          <ref role="3Ug1AY" node="65VbbGlC$MD" />
+          <ref role="3Ug1AY" node="65VbbGlC$MD" resolve="TemperatureSensor" />
         </node>
       </node>
       <node concept="3Ug1$w" id="6TziiKuhwiN" role="3UgYNK">
         <node concept="3Ug1GC" id="6TziiKuhwiO" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4bSVeFVFBVu" />
+          <ref role="3Ug1Ha" node="4bSVeFVFBVu" resolve="pingWatchDog" />
           <node concept="3Ug1GJ" id="6TziiKuhwiP" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="6TziiKuhweO" />
+            <ref role="3Ug1GI" node="6TziiKuhweO" resolve="controller" />
           </node>
         </node>
         <node concept="3Ug1GC" id="6TziiKuhwiQ" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4bSVeFVFBVW" />
+          <ref role="3Ug1Ha" node="4bSVeFVFBVW" resolve="ping" />
           <node concept="3Ug1GJ" id="6TziiKuhwiR" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="6TziiKuhweX" />
+            <ref role="3Ug1GI" node="6TziiKuhweX" resolve="watchDog" />
           </node>
         </node>
         <node concept="0Sh09" id="7n39yospaYp" role="lGtFl">
@@ -1576,15 +1576,15 @@
       </node>
       <node concept="3Ug1$w" id="6TziiKuhwkD" role="3UgYNK">
         <node concept="3Ug1GC" id="6TziiKuhwkE" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4bSVeFVFBWj" />
+          <ref role="3Ug1Ha" node="4bSVeFVFBWj" resolve="reset" />
           <node concept="3Ug1GJ" id="6TziiKuhwkF" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="6TziiKuhweX" />
+            <ref role="3Ug1GI" node="6TziiKuhweX" resolve="watchDog" />
           </node>
         </node>
         <node concept="3Ug1GC" id="6TziiKuhwkG" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4bSVeFVFBWC" />
+          <ref role="3Ug1Ha" node="4bSVeFVFBWC" resolve="reset" />
           <node concept="3Ug1GJ" id="6TziiKuhwkH" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="6TziiKuhweO" />
+            <ref role="3Ug1GI" node="6TziiKuhweO" resolve="controller" />
           </node>
         </node>
         <node concept="0Sh09" id="7n39yospaYr" role="lGtFl">
@@ -1595,161 +1595,161 @@
       </node>
       <node concept="3Ug1$w" id="34jvijxCpur" role="3UgYNK">
         <node concept="3Ug1Ap" id="34jvijxCpxU" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="5kaUUWfwhOj" />
+          <ref role="3Ug1Ao" node="5kaUUWfwhOj" resolve="l" />
         </node>
         <node concept="3Ug1GC" id="34jvijxCpA5" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4bSVeFVFBMF" />
+          <ref role="3Ug1Ha" node="4bSVeFVFBMF" resolve="l" />
           <node concept="3Ug1GJ" id="34jvijxCpA4" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="6TziiKuhweO" />
+            <ref role="3Ug1GI" node="6TziiKuhweO" resolve="controller" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="34jvijxCpFi" role="3UgYNK">
         <node concept="3Ug1Ap" id="34jvijxCpKa" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="5kaUUWfwhOK" />
+          <ref role="3Ug1Ao" node="5kaUUWfwhOK" resolve="n" />
         </node>
         <node concept="3Ug1GC" id="34jvijxCpFk" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4bSVeFVFBMH" />
+          <ref role="3Ug1Ha" node="4bSVeFVFBMH" resolve="n" />
           <node concept="3Ug1GJ" id="34jvijxCpFl" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="6TziiKuhweO" />
+            <ref role="3Ug1GI" node="6TziiKuhweO" resolve="controller" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="34jvijxCpFO" role="3UgYNK">
         <node concept="3Ug1Ap" id="34jvijxCpUx" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="5kaUUWfwhR2" />
+          <ref role="3Ug1Ao" node="5kaUUWfwhR2" resolve="pe" />
         </node>
         <node concept="3Ug1GC" id="34jvijxCpFQ" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4bSVeFVFBMJ" />
+          <ref role="3Ug1Ha" node="4bSVeFVFBMJ" resolve="pe" />
           <node concept="3Ug1GJ" id="34jvijxCpFR" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="6TziiKuhweO" />
+            <ref role="3Ug1GI" node="6TziiKuhweO" resolve="controller" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="34jvijxCpGq" role="3UgYNK">
         <node concept="3Ug1Ap" id="34jvijxCpXE" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="5kaUUWfwhUn" />
+          <ref role="3Ug1Ao" node="5kaUUWfwhUn" resolve="ev_connected" />
         </node>
         <node concept="3Ug1GC" id="34jvijxCpGs" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4bSVeFVFBML" />
+          <ref role="3Ug1Ha" node="4bSVeFVFBML" resolve="ev_connected" />
           <node concept="3Ug1GJ" id="34jvijxCpGt" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="6TziiKuhweO" />
+            <ref role="3Ug1GI" node="6TziiKuhweO" resolve="controller" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="34jvijxCq0N" role="3UgYNK">
         <node concept="3Ug1Ap" id="34jvijxCq4B" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="5kaUUWfwhWX" />
+          <ref role="3Ug1Ao" node="5kaUUWfwhWX" resolve="socket_connected" />
         </node>
         <node concept="3Ug1GC" id="34jvijxCq0P" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4bSVeFVFBMN" />
+          <ref role="3Ug1Ha" node="4bSVeFVFBMN" resolve="socket_connected" />
           <node concept="3Ug1GJ" id="34jvijxCq0Q" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="6TziiKuhweO" />
+            <ref role="3Ug1GI" node="6TziiKuhweO" resolve="controller" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="6W1kQP6__at" role="3UgYNK">
         <node concept="3Ug1GC" id="6W1kQP6__au" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4bSVeFVFBMB" />
+          <ref role="3Ug1Ha" node="4bSVeFVFBMB" resolve="open_circuit" />
           <node concept="3Ug1GJ" id="6W1kQP6__av" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="6TziiKuhweO" />
+            <ref role="3Ug1GI" node="6TziiKuhweO" resolve="controller" />
           </node>
         </node>
         <node concept="3Ug1GC" id="6W1kQP6__aw" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="6W1kQP6__4$" />
+          <ref role="3Ug1Ha" node="6W1kQP6__4$" resolve="open_cmd" />
           <node concept="3Ug1GJ" id="6W1kQP6__ax" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="6W1kQP6__5$" />
+            <ref role="3Ug1GI" node="6W1kQP6__5$" resolve="circuitBreaker" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="6W1kQP6_Ae5" role="3UgYNK">
         <node concept="3Ug1GC" id="6W1kQP6_Ae6" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="5Jr7irfQDmq" />
+          <ref role="3Ug1Ha" node="5Jr7irfQDmq" resolve="temperature" />
           <node concept="3Ug1GJ" id="6W1kQP6_Ae7" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="6W1kQP6__X6" />
+            <ref role="3Ug1GI" node="6W1kQP6__X6" resolve="tempSensor" />
           </node>
         </node>
         <node concept="3Ug1GC" id="6W1kQP6_Ae8" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="6W1kQP6__q8" />
+          <ref role="3Ug1Ha" node="6W1kQP6__q8" resolve="controlBox_temperature" />
           <node concept="3Ug1GJ" id="6W1kQP6_Ae9" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="6TziiKuhweO" />
+            <ref role="3Ug1GI" node="6TziiKuhweO" resolve="controller" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="6W1kQP6_Ars" role="3UgYNK">
         <node concept="3Ug1Ap" id="6W1kQP6_Asi" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="6W1kQP6__tV" />
+          <ref role="3Ug1Ao" node="6W1kQP6__tV" resolve="ev_end_temperature" />
         </node>
         <node concept="3Ug1GC" id="6W1kQP6_Asl" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="1ef6u74hUn_" />
+          <ref role="3Ug1Ha" node="1ef6u74hUn_" resolve="ev_end_temperature" />
           <node concept="3Ug1GJ" id="6W1kQP6_Ask" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="6TziiKuhweO" />
+            <ref role="3Ug1GI" node="6TziiKuhweO" resolve="controller" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="6W1kQP6_Ath" role="3UgYNK">
         <node concept="3Ug1Ap" id="6W1kQP6_Aub" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="6W1kQP6__A9" />
+          <ref role="3Ug1Ao" node="6W1kQP6__A9" resolve="socket_end_temperature" />
         </node>
         <node concept="3Ug1GC" id="6W1kQP6_Aue" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="6W1kQP6__ni" />
+          <ref role="3Ug1Ha" node="6W1kQP6__ni" resolve="socket_end_temperature" />
           <node concept="3Ug1GJ" id="6W1kQP6_Aud" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="6TziiKuhweO" />
+            <ref role="3Ug1GI" node="6TziiKuhweO" resolve="controller" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="6W1kQP6_Azn" role="3UgYNK">
         <node concept="3Ug1Ap" id="6W1kQP6_A$l" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="6ll6Fcue342" />
+          <ref role="3Ug1Ao" node="6ll6Fcue342" resolve="shutdown_button_pressed" />
         </node>
         <node concept="3Ug1GC" id="6W1kQP6_A$o" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="1JJRV36A5_4" />
+          <ref role="3Ug1Ha" node="1JJRV36A5_4" resolve="shutdown_button_pressed" />
           <node concept="3Ug1GJ" id="6W1kQP6_A$n" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="6TziiKuhweO" />
+            <ref role="3Ug1GI" node="6TziiKuhweO" resolve="controller" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="6W1kQP6_A_s" role="3UgYNK">
         <node concept="3Ug1GC" id="6W1kQP6_AAv" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="1JJRV36A5Cg" />
+          <ref role="3Ug1Ha" node="1JJRV36A5Cg" resolve="powered_led" />
           <node concept="3Ug1GJ" id="6W1kQP6_AAu" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="6TziiKuhweO" />
+            <ref role="3Ug1GI" node="6TziiKuhweO" resolve="controller" />
           </node>
         </node>
         <node concept="3Ug1Ap" id="6W1kQP6_AAy" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="1JJRV36A3xD" />
+          <ref role="3Ug1Ao" node="1JJRV36A3xD" resolve="powered_led" />
         </node>
       </node>
       <node concept="3Ug1$w" id="6W1kQP6_ABD" role="3UgYNK">
         <node concept="3Ug1GC" id="6W1kQP6_ACK" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="6ll6Fcue2NT" />
+          <ref role="3Ug1Ha" node="6ll6Fcue2NT" resolve="disconnect_led" />
           <node concept="3Ug1GJ" id="6W1kQP6_ACJ" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="6TziiKuhweO" />
+            <ref role="3Ug1GI" node="6TziiKuhweO" resolve="controller" />
           </node>
         </node>
         <node concept="3Ug1Ap" id="6W1kQP6_ACN" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="6ll6Fcue2YM" />
+          <ref role="3Ug1Ao" node="6ll6Fcue2YM" resolve="disconnect_led" />
         </node>
       </node>
       <node concept="3Ug1$w" id="6W1kQP6_AHc" role="3UgYNK">
         <node concept="3Ug1Ap" id="6W1kQP6_AIm" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="1ef6u74hTR4" />
+          <ref role="3Ug1Ao" node="1ef6u74hTR4" resolve="voltage" />
         </node>
         <node concept="3Ug1GC" id="6W1kQP6_AIp" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="1ef6u74hUlN" />
+          <ref role="3Ug1Ha" node="1ef6u74hUlN" resolve="voltage" />
           <node concept="3Ug1GJ" id="6W1kQP6_AIo" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="6TziiKuhweO" />
+            <ref role="3Ug1GI" node="6TziiKuhweO" resolve="controller" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="6W1kQP6_AJD" role="3UgYNK">
         <node concept="3Ug1Ap" id="6W1kQP6_AKR" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="1ef6u74hTRl" />
+          <ref role="3Ug1Ao" node="1ef6u74hTRl" resolve="intensity" />
         </node>
         <node concept="3Ug1GC" id="6W1kQP6_AKU" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="1ef6u74hUmE" />
+          <ref role="3Ug1Ha" node="1ef6u74hUmE" resolve="intensity" />
           <node concept="3Ug1GJ" id="6W1kQP6_AKT" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="6TziiKuhweO" />
+            <ref role="3Ug1GI" node="6TziiKuhweO" resolve="controller" />
           </node>
         </node>
       </node>
@@ -2361,170 +2361,170 @@
       <node concept="3Ug1AV" id="5kaUUWfwhZs" role="3UgYNK">
         <property role="TrG5h" value="controlBox" />
         <node concept="3Ug1AZ" id="6TziiKuhwf2" role="3Ug1A_">
-          <ref role="3Ug1AY" node="65VbbGlC$MI" />
+          <ref role="3Ug1AY" node="65VbbGlC$MI" resolve="controlBox_impl" />
         </node>
       </node>
       <node concept="3Ug1AV" id="5kaUUWfwi0D" role="3UgYNK">
         <property role="TrG5h" value="evSensors" />
         <node concept="3Ug1AZ" id="5kaUUWfwi5r" role="3Ug1A_">
-          <ref role="3Ug1AY" node="65VbbGlC$MF" />
+          <ref role="3Ug1AY" node="65VbbGlC$MF" resolve="EVSensors" />
         </node>
       </node>
       <node concept="3Ug1AV" id="pWUwO6CTVe" role="3UgYNK">
         <property role="TrG5h" value="cableSensors" />
         <node concept="3Ug1AZ" id="pWUwO6CTVc" role="3Ug1A_">
-          <ref role="3Ug1AY" node="65VbbGlC$MH" />
+          <ref role="3Ug1AY" node="65VbbGlC$MH" resolve="CableSensors" />
         </node>
       </node>
       <node concept="3Ug1AV" id="pWUwO6COce" role="3UgYNK">
         <property role="TrG5h" value="socketSensors" />
         <node concept="3Ug1AZ" id="pWUwO6COcf" role="3Ug1A_">
-          <ref role="3Ug1AY" node="65VbbGlC$MG" />
+          <ref role="3Ug1AY" node="65VbbGlC$MG" resolve="SocketSensors" />
         </node>
       </node>
       <node concept="3Ug1AV" id="66sW2d$Fi9h" role="3UgYNK">
         <property role="TrG5h" value="shutdownButton" />
         <node concept="3Ug1AZ" id="66sW2d$Fi9f" role="3Ug1A_">
-          <ref role="3Ug1AY" node="65VbbGlC$ME" />
+          <ref role="3Ug1AY" node="65VbbGlC$ME" resolve="ShutdownButton" />
         </node>
       </node>
       <node concept="3Ug1$w" id="5kaUUWfwi5F" role="3UgYNK">
         <node concept="3Ug1GC" id="pWUwO6CO2X" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="pWUwO6COmk" />
+          <ref role="3Ug1Ha" node="pWUwO6COmk" resolve="l" />
           <node concept="3Ug1GJ" id="pWUwO6CTVK" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="pWUwO6CTVe" />
+            <ref role="3Ug1GI" node="pWUwO6CTVe" resolve="cableSensors" />
           </node>
         </node>
         <node concept="3Ug1GC" id="5kaUUWfwi5Y" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="5kaUUWfwhOj" />
+          <ref role="3Ug1Ha" node="5kaUUWfwhOj" resolve="l" />
           <node concept="3Ug1GJ" id="5kaUUWfwi5X" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5kaUUWfwhZs" />
+            <ref role="3Ug1GI" node="5kaUUWfwhZs" resolve="controlBox" />
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         </node>
       </node>
       <node concept="3Ug1$w" id="5kaUUWfwi6j" role="3UgYNK">
         <node concept="3Ug1GC" id="5kaUUWfwi6B" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="5kaUUWfwhWy" />
+          <ref role="3Ug1Ha" node="5kaUUWfwhWy" resolve="ev_connected" />
           <node concept="3Ug1GJ" id="5kaUUWfwi6A" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5kaUUWfwi0D" />
+            <ref role="3Ug1GI" node="5kaUUWfwi0D" resolve="evSensors" />
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         </node>
         <node concept="3Ug1GC" id="5kaUUWfwi6F" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="5kaUUWfwhUn" />
+          <ref role="3Ug1Ha" node="5kaUUWfwhUn" resolve="ev_connected" />
           <node concept="3Ug1GJ" id="5kaUUWfwi6E" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5kaUUWfwhZs" />
+            <ref role="3Ug1GI" node="5kaUUWfwhZs" resolve="controlBox" />
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       </node>
       <node concept="3Ug1$w" id="5kaUUWfwi75" role="3UgYNK">
         <node concept="3Ug1GC" id="5kaUUWfwi7u" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="pWUwO6COmc" />
+          <ref role="3Ug1Ha" node="pWUwO6COmc" resolve="n" />
           <node concept="3Ug1GJ" id="pWUwO6CTVN" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="pWUwO6CTVe" />
+            <ref role="3Ug1GI" node="pWUwO6CTVe" resolve="cableSensors" />
           </node>
         </node>
         <node concept="3Ug1GC" id="5kaUUWfwi7y" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="5kaUUWfwhOK" />
+          <ref role="3Ug1Ha" node="5kaUUWfwhOK" resolve="n" />
           <node concept="3Ug1GJ" id="5kaUUWfwi7x" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5kaUUWfwhZs" />
+            <ref role="3Ug1GI" node="5kaUUWfwhZs" resolve="controlBox" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="5kaUUWfwi81" role="3UgYNK">
         <node concept="3Ug1GC" id="5kaUUWfwi8v" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="pWUwO6COmg" />
+          <ref role="3Ug1Ha" node="pWUwO6COmg" resolve="pe" />
           <node concept="3Ug1GJ" id="pWUwO6CTVQ" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="pWUwO6CTVe" />
+            <ref role="3Ug1GI" node="pWUwO6CTVe" resolve="cableSensors" />
           </node>
         </node>
         <node concept="3Ug1GC" id="5kaUUWfwi8z" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="5kaUUWfwhR2" />
+          <ref role="3Ug1Ha" node="5kaUUWfwhR2" resolve="pe" />
           <node concept="3Ug1GJ" id="5kaUUWfwi8y" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5kaUUWfwhZs" />
+            <ref role="3Ug1GI" node="5kaUUWfwhZs" resolve="controlBox" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="pWUwO6COdG" role="3UgYNK">
         <node concept="3Ug1GC" id="pWUwO6COdH" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="pWUwO6CObN" />
+          <ref role="3Ug1Ha" node="pWUwO6CObN" resolve="socket_connected" />
           <node concept="3Ug1GJ" id="pWUwO6COdI" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="pWUwO6COce" />
+            <ref role="3Ug1GI" node="pWUwO6COce" resolve="socketSensors" />
           </node>
         </node>
         <node concept="3Ug1GC" id="pWUwO6COdJ" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="5kaUUWfwhWX" />
+          <ref role="3Ug1Ha" node="5kaUUWfwhWX" resolve="socket_connected" />
           <node concept="3Ug1GJ" id="pWUwO6COdK" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5kaUUWfwhZs" />
+            <ref role="3Ug1GI" node="5kaUUWfwhZs" resolve="controlBox" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="6W1kQP6_AR1" role="3UgYNK">
         <node concept="3Ug1GC" id="6W1kQP6_ARA" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="6bDIMKp8hki" />
+          <ref role="3Ug1Ha" node="6bDIMKp8hki" resolve="ev_end_temperature" />
           <node concept="3Ug1GJ" id="6W1kQP6_AR_" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="pWUwO6CTVe" />
+            <ref role="3Ug1GI" node="pWUwO6CTVe" resolve="cableSensors" />
           </node>
         </node>
         <node concept="3Ug1GC" id="6W1kQP6_ARE" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="6W1kQP6__tV" />
+          <ref role="3Ug1Ha" node="6W1kQP6__tV" resolve="ev_end_temperature" />
           <node concept="3Ug1GJ" id="6W1kQP6_ARD" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5kaUUWfwhZs" />
+            <ref role="3Ug1GI" node="5kaUUWfwhZs" resolve="controlBox" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="6W1kQP6_ASl" role="3UgYNK">
         <node concept="3Ug1GC" id="6W1kQP6_ASZ" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="6W1kQP6__KJ" />
+          <ref role="3Ug1Ha" node="6W1kQP6__KJ" resolve="socket_end_temperature" />
           <node concept="3Ug1GJ" id="6W1kQP6_ASY" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="pWUwO6CTVe" />
+            <ref role="3Ug1GI" node="pWUwO6CTVe" resolve="cableSensors" />
           </node>
         </node>
         <node concept="3Ug1GC" id="6W1kQP6_AT3" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="6W1kQP6__A9" />
+          <ref role="3Ug1Ha" node="6W1kQP6__A9" resolve="socket_end_temperature" />
           <node concept="3Ug1GJ" id="6W1kQP6_AT2" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5kaUUWfwhZs" />
+            <ref role="3Ug1GI" node="5kaUUWfwhZs" resolve="controlBox" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="6W1kQP6_ATN" role="3UgYNK">
         <node concept="3Ug1GC" id="6W1kQP6_AUy" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="6bDIMKp8hd6" />
+          <ref role="3Ug1Ha" node="6bDIMKp8hd6" resolve="intensity" />
           <node concept="3Ug1GJ" id="6W1kQP6_AUx" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="pWUwO6CTVe" />
+            <ref role="3Ug1GI" node="pWUwO6CTVe" resolve="cableSensors" />
           </node>
         </node>
         <node concept="3Ug1GC" id="6W1kQP6_AUA" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="1ef6u74hTRl" />
+          <ref role="3Ug1Ha" node="1ef6u74hTRl" resolve="intensity" />
           <node concept="3Ug1GJ" id="6W1kQP6_AU_" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5kaUUWfwhZs" />
+            <ref role="3Ug1GI" node="5kaUUWfwhZs" resolve="controlBox" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="6W1kQP6_AVr" role="3UgYNK">
         <node concept="3Ug1GC" id="6W1kQP6_AWf" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="6bDIMKp8hai" />
+          <ref role="3Ug1Ha" node="6bDIMKp8hai" resolve="voltage" />
           <node concept="3Ug1GJ" id="6W1kQP6_AWe" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="pWUwO6CTVe" />
+            <ref role="3Ug1GI" node="pWUwO6CTVe" resolve="cableSensors" />
           </node>
         </node>
         <node concept="3Ug1GC" id="6W1kQP6_AWj" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="1ef6u74hTR4" />
+          <ref role="3Ug1Ha" node="1ef6u74hTR4" resolve="voltage" />
           <node concept="3Ug1GJ" id="6W1kQP6_AWi" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5kaUUWfwhZs" />
+            <ref role="3Ug1GI" node="5kaUUWfwhZs" resolve="controlBox" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="66sW2d$FibY" role="3UgYNK">
         <node concept="3Ug1GC" id="66sW2d$FicT" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="66sW2d$Fi7Y" />
+          <ref role="3Ug1Ha" node="66sW2d$Fi7Y" resolve="pressed" />
           <node concept="3Ug1GJ" id="66sW2d$FicS" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="66sW2d$Fi9h" />
+            <ref role="3Ug1GI" node="66sW2d$Fi9h" resolve="shutdownButton" />
           </node>
         </node>
         <node concept="3Ug1GC" id="66sW2d$FicX" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="6ll6Fcue342" />
+          <ref role="3Ug1Ha" node="6ll6Fcue342" resolve="shutdown_button_pressed" />
           <node concept="3Ug1GJ" id="66sW2d$FicW" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5kaUUWfwhZs" />
+            <ref role="3Ug1GI" node="5kaUUWfwhZs" resolve="controlBox" />
           </node>
         </node>
       </node>
@@ -2971,13 +2971,13 @@
         <node concept="2Hdskp" id="6bDIMKp8ibX" role="2Hfkx9">
           <property role="TrG5h" value="l" />
           <node concept="2XEmfi" id="6bDIMKp8icl" role="2HdssA">
-            <ref role="2XEmfl" node="pWUwO6CU8K" />
+            <ref role="2XEmfl" node="pWUwO6CU8K" resolve="current_range" />
           </node>
         </node>
         <node concept="2Hdskp" id="6bDIMKp8icK" role="2Hfkx9">
           <property role="TrG5h" value="n" />
           <node concept="2XEmfi" id="6bDIMKp8ida" role="2HdssA">
-            <ref role="2XEmfl" node="pWUwO6CU8K" />
+            <ref role="2XEmfl" node="pWUwO6CU8K" resolve="current_range" />
           </node>
         </node>
         <node concept="2Hdskp" id="6bDIMKp8AUP" role="2Hfkx9">
@@ -2994,30 +2994,30 @@
       <node concept="2aiEES" id="6bDIMKp8hv1" role="2HcbjO">
         <node concept="2HfkAV" id="6bDIMKp8hv2" role="2HfkAP">
           <node concept="1tTNRl" id="6bDIMKp8hv3" role="2He$ia">
-            <ref role="1tTNPH" node="6bDIMKp8huX" />
+            <ref role="1tTNPH" node="6bDIMKp8huX" resolve="_crtState" />
           </node>
           <node concept="1tS8IT" id="6bDIMKp8hv4" role="2He$i0">
-            <ref role="1tS8HL" node="6bDIMKp8huW" />
+            <ref role="1tS8HL" node="6bDIMKp8huW" resolve="initial" />
           </node>
         </node>
         <node concept="1tTNHs" id="6bDIMKp8hv5" role="2HfkAP">
           <node concept="1tTNRl" id="6bDIMKp8hv6" role="2He$ia">
-            <ref role="1tTNPH" node="6bDIMKp8huX" />
+            <ref role="1tTNPH" node="6bDIMKp8huX" resolve="_crtState" />
           </node>
           <node concept="1tTNP8" id="6bDIMKp8hv7" role="2He$i0">
             <node concept="1tTNwp" id="6bDIMKp8hHZ" role="2H9I2x">
               <property role="TrG5h" value="init2startup" />
               <node concept="1tTNRl" id="6bDIMKp8hI0" role="3JXa2C">
-                <ref role="1tTNPH" node="6bDIMKp8huX" />
+                <ref role="1tTNPH" node="6bDIMKp8huX" resolve="_crtState" />
               </node>
               <node concept="1tS8IT" id="6bDIMKp8hI7" role="3JZSx7">
-                <ref role="1tS8HL" node="6bDIMKp8huW" />
+                <ref role="1tS8HL" node="6bDIMKp8huW" resolve="initial" />
               </node>
               <node concept="32Ogvo" id="6bDIMKp8hIj" role="2H9I4J">
-                <ref role="32Ogvr" node="6bDIMKp8hGO" />
+                <ref role="32Ogvr" node="6bDIMKp8hGO" resolve="socket_connected" />
               </node>
               <node concept="1tS8IT" id="6bDIMKp8hIo" role="2H9I4_">
-                <ref role="1tS8HL" node="6bDIMKp8huZ" />
+                <ref role="1tS8HL" node="6bDIMKp8huZ" resolve="startup" />
               </node>
               <node concept="0Sh09" id="4bSVeFVFBmd" role="lGtFl">
                 <node concept="hnKMr" id="5cnt3YR90gB" role="hnKMk">
@@ -3028,19 +3028,19 @@
             <node concept="1tTNwp" id="6ll6Fcue2pO" role="2H9I2x">
               <property role="TrG5h" value="startup2safe" />
               <node concept="1tTNRl" id="6ll6Fcue2pQ" role="3JXa2C">
-                <ref role="1tTNPH" node="6bDIMKp8huX" />
+                <ref role="1tTNPH" node="6bDIMKp8huX" resolve="_crtState" />
               </node>
               <node concept="1tS8IT" id="6ll6Fcue2qZ" role="3JZSx7">
-                <ref role="1tS8HL" node="6bDIMKp8huW" />
+                <ref role="1tS8HL" node="6bDIMKp8huW" resolve="initial" />
               </node>
               <node concept="nE0YJ" id="6ll6Fcue2xE" role="2H9I4J">
                 <node concept="2EDkE1" id="6ll6Fcue2rC" role="2H9Iav">
                   <node concept="2H9Eef" id="6ll6Fcue2rY" role="32OYtT">
                     <node concept="2He$iJ" id="6ll6Fcue2ta" role="2H9Ial">
-                      <ref role="2He$iI" node="6bDIMKp8icK" />
+                      <ref role="2He$iI" node="6bDIMKp8icK" resolve="n" />
                     </node>
                     <node concept="2He$iJ" id="6ll6Fcue2rK" role="2H9Iav">
-                      <ref role="2He$iI" node="6bDIMKp8ibX" />
+                      <ref role="2He$iI" node="6bDIMKp8ibX" resolve="l" />
                     </node>
                   </node>
                 </node>
@@ -3049,7 +3049,7 @@
                 </node>
               </node>
               <node concept="1tS8IT" id="6ll6Fcue2$J" role="2H9I4_">
-                <ref role="1tS8HL" node="6bDIMKp8h_9" />
+                <ref role="1tS8HL" node="6bDIMKp8h_9" resolve="safe" />
               </node>
               <node concept="0Sh09" id="1JJRV36A3ox" role="lGtFl">
                 <node concept="hnKMr" id="5cnt3YR90gD" role="hnKMk">
@@ -3060,10 +3060,10 @@
             <node concept="1tTNwp" id="6bDIMKp8hXV" role="2H9I2x">
               <property role="TrG5h" value="startup2operate" />
               <node concept="1tTNRl" id="6bDIMKp8hXX" role="3JXa2C">
-                <ref role="1tTNPH" node="6bDIMKp8huX" />
+                <ref role="1tTNPH" node="6bDIMKp8huX" resolve="_crtState" />
               </node>
               <node concept="1tS8IT" id="6bDIMKp8hYa" role="3JZSx7">
-                <ref role="1tS8HL" node="6bDIMKp8huZ" />
+                <ref role="1tS8HL" node="6bDIMKp8huZ" resolve="startup" />
               </node>
               <node concept="2HbMbg" id="1JJRV36A3RJ" role="2H9I4J">
                 <node concept="nE0YL" id="1JJRV36A3TK" role="2H9Ial">
@@ -3073,20 +3073,20 @@
                   <node concept="2EDkE1" id="1JJRV36A3RZ" role="2H9Iav">
                     <node concept="2H9Eef" id="1JJRV36A3Sl" role="32OYtT">
                       <node concept="2He$iJ" id="1JJRV36A3Tx" role="2H9Ial">
-                        <ref role="2He$iI" node="6bDIMKp8icK" />
+                        <ref role="2He$iI" node="6bDIMKp8icK" resolve="n" />
                       </node>
                       <node concept="2He$iJ" id="1JJRV36A3S7" role="2H9Iav">
-                        <ref role="2He$iI" node="6bDIMKp8ibX" />
+                        <ref role="2He$iI" node="6bDIMKp8ibX" resolve="l" />
                       </node>
                     </node>
                   </node>
                 </node>
                 <node concept="32Ogvo" id="6bDIMKp8hYo" role="2H9Iav">
-                  <ref role="32Ogvr" node="6bDIMKp8hGb" />
+                  <ref role="32Ogvr" node="6bDIMKp8hGb" resolve="ev_connected" />
                 </node>
               </node>
               <node concept="1tS8IT" id="6bDIMKp8hYt" role="2H9I4_">
-                <ref role="1tS8HL" node="6bDIMKp8hz3" />
+                <ref role="1tS8HL" node="6bDIMKp8hz3" resolve="operate" />
               </node>
               <node concept="0Sh09" id="4bSVeFVFBo6" role="lGtFl">
                 <node concept="hnKMr" id="5cnt3YR90gF" role="hnKMk">
@@ -3097,22 +3097,22 @@
             <node concept="1tTNwp" id="6bDIMKp8hYX" role="2H9I2x">
               <property role="TrG5h" value="operate2safe" />
               <node concept="1tTNRl" id="6bDIMKp8hYZ" role="3JXa2C">
-                <ref role="1tTNPH" node="6bDIMKp8huX" />
+                <ref role="1tTNPH" node="6bDIMKp8huX" resolve="_crtState" />
               </node>
               <node concept="1tS8IT" id="6bDIMKp8hZh" role="3JZSx7">
-                <ref role="1tS8HL" node="6bDIMKp8hz3" />
+                <ref role="1tS8HL" node="6bDIMKp8hz3" resolve="operate" />
               </node>
               <node concept="1tS8IT" id="6bDIMKp8xdG" role="2H9I4_">
-                <ref role="1tS8HL" node="6bDIMKp8h_9" />
+                <ref role="1tS8HL" node="6bDIMKp8h_9" resolve="safe" />
               </node>
               <node concept="nE0YJ" id="6bDIMKp8xd3" role="2H9I4J">
                 <node concept="2EDkE1" id="6ll6Fcue2Sh" role="2H9Iav">
                   <node concept="2H9Eef" id="6ll6Fcue2SB" role="32OYtT">
                     <node concept="2He$iJ" id="6ll6Fcue2TN" role="2H9Ial">
-                      <ref role="2He$iI" node="6bDIMKp8icK" />
+                      <ref role="2He$iI" node="6bDIMKp8icK" resolve="n" />
                     </node>
                     <node concept="2He$iJ" id="6ll6Fcue2Sp" role="2H9Iav">
-                      <ref role="2He$iI" node="6bDIMKp8ibX" />
+                      <ref role="2He$iI" node="6bDIMKp8ibX" resolve="l" />
                     </node>
                   </node>
                 </node>
@@ -3129,13 +3129,13 @@
             <node concept="1tTNwp" id="6bDIMKp8xe6" role="2H9I2x">
               <property role="TrG5h" value="init2shutdown" />
               <node concept="1tTNRl" id="6bDIMKp8xe8" role="3JXa2C">
-                <ref role="1tTNPH" node="6bDIMKp8huX" />
+                <ref role="1tTNPH" node="6bDIMKp8huX" resolve="_crtState" />
               </node>
               <node concept="1tS8IT" id="6bDIMKp8xez" role="3JZSx7">
-                <ref role="1tS8HL" node="6bDIMKp8huW" />
+                <ref role="1tS8HL" node="6bDIMKp8huW" resolve="initial" />
               </node>
               <node concept="1tS8IT" id="6bDIMKp8xeA" role="2H9I4_">
-                <ref role="1tS8HL" node="6bDIMKp8hAL" />
+                <ref role="1tS8HL" node="6bDIMKp8hAL" resolve="shutdown" />
               </node>
               <node concept="0Sh09" id="4bSVeFVFBlV" role="lGtFl">
                 <node concept="hnKMr" id="5cnt3YR90gJ" role="hnKMk">
@@ -3145,24 +3145,24 @@
               <node concept="2HbMDt" id="6ll6Fcue28u" role="2H9I4J">
                 <node concept="1yA0yd" id="6ll6Fcue28K" role="2H9Ial">
                   <node concept="32Ogvo" id="6ll6Fcue28B" role="32OYtT">
-                    <ref role="32Ogvr" node="6bDIMKp8hGO" />
+                    <ref role="32Ogvr" node="6bDIMKp8hGO" resolve="socket_connected" />
                   </node>
                 </node>
                 <node concept="32Ogvo" id="1JJRV36A3pb" role="2H9Iav">
-                  <ref role="32Ogvr" node="1ef6u74hU$_" />
+                  <ref role="32Ogvr" node="1ef6u74hU$_" resolve="shutdown_button_pressed" />
                 </node>
               </node>
             </node>
             <node concept="1tTNwp" id="6bDIMKp8xf3" role="2H9I2x">
               <property role="TrG5h" value="startup2shutdown" />
               <node concept="1tTNRl" id="6bDIMKp8xf5" role="3JXa2C">
-                <ref role="1tTNPH" node="6bDIMKp8huX" />
+                <ref role="1tTNPH" node="6bDIMKp8huX" resolve="_crtState" />
               </node>
               <node concept="1tS8IT" id="6bDIMKp8xf$" role="3JZSx7">
-                <ref role="1tS8HL" node="6bDIMKp8huZ" />
+                <ref role="1tS8HL" node="6bDIMKp8huZ" resolve="startup" />
               </node>
               <node concept="1tS8IT" id="6bDIMKp8xfB" role="2H9I4_">
-                <ref role="1tS8HL" node="6bDIMKp8hAL" />
+                <ref role="1tS8HL" node="6bDIMKp8hAL" resolve="shutdown" />
               </node>
               <node concept="0Sh09" id="4bSVeFVFBlX" role="lGtFl">
                 <node concept="hnKMr" id="5cnt3YR90gL" role="hnKMk">
@@ -3172,11 +3172,11 @@
               <node concept="32OYss" id="1JJRV36A3qi" role="2H9I4J">
                 <node concept="2HbMDt" id="1JJRV36A3qj" role="32OYtT">
                   <node concept="32Ogvo" id="1JJRV36A3pi" role="2H9Iav">
-                    <ref role="32Ogvr" node="1ef6u74hU$_" />
+                    <ref role="32Ogvr" node="1ef6u74hU$_" resolve="shutdown_button_pressed" />
                   </node>
                   <node concept="1yA0yd" id="1JJRV36A3qk" role="2H9Ial">
                     <node concept="32Ogvo" id="1JJRV36A3pS" role="32OYtT">
-                      <ref role="32Ogvr" node="6bDIMKp8hGO" />
+                      <ref role="32Ogvr" node="6bDIMKp8hGO" resolve="socket_connected" />
                     </node>
                   </node>
                 </node>
@@ -3185,13 +3185,13 @@
             <node concept="1tTNwp" id="6bDIMKp8xg8" role="2H9I2x">
               <property role="TrG5h" value="operate2shutdown" />
               <node concept="1tTNRl" id="6bDIMKp8xga" role="3JXa2C">
-                <ref role="1tTNPH" node="6bDIMKp8huX" />
+                <ref role="1tTNPH" node="6bDIMKp8huX" resolve="_crtState" />
               </node>
               <node concept="1tS8IT" id="6bDIMKp8xgH" role="3JZSx7">
-                <ref role="1tS8HL" node="6bDIMKp8hz3" />
+                <ref role="1tS8HL" node="6bDIMKp8hz3" resolve="operate" />
               </node>
               <node concept="1tS8IT" id="6bDIMKp8xgK" role="2H9I4_">
-                <ref role="1tS8HL" node="6bDIMKp8hAL" />
+                <ref role="1tS8HL" node="6bDIMKp8hAL" resolve="shutdown" />
               </node>
               <node concept="0Sh09" id="4bSVeFVFBlZ" role="lGtFl">
                 <node concept="hnKMr" id="5cnt3YR90gN" role="hnKMk">
@@ -3201,11 +3201,11 @@
               <node concept="32OYss" id="1JJRV36A3qI" role="2H9I4J">
                 <node concept="2HbMDt" id="1JJRV36A3qJ" role="32OYtT">
                   <node concept="32Ogvo" id="1JJRV36A3qK" role="2H9Iav">
-                    <ref role="32Ogvr" node="1ef6u74hU$_" />
+                    <ref role="32Ogvr" node="1ef6u74hU$_" resolve="shutdown_button_pressed" />
                   </node>
                   <node concept="1yA0yd" id="1JJRV36A3qL" role="2H9Ial">
                     <node concept="32Ogvo" id="1JJRV36A3qM" role="32OYtT">
-                      <ref role="32Ogvr" node="6bDIMKp8hGO" />
+                      <ref role="32Ogvr" node="6bDIMKp8hGO" resolve="socket_connected" />
                     </node>
                   </node>
                 </node>
@@ -3214,13 +3214,13 @@
             <node concept="1tTNwp" id="6bDIMKp8xhl" role="2H9I2x">
               <property role="TrG5h" value="safe2shutdown" />
               <node concept="1tTNRl" id="6bDIMKp8xhn" role="3JXa2C">
-                <ref role="1tTNPH" node="6bDIMKp8huX" />
+                <ref role="1tTNPH" node="6bDIMKp8huX" resolve="_crtState" />
               </node>
               <node concept="1tS8IT" id="6bDIMKp8xhY" role="3JZSx7">
-                <ref role="1tS8HL" node="6bDIMKp8h_9" />
+                <ref role="1tS8HL" node="6bDIMKp8h_9" resolve="safe" />
               </node>
               <node concept="1tS8IT" id="6bDIMKp8xi1" role="2H9I4_">
-                <ref role="1tS8HL" node="6bDIMKp8hAL" />
+                <ref role="1tS8HL" node="6bDIMKp8hAL" resolve="shutdown" />
               </node>
               <node concept="0Sh09" id="4bSVeFVFBm1" role="lGtFl">
                 <node concept="hnKMr" id="5cnt3YR90gP" role="hnKMk">
@@ -3230,11 +3230,11 @@
               <node concept="32OYss" id="1JJRV36A3r2" role="2H9I4J">
                 <node concept="2HbMDt" id="1JJRV36A3r3" role="32OYtT">
                   <node concept="32Ogvo" id="1JJRV36A3r4" role="2H9Iav">
-                    <ref role="32Ogvr" node="1ef6u74hU$_" />
+                    <ref role="32Ogvr" node="1ef6u74hU$_" resolve="shutdown_button_pressed" />
                   </node>
                   <node concept="1yA0yd" id="1JJRV36A3r5" role="2H9Ial">
                     <node concept="32Ogvo" id="1JJRV36A3r6" role="32OYtT">
-                      <ref role="32Ogvr" node="6bDIMKp8hGO" />
+                      <ref role="32Ogvr" node="6bDIMKp8hGO" resolve="socket_connected" />
                     </node>
                   </node>
                 </node>
@@ -3244,10 +3244,10 @@
         </node>
         <node concept="2HfkAV" id="6bDIMKp8i5c" role="2HfkAP">
           <node concept="2He$iJ" id="6bDIMKp8i5L" role="2He$ia">
-            <ref role="2He$iI" node="6bDIMKp8i2a" />
+            <ref role="2He$iI" node="6bDIMKp8i2a" resolve="circuit_breaker" />
           </node>
           <node concept="2HeeqP" id="6bDIMKp8i66" role="2He$i0">
-            <ref role="2HeeqO" node="6bDIMKp8i44" />
+            <ref role="2HeeqO" node="6bDIMKp8i44" resolve="open" />
           </node>
           <node concept="0Sh09" id="1JJRV36A13I" role="lGtFl">
             <node concept="hnKMr" id="5cnt3YR90gR" role="hnKMk">
@@ -3259,10 +3259,10 @@
           <node concept="FsPnB" id="6bDIMKp8i7$" role="2He$i0">
             <node concept="FsPnw" id="6bDIMKp8i7z" role="2H9I2x">
               <node concept="3JXjYv" id="6bDIMKp8i8n" role="2H9I4J">
-                <ref role="3JXjYu" node="6bDIMKp8hXV" />
+                <ref role="3JXjYu" node="6bDIMKp8hXV" resolve="startup2operate" />
               </node>
               <node concept="2HeeqP" id="6bDIMKp8i8$" role="2H9I4_">
-                <ref role="2HeeqO" node="6bDIMKp8i4w" />
+                <ref role="2HeeqO" node="6bDIMKp8i4w" resolve="close" />
               </node>
               <node concept="0Sh09" id="4bSVeFVFBoe" role="lGtFl">
                 <node concept="hnKMr" id="5cnt3YR90hu" role="hnKMk">
@@ -3272,10 +3272,10 @@
             </node>
             <node concept="FsPnw" id="4bSVeFVFBfY" role="2H9I2x">
               <node concept="3JXjYv" id="4bSVeFVFBgh" role="2H9I4J">
-                <ref role="3JXjYu" node="6bDIMKp8hYX" />
+                <ref role="3JXjYu" node="6bDIMKp8hYX" resolve="operate2safe" />
               </node>
               <node concept="2HeeqP" id="4bSVeFVFBgs" role="2H9I4_">
-                <ref role="2HeeqO" node="6bDIMKp8i44" />
+                <ref role="2HeeqO" node="6bDIMKp8i44" resolve="open" />
               </node>
               <node concept="0Sh09" id="4bSVeFVFBoi" role="lGtFl">
                 <node concept="hnKMr" id="5cnt3YR90hw" role="hnKMk">
@@ -3285,10 +3285,10 @@
             </node>
             <node concept="FsPnw" id="4bSVeFVFBcY" role="2H9I2x">
               <node concept="3JXjYv" id="4bSVeFVFBdL" role="2H9I4J">
-                <ref role="3JXjYu" node="6bDIMKp8xe6" />
+                <ref role="3JXjYu" node="6bDIMKp8xe6" resolve="init2shutdown" />
               </node>
               <node concept="2HeeqP" id="4bSVeFVFBe0" role="2H9I4_">
-                <ref role="2HeeqO" node="6bDIMKp8i44" />
+                <ref role="2HeeqO" node="6bDIMKp8i44" resolve="open" />
               </node>
               <node concept="0Sh09" id="4bSVeFVFBIn" role="lGtFl">
                 <node concept="hnKMr" id="5cnt3YR90hy" role="hnKMk">
@@ -3298,10 +3298,10 @@
             </node>
             <node concept="FsPnw" id="4bSVeFVFBe2" role="2H9I2x">
               <node concept="3JXjYv" id="4bSVeFVFBec" role="2H9I4J">
-                <ref role="3JXjYu" node="6bDIMKp8xf3" />
+                <ref role="3JXjYu" node="6bDIMKp8xf3" resolve="startup2shutdown" />
               </node>
               <node concept="2HeeqP" id="4bSVeFVFBfv" role="2H9I4_">
-                <ref role="2HeeqO" node="6bDIMKp8i44" />
+                <ref role="2HeeqO" node="6bDIMKp8i44" resolve="open" />
               </node>
               <node concept="0Sh09" id="4bSVeFVFBIp" role="lGtFl">
                 <node concept="hnKMr" id="5cnt3YR90h$" role="hnKMk">
@@ -3311,10 +3311,10 @@
             </node>
             <node concept="FsPnw" id="4bSVeFVFBer" role="2H9I2x">
               <node concept="3JXjYv" id="4bSVeFVFBeC" role="2H9I4J">
-                <ref role="3JXjYu" node="6bDIMKp8xg8" />
+                <ref role="3JXjYu" node="6bDIMKp8xg8" resolve="operate2shutdown" />
               </node>
               <node concept="2HeeqP" id="4bSVeFVFBfH" role="2H9I4_">
-                <ref role="2HeeqO" node="6bDIMKp8i44" />
+                <ref role="2HeeqO" node="6bDIMKp8i44" resolve="open" />
               </node>
               <node concept="0Sh09" id="4bSVeFVFBIr" role="lGtFl">
                 <node concept="hnKMr" id="5cnt3YR90hA" role="hnKMk">
@@ -3324,10 +3324,10 @@
             </node>
             <node concept="FsPnw" id="4bSVeFVFBeR" role="2H9I2x">
               <node concept="3JXjYv" id="4bSVeFVFBf7" role="2H9I4J">
-                <ref role="3JXjYu" node="6bDIMKp8xhl" />
+                <ref role="3JXjYu" node="6bDIMKp8xhl" resolve="safe2shutdown" />
               </node>
               <node concept="2HeeqP" id="4bSVeFVFBfV" role="2H9I4_">
-                <ref role="2HeeqO" node="6bDIMKp8i44" />
+                <ref role="2HeeqO" node="6bDIMKp8i44" resolve="open" />
               </node>
               <node concept="0Sh09" id="4bSVeFVFBIt" role="lGtFl">
                 <node concept="hnKMr" id="5cnt3YR90hC" role="hnKMk">
@@ -3337,12 +3337,12 @@
             </node>
           </node>
           <node concept="2He$iJ" id="6bDIMKp8i8a" role="2He$ia">
-            <ref role="2He$iI" node="6bDIMKp8i2a" />
+            <ref role="2He$iI" node="6bDIMKp8i2a" resolve="circuit_breaker" />
           </node>
         </node>
         <node concept="2HfkAV" id="6bDIMKp8AXt" role="2HfkAP">
           <node concept="2He$iJ" id="6bDIMKp8AYE" role="2He$ia">
-            <ref role="2He$iI" node="6bDIMKp8AUP" />
+            <ref role="2He$iI" node="6bDIMKp8AUP" resolve="disconnect_led" />
           </node>
           <node concept="1yCjT0" id="6bDIMKp8AYW" role="2He$i0" />
         </node>
@@ -3350,7 +3350,7 @@
           <node concept="FsPnB" id="6bDIMKp8B0b" role="2He$i0">
             <node concept="FsPnw" id="6bDIMKp8B0a" role="2H9I2x">
               <node concept="3JXjYv" id="6bDIMKp8B1s" role="2H9I4J">
-                <ref role="3JXjYu" node="6bDIMKp8hYX" />
+                <ref role="3JXjYu" node="6bDIMKp8hYX" resolve="operate2safe" />
               </node>
               <node concept="1yCjRe" id="6bDIMKp8B1D" role="2H9I4_" />
               <node concept="0Sh09" id="4bSVeFVFBok" role="lGtFl">
@@ -3361,7 +3361,7 @@
             </node>
             <node concept="FsPnw" id="4bSVeFVFBGN" role="2H9I2x">
               <node concept="3JXjYv" id="4bSVeFVFBGV" role="2H9I4J">
-                <ref role="3JXjYu" node="6bDIMKp8xe6" />
+                <ref role="3JXjYu" node="6bDIMKp8xe6" resolve="init2shutdown" />
               </node>
               <node concept="1yCjRe" id="1ef6u74hUzN" role="2H9I4_" />
               <node concept="0Sh09" id="4bSVeFVFBIl" role="lGtFl">
@@ -3372,7 +3372,7 @@
             </node>
             <node concept="FsPnw" id="4bSVeFVFBH5" role="2H9I2x">
               <node concept="3JXjYv" id="4bSVeFVFBHg" role="2H9I4J">
-                <ref role="3JXjYu" node="6bDIMKp8xf3" />
+                <ref role="3JXjYu" node="6bDIMKp8xf3" resolve="startup2shutdown" />
               </node>
               <node concept="1yCjRe" id="1ef6u74hUzZ" role="2H9I4_" />
               <node concept="0Sh09" id="4bSVeFVFBIj" role="lGtFl">
@@ -3383,7 +3383,7 @@
             </node>
             <node concept="FsPnw" id="4bSVeFVFBHq" role="2H9I2x">
               <node concept="3JXjYv" id="4bSVeFVFBHC" role="2H9I4J">
-                <ref role="3JXjYu" node="6bDIMKp8xg8" />
+                <ref role="3JXjYu" node="6bDIMKp8xg8" resolve="operate2shutdown" />
               </node>
               <node concept="1yCjRe" id="1ef6u74hU$b" role="2H9I4_" />
               <node concept="0Sh09" id="4bSVeFVFBIh" role="lGtFl">
@@ -3394,7 +3394,7 @@
             </node>
             <node concept="FsPnw" id="4bSVeFVFBHO" role="2H9I2x">
               <node concept="3JXjYv" id="4bSVeFVFBI5" role="2H9I4J">
-                <ref role="3JXjYu" node="6bDIMKp8xhl" />
+                <ref role="3JXjYu" node="6bDIMKp8xhl" resolve="safe2shutdown" />
               </node>
               <node concept="1yCjRe" id="1ef6u74hU$n" role="2H9I4_" />
               <node concept="0Sh09" id="4bSVeFVFBIf" role="lGtFl">
@@ -3405,12 +3405,12 @@
             </node>
           </node>
           <node concept="2He$iJ" id="6bDIMKp8B1l" role="2He$ia">
-            <ref role="2He$iI" node="6bDIMKp8AUP" />
+            <ref role="2He$iI" node="6bDIMKp8AUP" resolve="disconnect_led" />
           </node>
         </node>
         <node concept="2HfkAV" id="4bSVeFVFBrd" role="2HfkAP">
           <node concept="2He$iJ" id="4bSVeFVFBt8" role="2He$ia">
-            <ref role="2He$iI" node="4bSVeFVFBoH" />
+            <ref role="2He$iI" node="4bSVeFVFBoH" resolve="powered_led" />
           </node>
           <node concept="1yCjT0" id="4bSVeFVFBtp" role="2He$i0" />
         </node>
@@ -3418,7 +3418,7 @@
           <node concept="FsPnB" id="4bSVeFVFBvq" role="2He$i0">
             <node concept="FsPnw" id="4bSVeFVFBvp" role="2H9I2x">
               <node concept="3JXjYv" id="4bSVeFVFBxB" role="2H9I4J">
-                <ref role="3JXjYu" node="6bDIMKp8hHZ" />
+                <ref role="3JXjYu" node="6bDIMKp8hHZ" resolve="init2startup" />
               </node>
               <node concept="1yCjRe" id="4bSVeFVFBxM" role="2H9I4_" />
               <node concept="0Sh09" id="4bSVeFVFBxR" role="lGtFl">
@@ -3430,12 +3430,12 @@
             </node>
           </node>
           <node concept="2He$iJ" id="4bSVeFVFBxw" role="2He$ia">
-            <ref role="2He$iI" node="4bSVeFVFBoH" />
+            <ref role="2He$iI" node="4bSVeFVFBoH" resolve="powered_led" />
           </node>
         </node>
         <node concept="2HfkAV" id="6bDIMKp8ihv" role="2HfkAP">
           <node concept="2He$iJ" id="6bDIMKp8iib" role="2He$ia">
-            <ref role="2He$iI" node="6bDIMKp8ibX" />
+            <ref role="2He$iI" node="6bDIMKp8ibX" resolve="l" />
           </node>
           <node concept="2IPVmt" id="6bDIMKp8iim" role="2He$i0">
             <property role="2IPVms" value="0" />
@@ -3443,7 +3443,7 @@
         </node>
         <node concept="2HfkAV" id="6bDIMKp8ijl" role="2HfkAP">
           <node concept="2He$iJ" id="6bDIMKp8ik5" role="2He$ia">
-            <ref role="2He$iI" node="6bDIMKp8icK" />
+            <ref role="2He$iI" node="6bDIMKp8icK" resolve="n" />
           </node>
           <node concept="2IPVmt" id="6bDIMKp8ikg" role="2He$i0">
             <property role="2IPVms" value="0" />
@@ -4024,12 +4024,12 @@
           <node concept="2HbMbg" id="6bDIMKp9iZp" role="1yBDGv">
             <node concept="1yA0yd" id="6bDIMKp9iZq" role="2H9Iav">
               <node concept="32Ogvo" id="6bDIMKp9iZd" role="32OYtT">
-                <ref role="32Ogvr" node="6bDIMKp8hGb" />
+                <ref role="32Ogvr" node="6bDIMKp8hGb" resolve="ev_connected" />
               </node>
             </node>
             <node concept="1yA0yd" id="6bDIMKp9iZ$" role="2H9Ial">
               <node concept="32Ogvo" id="6bDIMKp9iZI" role="32OYtT">
-                <ref role="32Ogvr" node="6bDIMKp8hGO" />
+                <ref role="32Ogvr" node="6bDIMKp8hGO" resolve="socket_connected" />
               </node>
             </node>
           </node>
@@ -4094,30 +4094,30 @@
       <node concept="2aiEES" id="6bDIMKp8hJE" role="2HcbjO">
         <node concept="2HfkAV" id="6bDIMKp8hJF" role="2HfkAP">
           <node concept="1tTNRl" id="6bDIMKp8hJG" role="2He$ia">
-            <ref role="1tTNPH" node="6bDIMKp8hJA" />
+            <ref role="1tTNPH" node="6bDIMKp8hJA" resolve="_crtState" />
           </node>
           <node concept="1tS8IT" id="6bDIMKp8hJH" role="2He$i0">
-            <ref role="1tS8HL" node="6bDIMKp8hJ_" />
+            <ref role="1tS8HL" node="6bDIMKp8hJ_" resolve="initial" />
           </node>
         </node>
         <node concept="1tTNHs" id="6bDIMKp8hJI" role="2HfkAP">
           <node concept="1tTNRl" id="6bDIMKp8hJJ" role="2He$ia">
-            <ref role="1tTNPH" node="6bDIMKp8hJA" />
+            <ref role="1tTNPH" node="6bDIMKp8hJA" resolve="_crtState" />
           </node>
           <node concept="1tTNP8" id="6bDIMKp8hJK" role="2He$i0">
             <node concept="1tTNwp" id="6bDIMKp8hTV" role="2H9I2x">
               <property role="TrG5h" value="init2startup" />
               <node concept="1tTNRl" id="6bDIMKp8hTX" role="3JXa2C">
-                <ref role="1tTNPH" node="6bDIMKp8hJA" />
+                <ref role="1tTNPH" node="6bDIMKp8hJA" resolve="_crtState" />
               </node>
               <node concept="1tS8IT" id="6bDIMKp8hU5" role="3JZSx7">
-                <ref role="1tS8HL" node="6bDIMKp8hJ_" />
+                <ref role="1tS8HL" node="6bDIMKp8hJ_" resolve="initial" />
               </node>
               <node concept="1tS8IT" id="6bDIMKp8hVB" role="2H9I4_">
-                <ref role="1tS8HL" node="6bDIMKp8hOS" />
+                <ref role="1tS8HL" node="6bDIMKp8hOS" resolve="startup" />
               </node>
               <node concept="32Ogvo" id="1JJRV36A4iI" role="2H9I4J">
-                <ref role="32Ogvr" node="1JJRV36A2V_" />
+                <ref role="32Ogvr" node="1JJRV36A2V_" resolve="socket_connected" />
               </node>
               <node concept="0Sh09" id="1JJRV36A6la" role="lGtFl">
                 <node concept="hnKMr" id="5cnt3YR9aVV" role="hnKMk">
@@ -4128,19 +4128,19 @@
             <node concept="1tTNwp" id="1JJRV36A4j2" role="2H9I2x">
               <property role="TrG5h" value="startup2safe" />
               <node concept="1tTNRl" id="1JJRV36A4j4" role="3JXa2C">
-                <ref role="1tTNPH" node="6bDIMKp8hJA" />
+                <ref role="1tTNPH" node="6bDIMKp8hJA" resolve="_crtState" />
               </node>
               <node concept="1tS8IT" id="1JJRV36A4jm" role="3JZSx7">
-                <ref role="1tS8HL" node="6bDIMKp8hOS" />
+                <ref role="1tS8HL" node="6bDIMKp8hOS" resolve="startup" />
               </node>
               <node concept="nE0YJ" id="1JJRV36A4jp" role="2H9I4J">
                 <node concept="2EDkE1" id="1JJRV36A4jq" role="2H9Iav">
                   <node concept="2H9Eef" id="1JJRV36A4jr" role="32OYtT">
                     <node concept="32Ogvo" id="1JJRV36A4ll" role="2H9Ial">
-                      <ref role="32Ogvr" node="1JJRV36A49q" />
+                      <ref role="32Ogvr" node="1JJRV36A49q" resolve="n" />
                     </node>
                     <node concept="32Ogvo" id="1JJRV36A4k3" role="2H9Iav">
-                      <ref role="32Ogvr" node="1JJRV36A48z" />
+                      <ref role="32Ogvr" node="1JJRV36A48z" resolve="l" />
                     </node>
                   </node>
                 </node>
@@ -4149,7 +4149,7 @@
                 </node>
               </node>
               <node concept="1tS8IT" id="1JJRV36A4k0" role="2H9I4_">
-                <ref role="1tS8HL" node="1JJRV36A4ft" />
+                <ref role="1tS8HL" node="1JJRV36A4ft" resolve="safe" />
               </node>
               <node concept="0Sh09" id="1JJRV36A5BX" role="lGtFl">
                 <node concept="hnKMr" id="5cnt3YR9aVX" role="hnKMk">
@@ -4160,14 +4160,14 @@
             <node concept="1tTNwp" id="6bDIMKp8hWf" role="2H9I2x">
               <property role="TrG5h" value="startup2operate" />
               <node concept="1tTNRl" id="6bDIMKp8hWh" role="3JXa2C">
-                <ref role="1tTNPH" node="6bDIMKp8hJA" />
+                <ref role="1tTNPH" node="6bDIMKp8hJA" resolve="_crtState" />
               </node>
               <node concept="1tS8IT" id="6bDIMKp8hWu" role="3JZSx7">
-                <ref role="1tS8HL" node="6bDIMKp8hOS" />
+                <ref role="1tS8HL" node="6bDIMKp8hOS" resolve="startup" />
               </node>
               <node concept="2HbMbg" id="1JJRV36A4mM" role="2H9I4J">
                 <node concept="32Ogvo" id="1JJRV36A4mE" role="2H9Iav">
-                  <ref role="32Ogvr" node="1JJRV36A2Vz" />
+                  <ref role="32Ogvr" node="1JJRV36A2Vz" resolve="ev_connected" />
                 </node>
                 <node concept="nE0YL" id="1JJRV36A4nL" role="2H9Ial">
                   <node concept="2IPVmt" id="1JJRV36A4oq" role="2H9Ial">
@@ -4176,17 +4176,17 @@
                   <node concept="2EDkE1" id="1JJRV36A4mX" role="2H9Iav">
                     <node concept="2H9Eef" id="1JJRV36A4mY" role="32OYtT">
                       <node concept="32Ogvo" id="1JJRV36A4mZ" role="2H9Ial">
-                        <ref role="32Ogvr" node="1JJRV36A49q" />
+                        <ref role="32Ogvr" node="1JJRV36A49q" resolve="n" />
                       </node>
                       <node concept="32Ogvo" id="1JJRV36A4n0" role="2H9Iav">
-                        <ref role="32Ogvr" node="1JJRV36A48z" />
+                        <ref role="32Ogvr" node="1JJRV36A48z" resolve="l" />
                       </node>
                     </node>
                   </node>
                 </node>
               </node>
               <node concept="1tS8IT" id="6bDIMKp8hWF" role="2H9I4_">
-                <ref role="1tS8HL" node="6bDIMKp8hRM" />
+                <ref role="1tS8HL" node="6bDIMKp8hRM" resolve="operate" />
               </node>
               <node concept="0Sh09" id="1JJRV36A6gZ" role="lGtFl">
                 <node concept="hnKMr" id="5cnt3YR9aVZ" role="hnKMk">
@@ -4197,19 +4197,19 @@
             <node concept="1tTNwp" id="1JJRV36A4p6" role="2H9I2x">
               <property role="TrG5h" value="operate2safe" />
               <node concept="1tTNRl" id="1JJRV36A4p8" role="3JXa2C">
-                <ref role="1tTNPH" node="6bDIMKp8hJA" />
+                <ref role="1tTNPH" node="6bDIMKp8hJA" resolve="_crtState" />
               </node>
               <node concept="1tS8IT" id="1JJRV36A4pF" role="3JZSx7">
-                <ref role="1tS8HL" node="6bDIMKp8hRM" />
+                <ref role="1tS8HL" node="6bDIMKp8hRM" resolve="operate" />
               </node>
               <node concept="nE0YJ" id="1JJRV36A4pI" role="2H9I4J">
                 <node concept="2EDkE1" id="1JJRV36A4pJ" role="2H9Iav">
                   <node concept="2H9Eef" id="1JJRV36A4pK" role="32OYtT">
                     <node concept="32Ogvo" id="1JJRV36A4pL" role="2H9Ial">
-                      <ref role="32Ogvr" node="1JJRV36A49q" />
+                      <ref role="32Ogvr" node="1JJRV36A49q" resolve="n" />
                     </node>
                     <node concept="32Ogvo" id="1JJRV36A4pM" role="2H9Iav">
-                      <ref role="32Ogvr" node="1JJRV36A48z" />
+                      <ref role="32Ogvr" node="1JJRV36A48z" resolve="l" />
                     </node>
                   </node>
                 </node>
@@ -4218,7 +4218,7 @@
                 </node>
               </node>
               <node concept="1tS8IT" id="1JJRV36A4qt" role="2H9I4_">
-                <ref role="1tS8HL" node="1JJRV36A4ft" />
+                <ref role="1tS8HL" node="1JJRV36A4ft" resolve="safe" />
               </node>
               <node concept="0Sh09" id="1JJRV36A5BZ" role="lGtFl">
                 <node concept="hnKMr" id="5cnt3YR9aW1" role="hnKMk">
@@ -4229,16 +4229,16 @@
             <node concept="1tTNwp" id="1JJRV36A4_F" role="2H9I2x">
               <property role="TrG5h" value="startup2shutdown" />
               <node concept="1tTNRl" id="1JJRV36A4_H" role="3JXa2C">
-                <ref role="1tTNPH" node="6bDIMKp8hJA" />
+                <ref role="1tTNPH" node="6bDIMKp8hJA" resolve="_crtState" />
               </node>
               <node concept="1tS8IT" id="1JJRV36A4Aq" role="3JZSx7">
-                <ref role="1tS8HL" node="6bDIMKp8hOS" />
+                <ref role="1tS8HL" node="6bDIMKp8hOS" resolve="startup" />
               </node>
               <node concept="32Ogvo" id="1JJRV36A4AA" role="2H9I4J">
-                <ref role="32Ogvr" node="1JJRV36A45r" />
+                <ref role="32Ogvr" node="1JJRV36A45r" resolve="shutdown_button_pressed" />
               </node>
               <node concept="1tS8IT" id="1JJRV36A4AF" role="2H9I4_">
-                <ref role="1tS8HL" node="1JJRV36A4zG" />
+                <ref role="1tS8HL" node="1JJRV36A4zG" resolve="shutdown" />
               </node>
               <node concept="0Sh09" id="1JJRV36A5yo" role="lGtFl">
                 <node concept="hnKMr" id="5cnt3YR9aW3" role="hnKMk">
@@ -4249,23 +4249,23 @@
             <node concept="1tTNwp" id="1JJRV36A5wy" role="2H9I2x">
               <property role="TrG5h" value="safe2shutdown" />
               <node concept="1tTNRl" id="1JJRV36A5w$" role="3JXa2C">
-                <ref role="1tTNPH" node="6bDIMKp8hJA" />
+                <ref role="1tTNPH" node="6bDIMKp8hJA" resolve="_crtState" />
               </node>
               <node concept="1tS8IT" id="1JJRV36A5xr" role="3JZSx7">
-                <ref role="1tS8HL" node="1JJRV36A4ft" />
+                <ref role="1tS8HL" node="1JJRV36A4ft" resolve="safe" />
               </node>
               <node concept="2HbMDt" id="1JJRV36A5xW" role="2H9I4J">
                 <node concept="32Ogvo" id="1JJRV36A5ye" role="2H9Iav">
-                  <ref role="32Ogvr" node="1JJRV36A45r" />
+                  <ref role="32Ogvr" node="1JJRV36A45r" resolve="shutdown_button_pressed" />
                 </node>
                 <node concept="1yA0yd" id="1JJRV36A5xJ" role="2H9Ial">
                   <node concept="32Ogvo" id="1JJRV36A5xB" role="32OYtT">
-                    <ref role="32Ogvr" node="1JJRV36A2V_" />
+                    <ref role="32Ogvr" node="1JJRV36A2V_" resolve="socket_connected" />
                   </node>
                 </node>
               </node>
               <node concept="1tS8IT" id="1JJRV36A5xR" role="2H9I4_">
-                <ref role="1tS8HL" node="1JJRV36A4zG" />
+                <ref role="1tS8HL" node="1JJRV36A4zG" resolve="shutdown" />
               </node>
               <node concept="0Sh09" id="1JJRV36A5yk" role="lGtFl">
                 <node concept="hnKMr" id="5cnt3YR9aW5" role="hnKMk">
@@ -4276,16 +4276,16 @@
             <node concept="1tTNwp" id="1JJRV36A4C0" role="2H9I2x">
               <property role="TrG5h" value="operate2shutdown" />
               <node concept="1tTNRl" id="1JJRV36A4C2" role="3JXa2C">
-                <ref role="1tTNPH" node="6bDIMKp8hJA" />
+                <ref role="1tTNPH" node="6bDIMKp8hJA" resolve="_crtState" />
               </node>
               <node concept="1tS8IT" id="1JJRV36A4CO" role="3JZSx7">
-                <ref role="1tS8HL" node="6bDIMKp8hRM" />
+                <ref role="1tS8HL" node="6bDIMKp8hRM" resolve="operate" />
               </node>
               <node concept="32Ogvo" id="1JJRV36A4D0" role="2H9I4J">
-                <ref role="32Ogvr" node="1JJRV36A45r" />
+                <ref role="32Ogvr" node="1JJRV36A45r" resolve="shutdown_button_pressed" />
               </node>
               <node concept="1tS8IT" id="1JJRV36A4D5" role="2H9I4_">
-                <ref role="1tS8HL" node="1JJRV36A4zG" />
+                <ref role="1tS8HL" node="1JJRV36A4zG" resolve="shutdown" />
               </node>
               <node concept="0Sh09" id="1JJRV36A5ym" role="lGtFl">
                 <node concept="hnKMr" id="5cnt3YR9aW7" role="hnKMk">
@@ -4297,20 +4297,20 @@
         </node>
         <node concept="2HfkAV" id="1JJRV36A4ap" role="2HfkAP">
           <node concept="2He$iJ" id="1JJRV36A4aU" role="2He$ia">
-            <ref role="2He$iI" node="1JJRV36A46M" />
+            <ref role="2He$iI" node="1JJRV36A46M" resolve="circuit_breaker" />
           </node>
           <node concept="2HeeqP" id="1JJRV36A4bg" role="2He$i0">
-            <ref role="2HeeqO" node="6bDIMKp8i44" />
+            <ref role="2HeeqO" node="6bDIMKp8i44" resolve="open" />
           </node>
         </node>
         <node concept="Fto42" id="1JJRV36A4rn" role="2HfkAP">
           <node concept="FsPnB" id="1JJRV36A4rq" role="2He$i0">
             <node concept="FsPnw" id="1JJRV36A4sV" role="2H9I2x">
               <node concept="3JXjYv" id="1JJRV36A4t2" role="2H9I4J">
-                <ref role="3JXjYu" node="1JJRV36A4j2" />
+                <ref role="3JXjYu" node="1JJRV36A4j2" resolve="startup2safe" />
               </node>
               <node concept="2HeeqP" id="1JJRV36A4te" role="2H9I4_">
-                <ref role="2HeeqO" node="6bDIMKp8i44" />
+                <ref role="2HeeqO" node="6bDIMKp8i44" resolve="open" />
               </node>
               <node concept="0Sh09" id="1JJRV36A6pO" role="lGtFl">
                 <node concept="hnKMr" id="5cnt3YR9aW9" role="hnKMk">
@@ -4320,10 +4320,10 @@
             </node>
             <node concept="FsPnw" id="1JJRV36A4rp" role="2H9I2x">
               <node concept="3JXjYv" id="1JJRV36A4sI" role="2H9I4J">
-                <ref role="3JXjYu" node="6bDIMKp8hWf" />
+                <ref role="3JXjYu" node="6bDIMKp8hWf" resolve="startup2operate" />
               </node>
               <node concept="2HeeqP" id="1JJRV36A4sT" role="2H9I4_">
-                <ref role="2HeeqO" node="6bDIMKp8i4w" />
+                <ref role="2HeeqO" node="6bDIMKp8i4w" resolve="close" />
               </node>
               <node concept="0Sh09" id="1JJRV36A6pQ" role="lGtFl">
                 <node concept="hnKMr" id="5cnt3YR9aWb" role="hnKMk">
@@ -4333,10 +4333,10 @@
             </node>
             <node concept="FsPnw" id="1JJRV36A4tg" role="2H9I2x">
               <node concept="3JXjYv" id="1JJRV36A4tq" role="2H9I4J">
-                <ref role="3JXjYu" node="1JJRV36A4p6" />
+                <ref role="3JXjYu" node="1JJRV36A4p6" resolve="operate2safe" />
               </node>
               <node concept="2HeeqP" id="1JJRV36A4tC" role="2H9I4_">
-                <ref role="2HeeqO" node="6bDIMKp8i44" />
+                <ref role="2HeeqO" node="6bDIMKp8i44" resolve="open" />
               </node>
               <node concept="0Sh09" id="1JJRV36A6pS" role="lGtFl">
                 <node concept="hnKMr" id="5cnt3YR9aWd" role="hnKMk">
@@ -4346,10 +4346,10 @@
             </node>
             <node concept="FsPnw" id="1JJRV36A4AH" role="2H9I2x">
               <node concept="3JXjYv" id="1JJRV36A4AU" role="2H9I4J">
-                <ref role="3JXjYu" node="1JJRV36A4_F" />
+                <ref role="3JXjYu" node="1JJRV36A4_F" resolve="startup2shutdown" />
               </node>
               <node concept="2HeeqP" id="1JJRV36A4B6" role="2H9I4_">
-                <ref role="2HeeqO" node="6bDIMKp8i44" />
+                <ref role="2HeeqO" node="6bDIMKp8i44" resolve="open" />
               </node>
               <node concept="0Sh09" id="1JJRV36A6pU" role="lGtFl">
                 <node concept="hnKMr" id="5cnt3YR9aWf" role="hnKMk">
@@ -4359,10 +4359,10 @@
             </node>
             <node concept="FsPnw" id="1JJRV36A5Ax" role="2H9I2x">
               <node concept="3JXjYv" id="1JJRV36A5AL" role="2H9I4J">
-                <ref role="3JXjYu" node="1JJRV36A4C0" />
+                <ref role="3JXjYu" node="1JJRV36A4C0" resolve="operate2shutdown" />
               </node>
               <node concept="2HeeqP" id="1JJRV36A5AU" role="2H9I4_">
-                <ref role="2HeeqO" node="6bDIMKp8i44" />
+                <ref role="2HeeqO" node="6bDIMKp8i44" resolve="open" />
               </node>
               <node concept="0Sh09" id="1JJRV36A6pW" role="lGtFl">
                 <node concept="hnKMr" id="5cnt3YR9aWh" role="hnKMk">
@@ -4372,13 +4372,13 @@
             </node>
           </node>
           <node concept="2He$iJ" id="1JJRV36A4sx" role="2He$ia">
-            <ref role="2He$iI" node="1JJRV36A46M" />
+            <ref role="2He$iI" node="1JJRV36A46M" resolve="circuit_breaker" />
           </node>
         </node>
         <node concept="2HeLW8" id="1JJRV36A4bK" role="2HfkAP" />
         <node concept="2HfkAV" id="1JJRV36A4cr" role="2HfkAP">
           <node concept="2He$iJ" id="1JJRV36A4d4" role="2He$ia">
-            <ref role="2He$iI" node="1JJRV36A47k" />
+            <ref role="2He$iI" node="1JJRV36A47k" resolve="disconnect_led" />
           </node>
           <node concept="1yCjT0" id="1JJRV36A4di" role="2He$i0" />
         </node>
@@ -4386,7 +4386,7 @@
           <node concept="FsPnB" id="1JJRV36A4xB" role="2He$i0">
             <node concept="FsPnw" id="1JJRV36A4xA" role="2H9I2x">
               <node concept="3JXjYv" id="1JJRV36A4z5" role="2H9I4J">
-                <ref role="3JXjYu" node="1JJRV36A4j2" />
+                <ref role="3JXjYu" node="1JJRV36A4j2" resolve="startup2safe" />
               </node>
               <node concept="1yCjRe" id="1JJRV36A4zg" role="2H9I4_" />
               <node concept="0Sh09" id="1JJRV36A6q0" role="lGtFl">
@@ -4397,7 +4397,7 @@
             </node>
             <node concept="FsPnw" id="1JJRV36A4zl" role="2H9I2x">
               <node concept="3JXjYv" id="1JJRV36A4zs" role="2H9I4J">
-                <ref role="3JXjYu" node="1JJRV36A4p6" />
+                <ref role="3JXjYu" node="1JJRV36A4p6" resolve="operate2safe" />
               </node>
               <node concept="1yCjRe" id="1JJRV36A4zB" role="2H9I4_" />
               <node concept="0Sh09" id="1JJRV36A6q2" role="lGtFl">
@@ -4408,7 +4408,7 @@
             </node>
             <node concept="FsPnw" id="1JJRV36A4B8" role="2H9I2x">
               <node concept="3JXjYv" id="1JJRV36A4EF" role="2H9I4J">
-                <ref role="3JXjYu" node="1JJRV36A4_F" />
+                <ref role="3JXjYu" node="1JJRV36A4_F" resolve="startup2shutdown" />
               </node>
               <node concept="1yCjRe" id="1JJRV36A4EQ" role="2H9I4_" />
               <node concept="0Sh09" id="1JJRV36A6q4" role="lGtFl">
@@ -4419,7 +4419,7 @@
             </node>
             <node concept="FsPnw" id="1JJRV36A5A1" role="2H9I2x">
               <node concept="3JXjYv" id="1JJRV36A5Ah" role="2H9I4J">
-                <ref role="3JXjYu" node="1JJRV36A5wy" />
+                <ref role="3JXjYu" node="1JJRV36A5wy" resolve="safe2shutdown" />
               </node>
               <node concept="1yCjRe" id="1JJRV36A5As" role="2H9I4_" />
               <node concept="0Sh09" id="1JJRV36A6q6" role="lGtFl">
@@ -4430,7 +4430,7 @@
             </node>
             <node concept="FsPnw" id="1JJRV36A4EV" role="2H9I2x">
               <node concept="3JXjYv" id="1JJRV36A4F8" role="2H9I4J">
-                <ref role="3JXjYu" node="1JJRV36A4C0" />
+                <ref role="3JXjYu" node="1JJRV36A4C0" resolve="operate2shutdown" />
               </node>
               <node concept="1yCjRe" id="1JJRV36A4Fj" role="2H9I4_" />
               <node concept="0Sh09" id="1JJRV36A6q8" role="lGtFl">
@@ -4441,13 +4441,13 @@
             </node>
           </node>
           <node concept="2He$iJ" id="1JJRV36A4yY" role="2He$ia">
-            <ref role="2He$iI" node="1JJRV36A47k" />
+            <ref role="2He$iI" node="1JJRV36A47k" resolve="disconnect_led" />
           </node>
         </node>
         <node concept="2HeLW8" id="1JJRV36A4dx" role="2HfkAP" />
         <node concept="2HfkAV" id="1JJRV36A4ek" role="2HfkAP">
           <node concept="2He$iJ" id="1JJRV36A4f1" role="2He$ia">
-            <ref role="2He$iI" node="1JJRV36A47C" />
+            <ref role="2He$iI" node="1JJRV36A47C" resolve="powered_led" />
           </node>
           <node concept="1yCjT0" id="1JJRV36A4fe" role="2He$i0" />
         </node>
@@ -4455,7 +4455,7 @@
           <node concept="FsPnB" id="1JJRV36A4uL" role="2He$i0">
             <node concept="FsPnw" id="1JJRV36A4uK" role="2H9I2x">
               <node concept="3JXjYv" id="1JJRV36A4we" role="2H9I4J">
-                <ref role="3JXjYu" node="6bDIMKp8hTV" />
+                <ref role="3JXjYu" node="6bDIMKp8hTV" resolve="init2startup" />
               </node>
               <node concept="1yCjRe" id="1JJRV36A4wl" role="2H9I4_" />
               <node concept="0Sh09" id="1JJRV36A6pY" role="lGtFl">
@@ -4466,7 +4466,7 @@
             </node>
           </node>
           <node concept="2He$iJ" id="1JJRV36A4w7" role="2He$ia">
-            <ref role="2He$iI" node="1JJRV36A47C" />
+            <ref role="2He$iI" node="1JJRV36A47C" resolve="powered_led" />
           </node>
         </node>
         <node concept="37mRI7" id="1XXvHs0b7h7" role="lGtFl">
@@ -4774,13 +4774,13 @@
       <node concept="3_qfHp" id="1JJRV36A48z" role="2Hdtzq">
         <property role="TrG5h" value="l" />
         <node concept="2XEmfi" id="1JJRV36A48O" role="2HdssB">
-          <ref role="2XEmfl" node="pWUwO6CU8K" />
+          <ref role="2XEmfl" node="pWUwO6CU8K" resolve="current_range" />
         </node>
       </node>
       <node concept="3_qfHp" id="1JJRV36A49q" role="2Hdtzq">
         <property role="TrG5h" value="n" />
         <node concept="2XEmfi" id="1JJRV36A49H" role="2HdssB">
-          <ref role="2XEmfl" node="pWUwO6CU8K" />
+          <ref role="2XEmfl" node="pWUwO6CU8K" resolve="current_range" />
         </node>
       </node>
       <node concept="3US3jz" id="1JJRV36A3k9" role="lGtFl">
@@ -4789,12 +4789,12 @@
           <node concept="2HbMbg" id="1JJRV36A3kc" role="1yBDGv">
             <node concept="1yA0yd" id="1JJRV36A3kd" role="2H9Iav">
               <node concept="32Ogvo" id="1JJRV36A3ke" role="32OYtT">
-                <ref role="32Ogvr" node="1JJRV36A2Vz" />
+                <ref role="32Ogvr" node="1JJRV36A2Vz" resolve="ev_connected" />
               </node>
             </node>
             <node concept="1yA0yd" id="1JJRV36A3kf" role="2H9Ial">
               <node concept="32Ogvo" id="1JJRV36A3kg" role="32OYtT">
-                <ref role="32Ogvr" node="1JJRV36A2V_" />
+                <ref role="32Ogvr" node="1JJRV36A2V_" resolve="socket_connected" />
               </node>
             </node>
           </node>
@@ -5315,15 +5315,15 @@
     <node concept="1XyJaU" id="6yFQEkQU9pI" role="1X_0GB">
       <property role="TrG5h" value="Control Box" />
       <node concept="1XypPU" id="7BYuSCF$h3Q" role="2I3o71">
-        <ref role="SrP08" node="6yFQEkQU9pI" />
-        <ref role="SrP07" node="6yFQEkQU9_D" />
+        <ref role="SrP08" node="6yFQEkQU9pI" resolve="Control Box" />
+        <ref role="SrP07" node="6yFQEkQU9_D" resolve="Cable Temperature Sensors" />
         <node concept="Sqzvu" id="7BYuSCF$h3R" role="Sq$B$">
           <property role="TrG5h" value="Get Temperature Status" />
         </node>
       </node>
       <node concept="1XypPU" id="7BYuSCF$hbG" role="2I3o71">
-        <ref role="SrP08" node="6yFQEkQU9pI" />
-        <ref role="SrP07" node="6yFQEkQU9rl" />
+        <ref role="SrP08" node="6yFQEkQU9pI" resolve="Control Box" />
+        <ref role="SrP07" node="6yFQEkQU9rl" resolve="Electrical Cable Sensors" />
         <node concept="Sqzvu" id="7BYuSCF$hbH" role="Sq$B$">
           <property role="TrG5h" value="Get Connections Status" />
         </node>
@@ -5332,8 +5332,8 @@
         </node>
       </node>
       <node concept="1XypPU" id="7BYuSCF$hJM" role="2I3o71">
-        <ref role="SrP08" node="6yFQEkQU9pI" />
-        <ref role="SrP07" node="7BYuSCF$hCm" />
+        <ref role="SrP08" node="6yFQEkQU9pI" resolve="Control Box" />
+        <ref role="SrP07" node="7BYuSCF$hCm" resolve="LEDs" />
         <node concept="Sqzvu" id="7BYuSCF$hJN" role="Sq$B$">
           <property role="TrG5h" value="Display Power Status" />
         </node>
@@ -6914,8 +6914,8 @@
     <node concept="1XyJaU" id="6yFQEkQU9rl" role="1X_0GB">
       <property role="TrG5h" value="Electrical Cable Sensors" />
       <node concept="Sq$B_" id="7BYuSCF$f8B" role="2I3o71">
-        <ref role="SrP08" node="6yFQEkQU9rl" />
-        <ref role="SrP07" node="6yFQEkQU9pI" />
+        <ref role="SrP08" node="6yFQEkQU9rl" resolve="Electrical Cable Sensors" />
+        <ref role="SrP07" node="6yFQEkQU9pI" resolve="Control Box" />
         <node concept="Sqzvu" id="7BYuSCF$f8C" role="Sq$B$">
           <property role="TrG5h" value="Powered On" />
         </node>
@@ -6939,15 +6939,15 @@
         </node>
       </node>
       <node concept="1XypPU" id="7BYuSCF$fCq" role="2I3o71">
-        <ref role="SrP08" node="6yFQEkQU9rl" />
-        <ref role="SrP07" node="6yFQEkQU9sG" />
+        <ref role="SrP08" node="6yFQEkQU9rl" resolve="Electrical Cable Sensors" />
+        <ref role="SrP07" node="6yFQEkQU9sG" resolve="Socket" />
         <node concept="Sqzvu" id="7BYuSCF$fCr" role="Sq$B$">
           <property role="TrG5h" value="Get Current" />
         </node>
       </node>
       <node concept="Sq$B_" id="7BYuSCF$fY8" role="2I3o71">
-        <ref role="SrP08" node="6yFQEkQU9rl" />
-        <ref role="SrP07" node="6yFQEkQU9rY" />
+        <ref role="SrP08" node="6yFQEkQU9rl" resolve="Electrical Cable Sensors" />
+        <ref role="SrP07" node="6yFQEkQU9rY" resolve="EV" />
         <node concept="Sqzvu" id="7BYuSCF$fY9" role="Sq$B$">
           <property role="TrG5h" value="L" />
         </node>
@@ -6967,8 +6967,8 @@
     <node concept="1XyJaU" id="6yFQEkQU9rY" role="1X_0GB">
       <property role="TrG5h" value="EV" />
       <node concept="1XypPU" id="7BYuSCF$fRo" role="2I3o71">
-        <ref role="SrP08" node="6yFQEkQU9rY" />
-        <ref role="SrP07" node="6yFQEkQU9rl" />
+        <ref role="SrP08" node="6yFQEkQU9rY" resolve="EV" />
+        <ref role="SrP07" node="6yFQEkQU9rl" resolve="Electrical Cable Sensors" />
         <node concept="Sqzvu" id="7BYuSCF$fRp" role="Sq$B$">
           <property role="TrG5h" value="GetCurrent" />
         </node>
@@ -6982,8 +6982,8 @@
     <node concept="1XyJaU" id="6yFQEkQU9sG" role="1X_0GB">
       <property role="TrG5h" value="Socket" />
       <node concept="Sq$B_" id="7BYuSCF$fkW" role="2I3o71">
-        <ref role="SrP08" node="6yFQEkQU9sG" />
-        <ref role="SrP07" node="6yFQEkQU9rl" />
+        <ref role="SrP08" node="6yFQEkQU9sG" resolve="Socket" />
+        <ref role="SrP07" node="6yFQEkQU9rl" resolve="Electrical Cable Sensors" />
         <node concept="Sqzvu" id="7BYuSCF$fkX" role="Sq$B$">
           <property role="TrG5h" value="L" />
         </node>
@@ -7003,8 +7003,8 @@
     <node concept="1XyJaU" id="6yFQEkQU9_D" role="1X_0GB">
       <property role="TrG5h" value="Cable Temperature Sensors" />
       <node concept="Sq$B_" id="7BYuSCF$gm2" role="2I3o71">
-        <ref role="SrP08" node="6yFQEkQU9_D" />
-        <ref role="SrP07" node="6yFQEkQU9pI" />
+        <ref role="SrP08" node="6yFQEkQU9_D" resolve="Cable Temperature Sensors" />
+        <ref role="SrP07" node="6yFQEkQU9pI" resolve="Control Box" />
         <node concept="Sqzvu" id="7BYuSCF$gm3" role="Sq$B$">
           <property role="TrG5h" value="Socket-end Temperature" />
         </node>
@@ -7021,8 +7021,8 @@
     <node concept="1XyJaU" id="7BYuSCF$eHD" role="1X_0GB">
       <property role="TrG5h" value="Driver" />
       <node concept="1XypPU" id="7BYuSCF$f2T" role="2I3o71">
-        <ref role="SrP08" node="7BYuSCF$eHD" />
-        <ref role="SrP07" node="6yFQEkQU9rl" />
+        <ref role="SrP08" node="7BYuSCF$eHD" resolve="Driver" />
+        <ref role="SrP07" node="6yFQEkQU9rl" resolve="Electrical Cable Sensors" />
         <node concept="Sqzvu" id="7BYuSCF$f2U" role="Sq$B$">
           <property role="TrG5h" value="Connect to Socket" />
         </node>
@@ -7047,11 +7047,11 @@
   </node>
   <node concept="1E0nO6" id="6yFQEkQUeRG">
     <property role="TrG5h" value="_026_charging_cable_unsafe_control_actions" />
-    <ref role="1E05RL" node="6yFQEkQU9by" />
+    <ref role="1E05RL" node="6yFQEkQU9by" resolve="_025_charging_cable_control_structure" />
     <node concept="1E0nOG" id="3TSGpjyEVwi" role="1E0n_e">
-      <ref role="1E0nOH" node="6yFQEkQU9rl" />
+      <ref role="1E0nOH" node="6yFQEkQU9rl" resolve="Electrical Cable Sensors" />
       <node concept="1E0nOJ" id="3TSGpjyEVwj" role="1E0nOC">
-        <ref role="1E0n_N" node="3TSGpjyFlMV" />
+        <ref role="1E0n_N" node="3TSGpjyFlMV" resolve="Voltage" />
         <node concept="3f6qtF" id="6vZMoXu3Mhp" role="3f6qqO">
           <node concept="1E0uc6" id="3TSGpjyEVwl" role="3f6qtG">
             <property role="TrG5h" value="ECS_UCA01" />
@@ -7060,20 +7060,20 @@
                 <property role="19SUeA" value="The " />
               </node>
               <node concept="1irL6x" id="3TSGpjyEVwo" role="19SJt6">
-                <ref role="1irL7C" node="6yFQEkQU9rl" />
+                <ref role="1irL7C" node="6yFQEkQU9rl" resolve="Electrical Cable Sensors" />
               </node>
               <node concept="19SUe$" id="3TSGpjyEVwp" role="19SJt6">
                 <property role="19SUeA" value=" provide voltage outside the expected range while the ControlBox is powered on&#10;" />
               </node>
               <node concept="oY6sn" id="3TSGpjyGndG" role="19SJt6">
-                <ref role="oTUVg" node="3TSGpjyEYYX" />
+                <ref role="oTUVg" node="3TSGpjyEYYX" resolve="Electrical hazard" />
               </node>
               <node concept="19SUe$" id="3TSGpjyGndH" role="19SJt6">
                 <property role="19SUeA" value=" " />
               </node>
             </node>
             <node concept="DABN8" id="4eD_5l3mJ4g" role="2Dy4$W">
-              <ref role="DABNb" node="3TSGpjyEYYX" />
+              <ref role="DABNb" node="3TSGpjyEYYX" resolve="Electrical hazard" />
             </node>
           </node>
         </node>
@@ -7088,7 +7088,7 @@
         </node>
       </node>
       <node concept="1E0nOJ" id="6yFQEkQUeS9" role="1E0nOC">
-        <ref role="1E0n_N" node="3TSGpjyFlMW" />
+        <ref role="1E0n_N" node="3TSGpjyFlMW" resolve="Intensity" />
         <node concept="3f6qtF" id="6vZMoXu3Mhw" role="3f6qqO">
           <node concept="1E0uc6" id="6yFQEkQUf6y" role="3f6qtG">
             <property role="TrG5h" value="ECS_UCA02" />
@@ -7097,7 +7097,7 @@
                 <property role="19SUeA" value="The " />
               </node>
               <node concept="1irL6x" id="3TSGpjyG0ja" role="19SJt6">
-                <ref role="1irL7C" node="6yFQEkQU9rl" />
+                <ref role="1irL7C" node="6yFQEkQU9rl" resolve="Electrical Cable Sensors" />
               </node>
               <node concept="19SUe$" id="3TSGpjyG0jb" role="19SJt6">
                 <property role="19SUeA" value=" provide current intensity outside the expected range while the ControlBox is powered on " />
@@ -7117,9 +7117,9 @@
       </node>
     </node>
     <node concept="1E0nOG" id="6yFQEkQUf2o" role="1E0n_e">
-      <ref role="1E0nOH" node="6yFQEkQU9_D" />
+      <ref role="1E0nOH" node="6yFQEkQU9_D" resolve="Cable Temperature Sensors" />
       <node concept="1E0nOJ" id="6yFQEkQUfmf" role="1E0nOC">
-        <ref role="1E0n_N" node="7BYuSCF$gm3" />
+        <ref role="1E0n_N" node="7BYuSCF$gm3" resolve="Socket-end Temperature" />
         <node concept="3f6qtF" id="6vZMoXu3Mh$" role="3f6qqO">
           <node concept="1E0uc6" id="6yFQEkQUfna" role="3f6qtG">
             <property role="TrG5h" value="CTS_UCA04" />
@@ -7128,7 +7128,7 @@
                 <property role="19SUeA" value="The " />
               </node>
               <node concept="1irL6x" id="3TSGpjyG0jI" role="19SJt6">
-                <ref role="1irL7C" node="6yFQEkQU9_D" />
+                <ref role="1irL7C" node="6yFQEkQU9_D" resolve="Cable Temperature Sensors" />
               </node>
               <node concept="19SUe$" id="3TSGpjyG0jJ" role="19SJt6">
                 <property role="19SUeA" value=" provides Socket-end Temperature outside the expected measurement range  " />
@@ -7142,7 +7142,7 @@
                 <property role="19SUeA" value="The " />
               </node>
               <node concept="1irL6x" id="3TSGpjyG0jO" role="19SJt6">
-                <ref role="1irL7C" node="6yFQEkQU9_D" />
+                <ref role="1irL7C" node="6yFQEkQU9_D" resolve="Cable Temperature Sensors" />
               </node>
               <node concept="19SUe$" id="3TSGpjyG0jP" role="19SJt6">
                 <property role="19SUeA" value=" provides Socket-end Temperature in Fahrenheit and not in Celsius as expected " />
@@ -7158,7 +7158,7 @@
                 <property role="19SUeA" value="The " />
               </node>
               <node concept="1irL6x" id="3TSGpjyG0kr" role="19SJt6">
-                <ref role="1irL7C" node="6yFQEkQU9_D" />
+                <ref role="1irL7C" node="6yFQEkQU9_D" resolve="Cable Temperature Sensors" />
               </node>
               <node concept="19SUe$" id="3TSGpjyG0kq" role="19SJt6">
                 <property role="19SUeA" value=" does not provide Socket-end Temperature when the control box is powered on " />
@@ -7173,7 +7173,7 @@
                 <property role="19SUeA" value="The " />
               </node>
               <node concept="1irL6x" id="3TSGpjyG0l$" role="19SJt6">
-                <ref role="1irL7C" node="6yFQEkQU9_D" />
+                <ref role="1irL7C" node="6yFQEkQU9_D" resolve="Cable Temperature Sensors" />
               </node>
               <node concept="19SUe$" id="3TSGpjyG0l_" role="19SJt6">
                 <property role="19SUeA" value=" provides Socket-end Temperature too rarely " />
@@ -7887,7 +7887,7 @@
               <property role="19SUeA" value="All hazards identified during safety analysis &#10;{sa} " />
             </node>
             <node concept="oXkut" id="1XXvHs0b96U" role="19SJt6">
-              <ref role="oTdVe" node="2VIqKfEJeEr" />
+              <ref role="oTdVe" node="2VIqKfEJeEr" resolve="_022_charging_cable_hazards_list" />
             </node>
             <node concept="19SUe$" id="1XXvHs0b96V" role="19SJt6" />
           </node>
@@ -7942,7 +7942,7 @@
               <property role="19SUeA" value="Risk associated with hazard " />
             </node>
             <node concept="oY6sn" id="1XXvHs0b97f" role="19SJt6">
-              <ref role="oTUVg" node="3TSGpjyFlFU" />
+              <ref role="oTUVg" node="3TSGpjyFlFU" resolve="Tripping" />
             </node>
             <node concept="19SUe$" id="1XXvHs0b97g" role="19SJt6">
               <property role="19SUeA" value="&#10; has been shown negligible" />
@@ -7958,28 +7958,28 @@
           </node>
         </node>
         <node concept="3VeUTF" id="1XXvHs0b97w" role="2vhqc$">
-          <ref role="3VeSjP" node="1XXvHs0b96W" />
-          <ref role="3VeSjQ" node="1XXvHs0b96Z" />
+          <ref role="3VeSjP" node="1XXvHs0b96W" resolve="Str2.3" />
+          <ref role="3VeSjQ" node="1XXvHs0b96Z" resolve="G2.6" />
         </node>
         <node concept="3VeUTF" id="1XXvHs0b97x" role="2vhqc$">
-          <ref role="3VeSjP" node="1XXvHs0b96W" />
-          <ref role="3VeSjQ" node="1XXvHs0b972" />
+          <ref role="3VeSjP" node="1XXvHs0b96W" resolve="Str2.3" />
+          <ref role="3VeSjQ" node="1XXvHs0b972" resolve="G2.7" />
         </node>
         <node concept="3VeUTF" id="1XXvHs0b97y" role="2vhqc$">
-          <ref role="3VeSjP" node="1XXvHs0b975" />
-          <ref role="3VeSjQ" node="1XXvHs0b96W" />
+          <ref role="3VeSjP" node="1XXvHs0b975" resolve="G2.1" />
+          <ref role="3VeSjQ" node="1XXvHs0b96W" resolve="Str2.3" />
         </node>
         <node concept="3VeUTF" id="1XXvHs0b97z" role="2vhqc$">
-          <ref role="3VeSjP" node="1XXvHs0b975" />
-          <ref role="3VeSjQ" node="1XXvHs0b96R" />
+          <ref role="3VeSjP" node="1XXvHs0b975" resolve="G2.1" />
+          <ref role="3VeSjQ" node="1XXvHs0b96R" resolve="Str2.1" />
         </node>
         <node concept="3VeUTF" id="1XXvHs0b97$" role="2vhqc$">
-          <ref role="3VeSjP" node="1XXvHs0b96Z" />
-          <ref role="3VeSjQ" node="1XXvHs0b978" />
+          <ref role="3VeSjP" node="1XXvHs0b96Z" resolve="G2.6" />
+          <ref role="3VeSjQ" node="1XXvHs0b978" resolve="Sn2" />
         </node>
         <node concept="2vhqFZ" id="1XXvHs0b97H" role="2vhqc$">
-          <ref role="3VeSjP" node="1XXvHs0b96R" />
-          <ref role="3VeSjQ" node="1XXvHs0b97t" />
+          <ref role="3VeSjP" node="1XXvHs0b96R" resolve="Str2.1" />
+          <ref role="3VeSjQ" node="1XXvHs0b97t" resolve="A2" />
         </node>
         <node concept="37mRI7" id="1XXvHs0b9aH" role="lGtFl">
           <node concept="37mRIm" id="1XXvHs0b9aI" role="37mRID">
@@ -8655,13 +8655,13 @@
               <property role="19SUeA" value="Hazard " />
             </node>
             <node concept="oY6sn" id="2UkUklpZvE6" role="19SJt6">
-              <ref role="oTUVg" node="3TSGpjyFlFc" />
+              <ref role="oTUVg" node="3TSGpjyFlFc" resolve="The cable catches fire" />
             </node>
             <node concept="19SUe$" id="2UkUklpZvE7" role="19SJt6">
               <property role="19SUeA" value="&#10; has been substituted &#10; with hazard " />
             </node>
             <node concept="oY6sn" id="2UkUklpZvE8" role="19SJt6">
-              <ref role="oTUVg" node="3TSGpjyFlES" />
+              <ref role="oTUVg" node="3TSGpjyFlES" resolve="Cable temperature too high" />
             </node>
             <node concept="19SUe$" id="2UkUklpZvGM" role="19SJt6" />
           </node>
@@ -8674,7 +8674,7 @@
               <property role="19SUeA" value="Hazard " />
             </node>
             <node concept="oY6sn" id="23wuL6uKwgl" role="19SJt6">
-              <ref role="oTUVg" node="3TSGpjyEYYX" />
+              <ref role="oTUVg" node="3TSGpjyEYYX" resolve="Electrical hazard" />
             </node>
             <node concept="19SUe$" id="23wuL6uKwgk" role="19SJt6">
               <property role="19SUeA" value="&#10; has been mitigated" />
@@ -8682,8 +8682,8 @@
           </node>
         </node>
         <node concept="8gDHL" id="3TSGpjyNN_L" role="2vhqc$">
-          <ref role="3VeSjP" node="1XXvHs0b96R" />
-          <ref role="3VeSjQ" node="3TSGpjyNNnE" />
+          <ref role="3VeSjP" node="1XXvHs0b96R" resolve="Str2.1" />
+          <ref role="3VeSjQ" node="3TSGpjyNNnE" resolve="G2.2" />
         </node>
         <node concept="8gVzV" id="3TSGpjyNNPf" role="2vn1q5">
           <property role="8uqrb" value="true" />
@@ -8693,7 +8693,7 @@
               <property role="19SUeA" value="Hazard " />
             </node>
             <node concept="oY6sn" id="23wuL6uKwgv" role="19SJt6">
-              <ref role="oTUVg" node="3TSGpjyFlES" />
+              <ref role="oTUVg" node="3TSGpjyFlES" resolve="Cable temperature too high" />
             </node>
             <node concept="19SUe$" id="23wuL6uKwgu" role="19SJt6">
               <property role="19SUeA" value="&#10; has been mitigated" />
@@ -8701,8 +8701,8 @@
           </node>
         </node>
         <node concept="8gDHL" id="3TSGpjyNO0f" role="2vhqc$">
-          <ref role="3VeSjP" node="1XXvHs0b96R" />
-          <ref role="3VeSjQ" node="3TSGpjyNNPf" />
+          <ref role="3VeSjP" node="1XXvHs0b96R" resolve="Str2.1" />
+          <ref role="3VeSjQ" node="3TSGpjyNNPf" resolve="G2.3" />
         </node>
         <node concept="atroF" id="3TSGpjyNO74" role="2vn1q5">
           <property role="8uqrb" value="true" />
@@ -8712,7 +8712,7 @@
               <property role="19SUeA" value="Hazard " />
             </node>
             <node concept="oY6sn" id="41_NtXJv4eG" role="19SJt6">
-              <ref role="oTUVg" node="3TSGpjyFlEA" />
+              <ref role="oTUVg" node="3TSGpjyFlEA" resolve="Explosion of the car" />
             </node>
             <node concept="19SUe$" id="23wuL6uKwgb" role="19SJt6">
               <property role="19SUeA" value="&#10; has been eliminated &#10; and can no longer occur" />
@@ -8720,8 +8720,8 @@
           </node>
         </node>
         <node concept="8gDHL" id="3TSGpjyNOcn" role="2vhqc$">
-          <ref role="3VeSjP" node="1XXvHs0b96R" />
-          <ref role="3VeSjQ" node="3TSGpjyNO74" />
+          <ref role="3VeSjP" node="1XXvHs0b96R" resolve="Str2.1" />
+          <ref role="3VeSjQ" node="3TSGpjyNO74" resolve="G2.4" />
         </node>
         <node concept="atrou" id="3TSGpjyNOuw" role="2vn1q5">
           <property role="8uqrb" value="true" />
@@ -8731,13 +8731,13 @@
               <property role="19SUeA" value="Hazard " />
             </node>
             <node concept="oY6sn" id="23wuL6uKwgC" role="19SJt6">
-              <ref role="oTUVg" node="3TSGpjyFlFy" />
+              <ref role="oTUVg" node="3TSGpjyFlFy" resolve="Smoke comes out of the cable" />
             </node>
             <node concept="19SUe$" id="3TSGpjyNOu$" role="19SJt6">
               <property role="19SUeA" value="&#10; has been substituted &#10; with hazard " />
             </node>
             <node concept="oY6sn" id="23wuL6uKwgM" role="19SJt6">
-              <ref role="oTUVg" node="3TSGpjyFlES" />
+              <ref role="oTUVg" node="3TSGpjyFlES" resolve="Cable temperature too high" />
             </node>
             <node concept="19SUe$" id="23wuL6uKwgL" role="19SJt6">
               <property role="19SUeA" value="" />
@@ -8745,16 +8745,16 @@
           </node>
         </node>
         <node concept="8gDHL" id="3TSGpjyNSA$" role="2vhqc$">
-          <ref role="3VeSjP" node="1XXvHs0b96R" />
-          <ref role="3VeSjQ" node="3TSGpjyNOuw" />
+          <ref role="3VeSjP" node="1XXvHs0b96R" resolve="Str2.1" />
+          <ref role="3VeSjQ" node="3TSGpjyNOuw" resolve="G2.5" />
         </node>
         <node concept="8gDHL" id="55oVyA0raTG" role="2vhqc$">
-          <ref role="3VeSjP" node="1XXvHs0b96R" />
-          <ref role="3VeSjQ" node="2UkUklpZvE3" />
+          <ref role="3VeSjP" node="1XXvHs0b96R" resolve="Str2.1" />
+          <ref role="3VeSjQ" node="2UkUklpZvE3" resolve="G2.7" />
         </node>
         <node concept="8gDHL" id="55oVyA0raYS" role="2vhqc$">
-          <ref role="3VeSjP" node="1XXvHs0b96R" />
-          <ref role="3VeSjQ" node="1XXvHs0b97c" />
+          <ref role="3VeSjP" node="1XXvHs0b96R" resolve="Str2.1" />
+          <ref role="3VeSjQ" node="1XXvHs0b97c" resolve="G2.5" />
         </node>
       </node>
       <node concept="19SGf9" id="23wuL6uKwgU" role="2vnaTY">
@@ -8775,7 +8775,7 @@
               <property role="19SUeA" value="System's assumptions about its operating context&#10;as defined in " />
             </node>
             <node concept="27blvF" id="1XXvHs0balx" role="19SJt6">
-              <ref role="27blvA" node="6bDIMKp8B9J" />
+              <ref role="27blvA" node="6bDIMKp8B9J" resolve="_003_ladekabel_system_requirements" />
             </node>
             <node concept="19SUe$" id="1XXvHs0baly" role="19SJt6" />
           </node>
@@ -8804,7 +8804,7 @@
               <property role="19SUeA" value="System defined in&#10;" />
             </node>
             <node concept="27blvF" id="1XXvHs0balJ" role="19SJt6">
-              <ref role="27blvA" node="2VIqKfEJe0_" />
+              <ref role="27blvA" node="2VIqKfEJe0_" resolve="_004_ladekabel_functional_requirements" />
             </node>
             <node concept="19SUe$" id="1XXvHs0balK" role="19SJt6">
               <property role="19SUeA" value="&#10; is sufficiently safe &#10; in the given operating context" />
@@ -8820,20 +8820,20 @@
           </node>
         </node>
         <node concept="3VeUTF" id="1XXvHs0balO" role="2vhqc$">
-          <ref role="3VeSjP" node="1XXvHs0balG" />
-          <ref role="3VeSjQ" node="1XXvHs0balA" />
+          <ref role="3VeSjP" node="1XXvHs0balG" resolve="G1.1" />
+          <ref role="3VeSjQ" node="1XXvHs0balA" resolve="Str1.1" />
         </node>
         <node concept="3VeUTF" id="1XXvHs0balP" role="2vhqc$">
-          <ref role="3VeSjP" node="1XXvHs0balG" />
-          <ref role="3VeSjQ" node="1XXvHs0balz" />
+          <ref role="3VeSjP" node="1XXvHs0balG" resolve="G1.1" />
+          <ref role="3VeSjQ" node="1XXvHs0balz" resolve="Str1.2" />
         </node>
         <node concept="2vhqFZ" id="1XXvHs0balQ" role="2vhqc$">
-          <ref role="3VeSjP" node="1XXvHs0balG" />
-          <ref role="3VeSjQ" node="1XXvHs0balu" />
+          <ref role="3VeSjP" node="1XXvHs0balG" resolve="G1.1" />
+          <ref role="3VeSjQ" node="1XXvHs0balu" resolve="A1 - Context Assumptions" />
         </node>
         <node concept="2vhqFZ" id="1XXvHs0balS" role="2vhqc$">
-          <ref role="3VeSjP" node="1XXvHs0balG" />
-          <ref role="3VeSjQ" node="1XXvHs0balL" />
+          <ref role="3VeSjP" node="1XXvHs0balG" resolve="G1.1" />
+          <ref role="3VeSjQ" node="1XXvHs0balL" resolve="C2" />
         </node>
         <node concept="37mRI7" id="1XXvHs0banO" role="lGtFl">
           <node concept="37mRIm" id="1XXvHs0banP" role="37mRID">
@@ -9022,8 +9022,8 @@
           </node>
         </node>
         <node concept="3VeUTF" id="1XXvHs0baDi" role="2vhqc$">
-          <ref role="3VeSjP" node="1XXvHs0balA" />
-          <ref role="3VeSjQ" node="1XXvHs0b975" />
+          <ref role="3VeSjP" node="1XXvHs0balA" resolve="Str1.1" />
+          <ref role="3VeSjQ" node="1XXvHs0b975" resolve="G2.1" />
         </node>
       </node>
       <node concept="19SGf9" id="23wuL6uKwgY" role="2vnaTY">
@@ -9067,13 +9067,13 @@
         </node>
         <node concept="2iDXIW" id="7n39yospbeW" role="0nOlf">
           <node concept="DABN8" id="6W1kQP6Bq6o" role="DABNk">
-            <ref role="DABNb" node="3TSGpjyFlES" />
+            <ref role="DABNb" node="3TSGpjyFlES" resolve="Cable temperature too high" />
           </node>
           <node concept="DABN8" id="66sW2d$Fg2v" role="DABNk">
-            <ref role="DABNb" node="3TSGpjyFlFy" />
+            <ref role="DABNb" node="3TSGpjyFlFy" resolve="Smoke comes out of the cable" />
           </node>
           <node concept="DABN8" id="2UkUklpZvWa" role="DABNk">
-            <ref role="DABNb" node="3TSGpjyFlFy" />
+            <ref role="DABNb" node="3TSGpjyFlFy" resolve="Smoke comes out of the cable" />
           </node>
         </node>
       </node>
@@ -9084,13 +9084,13 @@
       </node>
       <node concept="2iDXIW" id="7n39yospbeR" role="0nOlf">
         <node concept="DABN8" id="6W1kQP6Bq6q" role="DABNk">
-          <ref role="DABNb" node="3TSGpjyFlES" />
+          <ref role="DABNb" node="3TSGpjyFlES" resolve="Cable temperature too high" />
         </node>
         <node concept="DABN8" id="6W1kQP6Bzra" role="DABNk">
-          <ref role="DABNb" node="3TSGpjyFlFy" />
+          <ref role="DABNb" node="3TSGpjyFlFy" resolve="Smoke comes out of the cable" />
         </node>
         <node concept="DABN8" id="2UkUklpZvW1" role="DABNk">
-          <ref role="DABNb" node="3TSGpjyFlFc" />
+          <ref role="DABNb" node="3TSGpjyFlFc" resolve="The cable catches fire" />
         </node>
       </node>
     </node>
diff --git a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._020_adas_students_lab._010_safe_lane_keeping.mps b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._020_adas_students_lab._010_safe_lane_keeping.mps
index 31876e96e..4bb088ae7 100644
--- a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._020_adas_students_lab._010_safe_lane_keeping.mps
+++ b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._020_adas_students_lab._010_safe_lane_keeping.mps
@@ -596,199 +596,199 @@
     <node concept="1a6Z8w" id="G$XGFsgYdV" role="8gIbH">
       <property role="0lsPB" value="H01" />
       <property role="TrG5h" value="Missing of lane markers - ASIL QM " />
-      <ref role="2HxXJk" node="G$XGFsgYc9" />
+      <ref role="2HxXJk" node="G$XGFsgYc9" resolve="Loss of life or injury to people" />
       <node concept="3h3uym" id="75La0fJyPjx" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNL9/E3" />
-        <ref role="3h3iM1" node="55oVyA0mUqx" />
+        <ref role="3h3iM1" node="55oVyA0mUqx" resolve="OS1_LK" />
       </node>
     </node>
     <node concept="1a6Z8w" id="G$XGFsgYeb" role="8gIbH">
       <property role="TrG5h" value="System does not recognize lane - ASIL QM" />
       <property role="0lsPB" value="H03" />
-      <ref role="2HxXJk" node="G$XGFsgYc9" />
+      <ref role="2HxXJk" node="G$XGFsgYc9" resolve="Loss of life or injury to people" />
       <node concept="3h3uym" id="75La0fJyPj$" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNL9/E3" />
-        <ref role="3h3iM1" node="55oVyA0mUqx" />
+        <ref role="3h3iM1" node="55oVyA0mUqx" resolve="OS1_LK" />
       </node>
     </node>
     <node concept="1a6Z8w" id="G$XGFsgYel" role="8gIbH">
       <property role="TrG5h" value="System recognizes wrong lane -  ASIL B" />
       <property role="0lsPB" value="H04" />
-      <ref role="2HxXJk" node="G$XGFsgYc9" />
+      <ref role="2HxXJk" node="G$XGFsgYc9" resolve="Loss of life or injury to people" />
       <node concept="3h3uym" id="75La0fJyPjO" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNL5/E2" />
-        <ref role="3h3iM1" node="75La0fJyPjB" />
+        <ref role="3h3iM1" node="75La0fJyPjB" resolve="OS2_LK" />
       </node>
     </node>
     <node concept="1a6Z8w" id="G$XGFsgYex" role="8gIbH">
       <property role="TrG5h" value="Delayed steering - ASIL QM" />
       <property role="0lsPB" value="H05" />
-      <ref role="2HxXJk" node="G$XGFsgYc9" />
+      <ref role="2HxXJk" node="G$XGFsgYc9" resolve="Loss of life or injury to people" />
       <node concept="3h3uym" id="75La0fJyPk3" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNL2/E1" />
-        <ref role="3h3iM1" node="75La0fJyPjR" />
+        <ref role="3h3iM1" node="75La0fJyPjR" resolve="OS3_LK" />
       </node>
     </node>
     <node concept="1a6Z8w" id="G$XGFsgYeJ" role="8gIbH">
       <property role="TrG5h" value="Overshooting/oszillation of system - ASIL QM" />
       <property role="0lsPB" value="H06" />
-      <ref role="2HxXJk" node="G$XGFsgYc9" />
+      <ref role="2HxXJk" node="G$XGFsgYc9" resolve="Loss of life or injury to people" />
       <node concept="3h3uym" id="75La0fJyPk6" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNL2/E1" />
-        <ref role="3h3iM1" node="75La0fJyPjR" />
+        <ref role="3h3iM1" node="75La0fJyPjR" resolve="OS3_LK" />
       </node>
     </node>
     <node concept="1a6Z8w" id="G$XGFsgYeZ" role="8gIbH">
       <property role="TrG5h" value="Uncomfortable steering - ASIL QM" />
       <property role="0lsPB" value="H07" />
-      <ref role="2HxXJk" node="G$XGFsgYcm" />
+      <ref role="2HxXJk" node="G$XGFsgYcm" resolve="Loss of customer satisfaction" />
       <node concept="3h3uym" id="75La0fJyPk9" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNL2/E1" />
-        <ref role="3h3iM1" node="75La0fJyPjR" />
+        <ref role="3h3iM1" node="75La0fJyPjR" resolve="OS3_LK" />
       </node>
     </node>
     <node concept="1a6Z8w" id="G$XGFsgYfh" role="8gIbH">
       <property role="TrG5h" value="Delayed overtaking of driver - ASIL QM" />
       <property role="0lsPB" value="H08" />
-      <ref role="2HxXJk" node="G$XGFsgYc9" />
+      <ref role="2HxXJk" node="G$XGFsgYc9" resolve="Loss of life or injury to people" />
       <node concept="3h3uym" id="75La0fJyPkc" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNL5/E2" />
-        <ref role="3h3iM1" node="75La0fJyPjB" />
+        <ref role="3h3iM1" node="75La0fJyPjB" resolve="OS2_LK" />
       </node>
     </node>
     <node concept="1a6Z8w" id="G$XGFsgYfV" role="8gIbH">
       <property role="TrG5h" value="Overwrite/prevent driver input - ASIL QM" />
       <property role="0lsPB" value="H10" />
-      <ref role="2HxXJk" node="G$XGFsgYc9" />
+      <ref role="2HxXJk" node="G$XGFsgYc9" resolve="Loss of life or injury to people" />
       <node concept="3h3uym" id="75La0fJyPkf" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNL2/E1" />
-        <ref role="3h3iM1" node="75La0fJyPjR" />
+        <ref role="3h3iM1" node="75La0fJyPjR" resolve="OS3_LK" />
       </node>
     </node>
     <node concept="1a6Z8w" id="G$XGFsgYgj" role="8gIbH">
       <property role="TrG5h" value="Compensation of hardware faults - ASIL QM" />
       <property role="0lsPB" value="H11" />
-      <ref role="2HxXJk" node="G$XGFsgYc9" />
+      <ref role="2HxXJk" node="G$XGFsgYc9" resolve="Loss of life or injury to people" />
       <node concept="3h3uym" id="75La0fJyPki" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNL2/E1" />
-        <ref role="3h3iM1" node="75La0fJyPjR" />
+        <ref role="3h3iM1" node="75La0fJyPjR" resolve="OS3_LK" />
       </node>
     </node>
     <node concept="1a6Z8w" id="G$XGFsgYgH" role="8gIbH">
       <property role="TrG5h" value="Unnecessary warnings - ASIL QM" />
       <property role="0lsPB" value="H12" />
-      <ref role="2HxXJk" node="G$XGFsgYcm" />
+      <ref role="2HxXJk" node="G$XGFsgYcm" resolve="Loss of customer satisfaction" />
       <node concept="3h3uym" id="75La0fJyPkl" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNL5/E2" />
-        <ref role="3h3iM1" node="75La0fJyPjB" />
+        <ref role="3h3iM1" node="75La0fJyPjB" resolve="OS2_LK" />
       </node>
     </node>
     <node concept="1a6Z8w" id="G$XGFsgYh9" role="8gIbH">
       <property role="TrG5h" value="Complicated interface - ASIL QM" />
       <property role="0lsPB" value="H13" />
-      <ref role="2HxXJk" node="G$XGFsgYcm" />
+      <ref role="2HxXJk" node="G$XGFsgYcm" resolve="Loss of customer satisfaction" />
       <node concept="3h3uym" id="75La0fJyPko" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNL2/E1" />
-        <ref role="3h3iM1" node="75La0fJyPjR" />
+        <ref role="3h3iM1" node="75La0fJyPjR" resolve="OS3_LK" />
       </node>
     </node>
     <node concept="1a6Z8w" id="G$XGFsgYhB" role="8gIbH">
       <property role="TrG5h" value="Driver not informed about takeover - ASIL QM" />
       <property role="0lsPB" value="H14" />
-      <ref role="2HxXJk" node="G$XGFsgYc9" />
+      <ref role="2HxXJk" node="G$XGFsgYc9" resolve="Loss of life or injury to people" />
       <node concept="3h3uym" id="75La0fJyPkr" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNL2/E1" />
-        <ref role="3h3iM1" node="75La0fJyPjR" />
+        <ref role="3h3iM1" node="75La0fJyPjR" resolve="OS3_LK" />
       </node>
     </node>
     <node concept="1a6Z8w" id="G$XGFsgYi7" role="8gIbH">
       <property role="TrG5h" value="Unwanted deactivation - ASIL QM" />
       <property role="0lsPB" value="H15" />
-      <ref role="2HxXJk" node="G$XGFsgYc9" />
+      <ref role="2HxXJk" node="G$XGFsgYc9" resolve="Loss of life or injury to people" />
       <node concept="3h3uym" id="75La0fJyPku" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNL2/E1" />
-        <ref role="3h3iM1" node="75La0fJyPjR" />
+        <ref role="3h3iM1" node="75La0fJyPjR" resolve="OS3_LK" />
       </node>
     </node>
     <node concept="1a6Z8w" id="G$XGFsgYiD" role="8gIbH">
       <property role="TrG5h" value="No correction of unintended user input - ASIL QM" />
       <property role="0lsPB" value="H16" />
-      <ref role="2HxXJk" node="G$XGFsgYc9" />
+      <ref role="2HxXJk" node="G$XGFsgYc9" resolve="Loss of life or injury to people" />
       <node concept="3h3uym" id="75La0fJyPkx" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNL2/E1" />
-        <ref role="3h3iM1" node="75La0fJyPjR" />
+        <ref role="3h3iM1" node="75La0fJyPjR" resolve="OS3_LK" />
       </node>
     </node>
     <node concept="1a6Z8w" id="G$XGFsgYjd" role="8gIbH">
       <property role="TrG5h" value="Wrong data processing (bug) - ASIL QM" />
       <property role="0lsPB" value="H17" />
-      <ref role="2HxXJk" node="G$XGFsgYc9" />
+      <ref role="2HxXJk" node="G$XGFsgYc9" resolve="Loss of life or injury to people" />
       <node concept="3h3uym" id="75La0fJyPk$" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNL2/E1" />
-        <ref role="3h3iM1" node="75La0fJyPjR" />
+        <ref role="3h3iM1" node="75La0fJyPjR" resolve="OS3_LK" />
       </node>
     </node>
     <node concept="1a6Z8w" id="G$XGFsgYkr" role="8gIbH">
       <property role="TrG5h" value="Failure of hardware - ASIL A" />
       <property role="0lsPB" value="H19" />
-      <ref role="2HxXJk" node="G$XGFsgYc9" />
+      <ref role="2HxXJk" node="G$XGFsgYc9" resolve="Loss of life or injury to people" />
       <node concept="3h3uym" id="75La0fJyPkB" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNL5/E2" />
-        <ref role="3h3iM1" node="75La0fJyPjB" />
+        <ref role="3h3iM1" node="75La0fJyPjB" resolve="OS2_LK" />
       </node>
     </node>
     <node concept="1a6Z8w" id="G$XGFsgYl5" role="8gIbH">
       <property role="TrG5h" value="Camera is dirty - ASIL QM" />
       <property role="0lsPB" value="H20" />
-      <ref role="2HxXJk" node="G$XGFsgYch" />
+      <ref role="2HxXJk" node="G$XGFsgYch" resolve="Loss of mission" />
       <node concept="3h3uym" id="75La0fJyPkE" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNL5/E2" />
-        <ref role="3h3iM1" node="75La0fJyPjB" />
+        <ref role="3h3iM1" node="75La0fJyPjB" resolve="OS2_LK" />
       </node>
     </node>
     <node concept="1a6Z8w" id="G$XGFsgYmv" role="8gIbH">
       <property role="TrG5h" value="Overexposed camera - ASIL QM" />
       <property role="0lsPB" value="H21" />
-      <ref role="2HxXJk" node="G$XGFsgYch" />
+      <ref role="2HxXJk" node="G$XGFsgYch" resolve="Loss of mission" />
       <node concept="3h3uym" id="75La0fJyPkL" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNL5/E2" />
-        <ref role="3h3iM1" node="75La0fJyPjB" />
+        <ref role="3h3iM1" node="75La0fJyPjB" resolve="OS2_LK" />
       </node>
     </node>
     <node concept="1a6Z8w" id="4GKPLBASxXu" role="8gIbH">
       <property role="0lsPB" value="H22" />
       <property role="TrG5h" value="Leaving of lane - ASIL B" />
-      <ref role="2HxXJk" node="G$XGFsgYc9" />
+      <ref role="2HxXJk" node="G$XGFsgYc9" resolve="Loss of life or injury to people" />
       <node concept="3h3uym" id="75La0fJyPkO" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNL9/E3" />
-        <ref role="3h3iM1" node="55oVyA0mUqx" />
+        <ref role="3h3iM1" node="55oVyA0mUqx" resolve="OS1_LK" />
       </node>
     </node>
     <node concept="1a6Z8w" id="lV44fsLWj5" role="8gIbH">
       <property role="0lsPB" value="H23" />
       <property role="TrG5h" value="Bad system feedback to driver (e.g. error reporting) - ASIL QM" />
-      <ref role="2HxXJk" node="G$XGFsgYcm" />
+      <ref role="2HxXJk" node="G$XGFsgYcm" resolve="Loss of customer satisfaction" />
       <node concept="3h3uym" id="75La0fJyPkR" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNL2/E1" />
-        <ref role="3h3iM1" node="75La0fJyPjR" />
+        <ref role="3h3iM1" node="75La0fJyPjR" resolve="OS3_LK" />
       </node>
     </node>
     <node concept="1a6Z8w" id="lV44fsLWjR" role="8gIbH">
       <property role="0lsPB" value="H24" />
       <property role="TrG5h" value="User interface devices not working properly - ASIL QM" />
-      <ref role="2HxXJk" node="G$XGFsgYcm" />
+      <ref role="2HxXJk" node="G$XGFsgYcm" resolve="Loss of customer satisfaction" />
       <node concept="3h3uym" id="75La0fJyPkU" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNL2/E1" />
-        <ref role="3h3iM1" node="75La0fJyPjR" />
+        <ref role="3h3iM1" node="75La0fJyPjR" resolve="OS3_LK" />
       </node>
     </node>
     <node concept="1a6Z8w" id="lV44fsLWkF" role="8gIbH">
       <property role="TrG5h" value="Lane keeping system cannot be activated - ASIL QM" />
       <property role="0lsPB" value="H25" />
-      <ref role="2HxXJk" node="G$XGFsgYcm" />
+      <ref role="2HxXJk" node="G$XGFsgYcm" resolve="Loss of customer satisfaction" />
       <node concept="3h3uym" id="75La0fJyPkX" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNL2/E1" />
-        <ref role="3h3iM1" node="75La0fJyPjR" />
+        <ref role="3h3iM1" node="75La0fJyPjR" resolve="OS3_LK" />
       </node>
     </node>
   </node>
@@ -797,8 +797,8 @@
     <node concept="1XyJaU" id="2fZol$t_0Lj" role="1X_0GB">
       <property role="TrG5h" value="Motor providing vibrations to steering wheel&#10;" />
       <node concept="1XypPU" id="2fZol$t_15f" role="2I3o71">
-        <ref role="SrP08" node="2fZol$t_0Lj" />
-        <ref role="SrP07" node="2fZol$t_0Nn" />
+        <ref role="SrP08" node="2fZol$t_0Lj" resolve="Motor providing vibrations to steering wheel&#10;" />
+        <ref role="SrP07" node="2fZol$t_0Nn" resolve="Steering wheel" />
         <node concept="Sqzvu" id="2fZol$t_15g" role="Sq$B$">
           <property role="TrG5h" value="vibrate" />
         </node>
@@ -1489,8 +1489,8 @@
     <node concept="1XyJaU" id="2fZol$t_0Ly" role="1X_0GB">
       <property role="TrG5h" value="Motor providing torque to steering wheel" />
       <node concept="1XypPU" id="2fZol$t_13v" role="2I3o71">
-        <ref role="SrP08" node="2fZol$t_0Ly" />
-        <ref role="SrP07" node="2fZol$t_0Nn" />
+        <ref role="SrP08" node="2fZol$t_0Ly" resolve="Motor providing torque to steering wheel" />
+        <ref role="SrP07" node="2fZol$t_0Nn" resolve="Steering wheel" />
         <node concept="Sqzvu" id="2fZol$t_13w" role="Sq$B$">
           <property role="TrG5h" value="steer" />
         </node>
@@ -1499,8 +1499,8 @@
     <node concept="1XyJaU" id="2fZol$t_0LI" role="1X_0GB">
       <property role="TrG5h" value="Environment&#10;" />
       <node concept="Sq$B_" id="2fZol$t_1B9" role="2I3o71">
-        <ref role="SrP08" node="2fZol$t_0LI" />
-        <ref role="SrP07" node="2fZol$t_0Mp" />
+        <ref role="SrP08" node="2fZol$t_0LI" resolve="Environment&#10;" />
+        <ref role="SrP07" node="2fZol$t_0Mp" resolve="Front camera" />
         <node concept="Sqzvu" id="2fZol$t_1Ba" role="Sq$B$">
           <property role="TrG5h" value="observation" />
         </node>
@@ -1509,8 +1509,8 @@
     <node concept="1XyJaU" id="2fZol$t_0Mp" role="1X_0GB">
       <property role="TrG5h" value="Front camera" />
       <node concept="Sq$B_" id="2fZol$t_1EL" role="2I3o71">
-        <ref role="SrP08" node="2fZol$t_0Mp" />
-        <ref role="SrP07" node="2fZol$t_0O3" />
+        <ref role="SrP08" node="2fZol$t_0Mp" resolve="Front camera" />
+        <ref role="SrP07" node="2fZol$t_0O3" resolve="Lane Keeping Control Unit" />
         <node concept="Sqzvu" id="2fZol$t_1EM" role="Sq$B$">
           <property role="TrG5h" value="visual input" />
         </node>
@@ -1519,22 +1519,22 @@
     <node concept="1XyJaU" id="2fZol$t_0MX" role="1X_0GB">
       <property role="TrG5h" value="Driver" />
       <node concept="1XypPU" id="2fZol$t_0Y_" role="2I3o71">
-        <ref role="SrP08" node="2fZol$t_0MX" />
-        <ref role="SrP07" node="2fZol$t_0Nn" />
+        <ref role="SrP08" node="2fZol$t_0MX" resolve="Driver" />
+        <ref role="SrP07" node="2fZol$t_0Nn" resolve="Steering wheel" />
         <node concept="Sqzvu" id="2fZol$t_0YA" role="Sq$B$">
           <property role="TrG5h" value="steer" />
         </node>
       </node>
       <node concept="1XypPU" id="2fZol$t_1bv" role="2I3o71">
-        <ref role="SrP08" node="2fZol$t_0MX" />
-        <ref role="SrP07" node="2fZol$t_0Rm" />
+        <ref role="SrP08" node="2fZol$t_0MX" resolve="Driver" />
+        <ref role="SrP07" node="2fZol$t_0Rm" resolve="LK Activation button" />
         <node concept="Sqzvu" id="2fZol$t_1bw" role="Sq$B$">
           <property role="TrG5h" value="control" />
         </node>
       </node>
       <node concept="1XypPU" id="2fZol$t_1gA" role="2I3o71">
-        <ref role="SrP08" node="2fZol$t_0MX" />
-        <ref role="SrP07" node="2fZol$t_126" />
+        <ref role="SrP08" node="2fZol$t_0MX" resolve="Driver" />
+        <ref role="SrP07" node="2fZol$t_126" resolve="Brake sensor" />
         <node concept="Sqzvu" id="2fZol$t_1gB" role="Sq$B$">
           <property role="TrG5h" value="push" />
         </node>
@@ -1543,8 +1543,8 @@
     <node concept="1XyJaU" id="2fZol$t_0Nn" role="1X_0GB">
       <property role="TrG5h" value="Steering wheel" />
       <node concept="Sq$B_" id="2fZol$t_10c" role="2I3o71">
-        <ref role="SrP08" node="2fZol$t_0Nn" />
-        <ref role="SrP07" node="2fZol$t_0MX" />
+        <ref role="SrP08" node="2fZol$t_0Nn" resolve="Steering wheel" />
+        <ref role="SrP07" node="2fZol$t_0MX" resolve="Driver" />
         <node concept="Sqzvu" id="2fZol$t_10d" role="Sq$B$">
           <property role="TrG5h" value="vibrate" />
         </node>
@@ -1553,15 +1553,15 @@
     <node concept="1XyJaU" id="2fZol$t_0O3" role="1X_0GB">
       <property role="TrG5h" value="Lane Keeping Control Unit" />
       <node concept="1XypPU" id="2fZol$t_1m9" role="2I3o71">
-        <ref role="SrP08" node="2fZol$t_0O3" />
-        <ref role="SrP07" node="2fZol$t_0Ly" />
+        <ref role="SrP08" node="2fZol$t_0O3" resolve="Lane Keeping Control Unit" />
+        <ref role="SrP07" node="2fZol$t_0Ly" resolve="Motor providing torque to steering wheel" />
         <node concept="Sqzvu" id="2fZol$t_1ma" role="Sq$B$">
           <property role="TrG5h" value="control" />
         </node>
       </node>
       <node concept="1XypPU" id="2fZol$t_1LH" role="2I3o71">
-        <ref role="SrP08" node="2fZol$t_0O3" />
-        <ref role="SrP07" node="2fZol$t_0Pf" />
+        <ref role="SrP08" node="2fZol$t_0O3" resolve="Lane Keeping Control Unit" />
+        <ref role="SrP07" node="2fZol$t_0Pf" resolve="Communication Control Unit" />
         <node concept="Sqzvu" id="2fZol$t_1LI" role="Sq$B$">
           <property role="TrG5h" value="driver overtake request" />
         </node>
@@ -1570,8 +1570,8 @@
     <node concept="1XyJaU" id="2fZol$t_0OJ" role="1X_0GB">
       <property role="TrG5h" value="Display" />
       <node concept="Sq$B_" id="2fZol$t_1UY" role="2I3o71">
-        <ref role="SrP08" node="2fZol$t_0OJ" />
-        <ref role="SrP07" node="2fZol$t_0MX" />
+        <ref role="SrP08" node="2fZol$t_0OJ" resolve="Display" />
+        <ref role="SrP07" node="2fZol$t_0MX" resolve="Driver" />
         <node concept="Sqzvu" id="2fZol$t_1UZ" role="Sq$B$">
           <property role="TrG5h" value="alarm light" />
         </node>
@@ -1583,8 +1583,8 @@
     <node concept="1XyJaU" id="2fZol$t_0Pf" role="1X_0GB">
       <property role="TrG5h" value="Communication Control Unit" />
       <node concept="1XypPU" id="2fZol$t_17f" role="2I3o71">
-        <ref role="SrP08" node="2fZol$t_0Pf" />
-        <ref role="SrP07" node="2fZol$t_0OJ" />
+        <ref role="SrP08" node="2fZol$t_0Pf" resolve="Communication Control Unit" />
+        <ref role="SrP07" node="2fZol$t_0OJ" resolve="Display" />
         <node concept="Sqzvu" id="2fZol$t_17g" role="Sq$B$">
           <property role="TrG5h" value="alarm signal" />
         </node>
@@ -1593,15 +1593,15 @@
         </node>
       </node>
       <node concept="1XypPU" id="2fZol$t_19l" role="2I3o71">
-        <ref role="SrP08" node="2fZol$t_0Pf" />
-        <ref role="SrP07" node="2fZol$t_0PV" />
+        <ref role="SrP08" node="2fZol$t_0Pf" resolve="Communication Control Unit" />
+        <ref role="SrP07" node="2fZol$t_0PV" resolve="Speaker" />
         <node concept="Sqzvu" id="2fZol$t_19m" role="Sq$B$">
           <property role="TrG5h" value="alarm signal" />
         </node>
       </node>
       <node concept="1XypPU" id="2fZol$t_1Q_" role="2I3o71">
-        <ref role="SrP08" node="2fZol$t_0Pf" />
-        <ref role="SrP07" node="2fZol$t_0Lj" />
+        <ref role="SrP08" node="2fZol$t_0Pf" resolve="Communication Control Unit" />
+        <ref role="SrP07" node="2fZol$t_0Lj" resolve="Motor providing vibrations to steering wheel&#10;" />
         <node concept="Sqzvu" id="2fZol$t_1QA" role="Sq$B$">
           <property role="TrG5h" value="alarm signal" />
         </node>
@@ -1610,8 +1610,8 @@
     <node concept="1XyJaU" id="2fZol$t_0PV" role="1X_0GB">
       <property role="TrG5h" value="Speaker" />
       <node concept="Sq$B_" id="2fZol$t_1Zm" role="2I3o71">
-        <ref role="SrP08" node="2fZol$t_0PV" />
-        <ref role="SrP07" node="2fZol$t_0MX" />
+        <ref role="SrP08" node="2fZol$t_0PV" resolve="Speaker" />
+        <ref role="SrP07" node="2fZol$t_0MX" resolve="Driver" />
         <node concept="Sqzvu" id="2fZol$t_1Zn" role="Sq$B$">
           <property role="TrG5h" value="alarm tone" />
         </node>
@@ -1620,8 +1620,8 @@
     <node concept="1XyJaU" id="2fZol$t_0Rm" role="1X_0GB">
       <property role="TrG5h" value="LK Activation button" />
       <node concept="1XypPU" id="2fZol$t_1dW" role="2I3o71">
-        <ref role="SrP08" node="2fZol$t_0Rm" />
-        <ref role="SrP07" node="2fZol$t_0O3" />
+        <ref role="SrP08" node="2fZol$t_0Rm" resolve="LK Activation button" />
+        <ref role="SrP07" node="2fZol$t_0O3" resolve="Lane Keeping Control Unit" />
         <node concept="Sqzvu" id="2fZol$t_1dX" role="Sq$B$">
           <property role="TrG5h" value="activate" />
         </node>
@@ -1630,8 +1630,8 @@
     <node concept="1XyJaU" id="2fZol$t_126" role="1X_0GB">
       <property role="TrG5h" value="Brake sensor" />
       <node concept="1XypPU" id="2fZol$t_1j0" role="2I3o71">
-        <ref role="SrP08" node="2fZol$t_126" />
-        <ref role="SrP07" node="2fZol$t_0O3" />
+        <ref role="SrP08" node="2fZol$t_126" resolve="Brake sensor" />
+        <ref role="SrP07" node="2fZol$t_0O3" resolve="Lane Keeping Control Unit" />
         <node concept="Sqzvu" id="2fZol$t_1j1" role="Sq$B$">
           <property role="TrG5h" value="deactivate" />
         </node>
@@ -1640,11 +1640,11 @@
   </node>
   <node concept="1E0nO6" id="4GKPLBASuiH">
     <property role="TrG5h" value="_104_safety_assurance_lane_keeping_unsafe_control_actions" />
-    <ref role="1E05RL" node="4GKPLBASuhg" />
+    <ref role="1E05RL" node="4GKPLBASuhg" resolve="_103_safety_assurance_lane_keeping_control_structure" />
     <node concept="1E0nOG" id="4GKPLBASuiI" role="1E0n_e">
-      <ref role="1E0nOH" node="4GKPLBASunx" />
+      <ref role="1E0nOH" node="4GKPLBASunx" resolve="Camera sensor" />
       <node concept="1E0nOJ" id="4GKPLBASuiJ" role="1E0nOC">
-        <ref role="1E0n_N" node="4GKPLBASusw" />
+        <ref role="1E0n_N" node="4GKPLBASusw" resolve="provides optical images" />
         <node concept="3f6qtF" id="6vZMoXu3MhD" role="3f6qqO">
           <node concept="1E0uc6" id="4GKPLBASxTl" role="3f6qtG">
             <property role="TrG5h" value="UCA_LK_12" />
@@ -1653,7 +1653,7 @@
                 <property role="19SUeA" value="camera provides useless data (the detection of lane markers is not possible due to bad image quality, e.g. overexposed) " />
               </node>
               <node concept="oY6sn" id="4GKPLBASxUD" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYmv" />
+                <ref role="oTUVg" node="G$XGFsgYmv" resolve="Overexposed camera - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASxUF" role="19SJt6" />
             </node>
@@ -1667,7 +1667,7 @@
                 <property role="19SUeA" value="Lanes can't be detected without camera data " />
               </node>
               <node concept="oY6sn" id="4GKPLBASxTf" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYeb" />
+                <ref role="oTUVg" node="G$XGFsgYeb" resolve="System does not recognize lane - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASxUp" role="19SJt6" />
             </node>
@@ -1681,11 +1681,11 @@
                 <property role="19SUeA" value="high latency of data transmission " />
               </node>
               <node concept="oY6sn" id="4GKPLBASxTB" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYex" />
+                <ref role="oTUVg" node="G$XGFsgYex" resolve="Delayed steering - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASyg$" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASygz" role="19SJt6">
-                <ref role="oTUVg" node="4GKPLBASxXu" />
+                <ref role="oTUVg" node="4GKPLBASxXu" resolve="Leaving of lane - ASIL B" />
               </node>
               <node concept="19SUe$" id="4GKPLBASyg_" role="19SJt6" />
             </node>
@@ -1697,9 +1697,9 @@
       </node>
     </node>
     <node concept="1E0nOG" id="4GKPLBASxTU" role="1E0n_e">
-      <ref role="1E0nOH" node="4GKPLBASur4" />
+      <ref role="1E0nOH" node="4GKPLBASur4" resolve="Image processing unit" />
       <node concept="1E0nOJ" id="4GKPLBASxTV" role="1E0nOC">
-        <ref role="1E0n_N" node="4GKPLBASutQ" />
+        <ref role="1E0n_N" node="4GKPLBASutQ" resolve="distance to lanes" />
         <node concept="3f6qtF" id="6vZMoXu3MhK" role="3f6qqO">
           <node concept="1E0uc6" id="4GKPLBASxUd" role="3f6qtG">
             <property role="TrG5h" value="UCA_LK_22" />
@@ -1708,13 +1708,13 @@
                 <property role="19SUeA" value="wrong data processing of lanes " />
               </node>
               <node concept="oY6sn" id="4GKPLBASxUj" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYel" />
+                <ref role="oTUVg" node="G$XGFsgYel" resolve="System recognizes wrong lane -  ASIL B" />
               </node>
               <node concept="19SUe$" id="4GKPLBASxWf" role="19SJt6">
                 <property role="19SUeA" value="" />
               </node>
               <node concept="oY6sn" id="4GKPLBASxWm" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYjd" />
+                <ref role="oTUVg" node="G$XGFsgYjd" resolve="Wrong data processing (bug) - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASxWo" role="19SJt6" />
             </node>
@@ -1728,11 +1728,11 @@
                 <property role="19SUeA" value="Lanes can't be detected without image processing " />
               </node>
               <node concept="oY6sn" id="4GKPLBASxUR" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYeb" />
+                <ref role="oTUVg" node="G$XGFsgYeb" resolve="System does not recognize lane - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASyed" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASyec" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYdV" />
+                <ref role="oTUVg" node="G$XGFsgYdV" resolve="Missing of lane markers - ASIL QM " />
               </node>
               <node concept="19SUe$" id="4GKPLBASyee" role="19SJt6" />
             </node>
@@ -1746,7 +1746,7 @@
                 <property role="19SUeA" value="slow data processing " />
               </node>
               <node concept="oY6sn" id="4GKPLBASxUz" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYex" />
+                <ref role="oTUVg" node="G$XGFsgYex" resolve="Delayed steering - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASxU_" role="19SJt6" />
             </node>
@@ -1758,9 +1758,9 @@
       </node>
     </node>
     <node concept="1E0nOG" id="4GKPLBASxUX" role="1E0n_e">
-      <ref role="1E0nOH" node="4GKPLBASuj0" />
+      <ref role="1E0nOH" node="4GKPLBASuj0" resolve="Steering" />
       <node concept="1E0nOJ" id="4GKPLBASxUY" role="1E0nOC">
-        <ref role="1E0n_N" node="4GKPLBASuFx" />
+        <ref role="1E0n_N" node="4GKPLBASuFx" resolve="current steering angle" />
         <node concept="3f6qtF" id="6vZMoXu3MhO" role="3f6qqO">
           <node concept="1E0uc6" id="4GKPLBASxWU" role="3f6qtG">
             <property role="TrG5h" value="UCA_LK_32" />
@@ -1769,7 +1769,7 @@
                 <property role="19SUeA" value="wrong sensor data " />
               </node>
               <node concept="oY6sn" id="4GKPLBASxX0" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYjd" />
+                <ref role="oTUVg" node="G$XGFsgYjd" resolve="Wrong data processing (bug) - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASxX2" role="19SJt6" />
             </node>
@@ -1783,11 +1783,11 @@
                 <property role="19SUeA" value="system can't operate without sensor input " />
               </node>
               <node concept="oY6sn" id="4GKPLBASxXW" role="19SJt6">
-                <ref role="oTUVg" node="4GKPLBASxXu" />
+                <ref role="oTUVg" node="4GKPLBASxXu" resolve="Leaving of lane - ASIL B" />
               </node>
               <node concept="19SUe$" id="4GKPLBASxY3" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASxY2" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYkr" />
+                <ref role="oTUVg" node="G$XGFsgYkr" resolve="Failure of hardware - ASIL A" />
               </node>
               <node concept="19SUe$" id="4GKPLBASxY4" role="19SJt6" />
             </node>
@@ -1801,11 +1801,11 @@
                 <property role="19SUeA" value="high latency of data transmission " />
               </node>
               <node concept="oY6sn" id="4GKPLBASxYh" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYex" />
+                <ref role="oTUVg" node="G$XGFsgYex" resolve="Delayed steering - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASxYn" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASxYm" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYeJ" />
+                <ref role="oTUVg" node="G$XGFsgYeJ" resolve="Overshooting/oszillation of system - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASxYv" role="19SJt6">
                 <property role="19SUeA" value="" />
@@ -1819,9 +1819,9 @@
       </node>
     </node>
     <node concept="1E0nOG" id="4GKPLBASxV_" role="1E0n_e">
-      <ref role="1E0nOH" node="4GKPLBASuvJ" />
+      <ref role="1E0nOH" node="4GKPLBASuvJ" resolve="Electronic power steering" />
       <node concept="1E0nOJ" id="4GKPLBASxVA" role="1E0nOC">
-        <ref role="1E0n_N" node="4GKPLBASuzU" />
+        <ref role="1E0n_N" node="4GKPLBASuzU" resolve="apply torque" />
         <node concept="3f6qtF" id="6vZMoXu3MhS" role="3f6qqO">
           <node concept="1E0uc6" id="4GKPLBASxWx" role="3f6qtG">
             <property role="TrG5h" value="UCA_LK_42" />
@@ -1830,7 +1830,7 @@
                 <property role="19SUeA" value="unwanted steering " />
               </node>
               <node concept="oY6sn" id="4GKPLBASxZ1" role="19SJt6">
-                <ref role="oTUVg" node="4GKPLBASxXu" />
+                <ref role="oTUVg" node="4GKPLBASxXu" resolve="Leaving of lane - ASIL B" />
               </node>
               <node concept="19SUe$" id="4GKPLBASxZ2" role="19SJt6" />
             </node>
@@ -1844,11 +1844,11 @@
                 <property role="19SUeA" value="system can't operate without steering " />
               </node>
               <node concept="oY6sn" id="4GKPLBASxYP" role="19SJt6">
-                <ref role="oTUVg" node="4GKPLBASxXu" />
+                <ref role="oTUVg" node="4GKPLBASxXu" resolve="Leaving of lane - ASIL B" />
               </node>
               <node concept="19SUe$" id="4GKPLBASxYQ" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASxYU" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYkr" />
+                <ref role="oTUVg" node="G$XGFsgYkr" resolve="Failure of hardware - ASIL A" />
               </node>
               <node concept="19SUe$" id="4GKPLBASxYV" role="19SJt6" />
             </node>
@@ -1862,11 +1862,11 @@
                 <property role="19SUeA" value="loss of real time capability - the system reaction is delayed, leading to delayed steering or overshooting/oszillation of the system " />
               </node>
               <node concept="oY6sn" id="4GKPLBASxZc" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYex" />
+                <ref role="oTUVg" node="G$XGFsgYex" resolve="Delayed steering - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASxZi" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASxZh" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYeJ" />
+                <ref role="oTUVg" node="G$XGFsgYeJ" resolve="Overshooting/oszillation of system - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASxZj" role="19SJt6" />
             </node>
@@ -1880,11 +1880,11 @@
                 <property role="19SUeA" value="wrong application of torque " />
               </node>
               <node concept="oY6sn" id="4GKPLBASxZv" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYeJ" />
+                <ref role="oTUVg" node="G$XGFsgYeJ" resolve="Overshooting/oszillation of system - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASxZA" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASxZ_" role="19SJt6">
-                <ref role="oTUVg" node="4GKPLBASxXu" />
+                <ref role="oTUVg" node="4GKPLBASxXu" resolve="Leaving of lane - ASIL B" />
               </node>
               <node concept="19SUe$" id="4GKPLBASxZB" role="19SJt6" />
             </node>
@@ -1893,9 +1893,9 @@
       </node>
     </node>
     <node concept="1E0nOG" id="4GKPLBASxZH" role="1E0n_e">
-      <ref role="1E0nOH" node="4GKPLBASukN" />
+      <ref role="1E0nOH" node="4GKPLBASukN" resolve="Steering wheel" />
       <node concept="1E0nOJ" id="4GKPLBASxZI" role="1E0nOC">
-        <ref role="1E0n_N" node="4GKPLBASulf" />
+        <ref role="1E0n_N" node="4GKPLBASulf" resolve="provides steering angle" />
         <node concept="3f6qtF" id="6vZMoXu3MhW" role="3f6qqO">
           <node concept="1E0uc6" id="4GKPLBASy21" role="3f6qtG">
             <property role="TrG5h" value="UCA_LK_52" />
@@ -1904,11 +1904,11 @@
                 <property role="19SUeA" value="provides wrong steering angle " />
               </node>
               <node concept="oY6sn" id="4GKPLBASy27" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYiD" />
+                <ref role="oTUVg" node="G$XGFsgYiD" resolve="No correction of unintended user input - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASy2d" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASy2c" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYi7" />
+                <ref role="oTUVg" node="G$XGFsgYi7" resolve="Unwanted deactivation - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASy2e" role="19SJt6" />
             </node>
@@ -1922,11 +1922,11 @@
                 <property role="19SUeA" value="System can't detect driver input " />
               </node>
               <node concept="oY6sn" id="4GKPLBASy1L" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYfV" />
+                <ref role="oTUVg" node="G$XGFsgYfV" resolve="Overwrite/prevent driver input - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASy1U" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASy1T" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYjd" />
+                <ref role="oTUVg" node="G$XGFsgYjd" resolve="Wrong data processing (bug) - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASyeZ" role="19SJt6">
                 <property role="19SUeA" value="" />
@@ -1942,7 +1942,7 @@
                 <property role="19SUeA" value="prevents driver input, system does not deactivate in time " />
               </node>
               <node concept="oY6sn" id="4GKPLBASy2q" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYfV" />
+                <ref role="oTUVg" node="G$XGFsgYfV" resolve="Overwrite/prevent driver input - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASy2r" role="19SJt6" />
             </node>
@@ -1954,9 +1954,9 @@
       </node>
     </node>
     <node concept="1E0nOG" id="4GKPLBASy2x" role="1E0n_e">
-      <ref role="1E0nOH" node="4GKPLBASuv_" />
+      <ref role="1E0nOH" node="4GKPLBASuv_" resolve="Interface to UI" />
       <node concept="1E0nOJ" id="4GKPLBASy2y" role="1E0nOC">
-        <ref role="1E0n_N" node="4GKPLBASuHG" />
+        <ref role="1E0n_N" node="4GKPLBASuHG" resolve="activate/deactivate" />
         <node concept="3f6qtF" id="6vZMoXu3Mi0" role="3f6qqO">
           <node concept="1E0uc6" id="4GKPLBASy4N" role="3f6qtG">
             <property role="TrG5h" value="UCA_LK_62" />
@@ -1965,7 +1965,7 @@
                 <property role="19SUeA" value="driver deactivates by mistake " />
               </node>
               <node concept="oY6sn" id="4GKPLBASy4T" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYi7" />
+                <ref role="oTUVg" node="G$XGFsgYi7" resolve="Unwanted deactivation - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASy4V" role="19SJt6" />
             </node>
@@ -1979,11 +1979,11 @@
                 <property role="19SUeA" value="driver can't activate/deactivate lane keeping " />
               </node>
               <node concept="oY6sn" id="4GKPLBASy4q" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYfV" />
+                <ref role="oTUVg" node="G$XGFsgYfV" resolve="Overwrite/prevent driver input - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASy4G" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASy4F" role="19SJt6">
-                <ref role="oTUVg" node="4GKPLBASxXu" />
+                <ref role="oTUVg" node="4GKPLBASxXu" resolve="Leaving of lane - ASIL B" />
               </node>
               <node concept="19SUe$" id="4GKPLBASy4H" role="19SJt6" />
             </node>
@@ -1997,15 +1997,15 @@
                 <property role="19SUeA" value="system does not activate/deactivate in time - not activated immediately: lane may be left as the driver relies on LKA;&#10;not deactivated immediately:&#10;driver is not able to take control " />
               </node>
               <node concept="oY6sn" id="4GKPLBASy55" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYfh" />
+                <ref role="oTUVg" node="G$XGFsgYfh" resolve="Delayed overtaking of driver - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASy5c" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASy5b" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYfV" />
+                <ref role="oTUVg" node="G$XGFsgYfV" resolve="Overwrite/prevent driver input - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASy5k" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASy5j" role="19SJt6">
-                <ref role="oTUVg" node="4GKPLBASxXu" />
+                <ref role="oTUVg" node="4GKPLBASxXu" resolve="Leaving of lane - ASIL B" />
               </node>
               <node concept="19SUe$" id="4GKPLBASy5l" role="19SJt6" />
             </node>
@@ -2017,9 +2017,9 @@
       </node>
     </node>
     <node concept="1E0nOG" id="4GKPLBASy5v" role="1E0n_e">
-      <ref role="1E0nOH" node="4GKPLBASuiL" />
+      <ref role="1E0nOH" node="4GKPLBASuiL" resolve="Control Box" />
       <node concept="1E0nOJ" id="4GKPLBASy5w" role="1E0nOC">
-        <ref role="1E0n_N" node="4GKPLBASuyk" />
+        <ref role="1E0n_N" node="4GKPLBASuyk" resolve="adjust steering angle" />
         <node concept="3f6qtF" id="6vZMoXu3Mi4" role="3f6qqO">
           <node concept="1E0uc6" id="4GKPLBASy8k" role="3f6qtG">
             <property role="TrG5h" value="UCA_LK_72" />
@@ -2028,11 +2028,11 @@
                 <property role="19SUeA" value="wrong adjustment " />
               </node>
               <node concept="oY6sn" id="4GKPLBASy8q" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYeJ" />
+                <ref role="oTUVg" node="G$XGFsgYeJ" resolve="Overshooting/oszillation of system - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASy8x" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASy8w" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYjd" />
+                <ref role="oTUVg" node="G$XGFsgYjd" resolve="Wrong data processing (bug) - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASy8y" role="19SJt6" />
             </node>
@@ -2046,11 +2046,11 @@
                 <property role="19SUeA" value="missing of commands leads so system failure " />
               </node>
               <node concept="oY6sn" id="4GKPLBASy7R" role="19SJt6">
-                <ref role="oTUVg" node="4GKPLBASxXu" />
+                <ref role="oTUVg" node="4GKPLBASxXu" resolve="Leaving of lane - ASIL B" />
               </node>
               <node concept="19SUe$" id="4GKPLBASy7Y" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASy7X" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYgj" />
+                <ref role="oTUVg" node="G$XGFsgYgj" resolve="Compensation of hardware faults - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASy86" role="19SJt6">
                 <property role="19SUeA" value="" />
@@ -2066,15 +2066,15 @@
                 <property role="19SUeA" value="steering angle not applied at the right time might lead to a delayed steering, to overshooting/oszillation of the system (system corrects over and over again), or the leaving of the lane " />
               </node>
               <node concept="oY6sn" id="4GKPLBASy8I" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYex" />
+                <ref role="oTUVg" node="G$XGFsgYex" resolve="Delayed steering - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASy94" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASy93" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYeJ" />
+                <ref role="oTUVg" node="G$XGFsgYeJ" resolve="Overshooting/oszillation of system - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASy9c" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASy9b" role="19SJt6">
-                <ref role="oTUVg" node="4GKPLBASxXu" />
+                <ref role="oTUVg" node="4GKPLBASxXu" resolve="Leaving of lane - ASIL B" />
               </node>
               <node concept="19SUe$" id="4GKPLBASy9d" role="19SJt6" />
             </node>
@@ -2088,11 +2088,11 @@
                 <property role="19SUeA" value="steering angle applied for too long or not long enough might lead to overshooting/oszillation of the system (sytem corrects over and over again), or the leaving of the lane " />
               </node>
               <node concept="oY6sn" id="4GKPLBASy9r" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYeJ" />
+                <ref role="oTUVg" node="G$XGFsgYeJ" resolve="Overshooting/oszillation of system - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASy9z" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASy9x" role="19SJt6">
-                <ref role="oTUVg" node="4GKPLBASxXu" />
+                <ref role="oTUVg" node="4GKPLBASxXu" resolve="Leaving of lane - ASIL B" />
               </node>
               <node concept="19SUe$" id="4GKPLBASy9y" role="19SJt6">
                 <property role="19SUeA" value=" " />
@@ -2102,7 +2102,7 @@
         </node>
       </node>
       <node concept="1E0nOJ" id="4GKPLBASy7E" role="1E0nOC">
-        <ref role="1E0n_N" node="4GKPLBASuJP" />
+        <ref role="1E0n_N" node="4GKPLBASuJP" resolve="display status" />
         <node concept="3f6qtF" id="6vZMoXu3Mi8" role="3f6qqO">
           <node concept="1E0uc6" id="4GKPLBASyaX" role="3f6qtG">
             <property role="TrG5h" value="UCA_LK_82" />
@@ -2111,23 +2111,23 @@
                 <property role="19SUeA" value="wrong display status " />
               </node>
               <node concept="oY6sn" id="4GKPLBASyb9" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYfh" />
+                <ref role="oTUVg" node="G$XGFsgYfh" resolve="Delayed overtaking of driver - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASybg" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASybe" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYhB" />
+                <ref role="oTUVg" node="G$XGFsgYhB" resolve="Driver not informed about takeover - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASybn" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASybm" role="19SJt6">
-                <ref role="oTUVg" node="4GKPLBASxXu" />
+                <ref role="oTUVg" node="4GKPLBASxXu" resolve="Leaving of lane - ASIL B" />
               </node>
               <node concept="19SUe$" id="4GKPLBASybx" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASybw" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYiD" />
+                <ref role="oTUVg" node="G$XGFsgYiD" resolve="No correction of unintended user input - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASybH" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASybG" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYfV" />
+                <ref role="oTUVg" node="G$XGFsgYfV" resolve="Overwrite/prevent driver input - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASybI" role="19SJt6" />
             </node>
@@ -2141,23 +2141,23 @@
                 <property role="19SUeA" value="driver not informed about system state " />
               </node>
               <node concept="oY6sn" id="4GKPLBASy9K" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYfh" />
+                <ref role="oTUVg" node="G$XGFsgYfh" resolve="Delayed overtaking of driver - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASy9R" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASy9Q" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYhB" />
+                <ref role="oTUVg" node="G$XGFsgYhB" resolve="Driver not informed about takeover - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASy9Z" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASy9Y" role="19SJt6">
-                <ref role="oTUVg" node="4GKPLBASxXu" />
+                <ref role="oTUVg" node="4GKPLBASxXu" resolve="Leaving of lane - ASIL B" />
               </node>
               <node concept="19SUe$" id="4GKPLBASya9" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASya8" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYiD" />
+                <ref role="oTUVg" node="G$XGFsgYiD" resolve="No correction of unintended user input - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASyal" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASyak" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYfV" />
+                <ref role="oTUVg" node="G$XGFsgYfV" resolve="Overwrite/prevent driver input - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASyaz" role="19SJt6">
                 <property role="19SUeA" value="" />
@@ -2173,15 +2173,15 @@
                 <property role="19SUeA" value="delayed communication driver and system " />
               </node>
               <node concept="oY6sn" id="4GKPLBASyc0" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYfh" />
+                <ref role="oTUVg" node="G$XGFsgYfh" resolve="Delayed overtaking of driver - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASyc7" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASyc6" role="19SJt6">
-                <ref role="oTUVg" node="4GKPLBASxXu" />
+                <ref role="oTUVg" node="4GKPLBASxXu" resolve="Leaving of lane - ASIL B" />
               </node>
               <node concept="19SUe$" id="4GKPLBASycf" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASyce" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYiD" />
+                <ref role="oTUVg" node="G$XGFsgYiD" resolve="No correction of unintended user input - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASycg" role="19SJt6" />
             </node>
@@ -2195,15 +2195,15 @@
                 <property role="19SUeA" value="delayed communication between driver and system " />
               </node>
               <node concept="oY6sn" id="4GKPLBASycu" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYfh" />
+                <ref role="oTUVg" node="G$XGFsgYfh" resolve="Delayed overtaking of driver - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASyc$" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASycz" role="19SJt6">
-                <ref role="oTUVg" node="4GKPLBASxXu" />
+                <ref role="oTUVg" node="4GKPLBASxXu" resolve="Leaving of lane - ASIL B" />
               </node>
               <node concept="19SUe$" id="4GKPLBASycG" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASycF" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYiD" />
+                <ref role="oTUVg" node="G$XGFsgYiD" resolve="No correction of unintended user input - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASycH" role="19SJt6" />
             </node>
@@ -2211,7 +2211,7 @@
         </node>
       </node>
       <node concept="1E0nOJ" id="4GKPLBASy7H" role="1E0nOC">
-        <ref role="1E0n_N" node="4GKPLBASum5" />
+        <ref role="1E0n_N" node="4GKPLBASum5" resolve="vibration" />
         <node concept="3f6qtF" id="6vZMoXu3Mic" role="3f6qqO">
           <node concept="3XErhT" id="4GKPLBASydj" role="3f6qtG" />
         </node>
@@ -2223,15 +2223,15 @@
                 <property role="19SUeA" value="driver not informed about take over " />
               </node>
               <node concept="oY6sn" id="4GKPLBASycV" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYfh" />
+                <ref role="oTUVg" node="G$XGFsgYfh" resolve="Delayed overtaking of driver - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASyd2" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASyd1" role="19SJt6">
-                <ref role="oTUVg" node="4GKPLBASxXu" />
+                <ref role="oTUVg" node="4GKPLBASxXu" resolve="Leaving of lane - ASIL B" />
               </node>
               <node concept="19SUe$" id="4GKPLBASyda" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASyd9" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYhB" />
+                <ref role="oTUVg" node="G$XGFsgYhB" resolve="Driver not informed about takeover - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASydb" role="19SJt6" />
             </node>
@@ -2245,11 +2245,11 @@
                 <property role="19SUeA" value="delayed communication driver and system " />
               </node>
               <node concept="oY6sn" id="4GKPLBASydr" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYfh" />
+                <ref role="oTUVg" node="G$XGFsgYfh" resolve="Delayed overtaking of driver - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASydx" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASydw" role="19SJt6">
-                <ref role="oTUVg" node="4GKPLBASxXu" />
+                <ref role="oTUVg" node="4GKPLBASxXu" resolve="Leaving of lane - ASIL B" />
               </node>
               <node concept="19SUe$" id="4GKPLBASydD" role="19SJt6">
                 <property role="19SUeA" value="" />
@@ -2265,11 +2265,11 @@
                 <property role="19SUeA" value="delayed communication of driver and system " />
               </node>
               <node concept="oY6sn" id="4GKPLBASydX" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYfh" />
+                <ref role="oTUVg" node="G$XGFsgYfh" resolve="Delayed overtaking of driver - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4GKPLBASye4" role="19SJt6" />
               <node concept="oY6sn" id="4GKPLBASye3" role="19SJt6">
-                <ref role="oTUVg" node="4GKPLBASxXu" />
+                <ref role="oTUVg" node="4GKPLBASxXu" resolve="Leaving of lane - ASIL B" />
               </node>
               <node concept="19SUe$" id="4GKPLBASye5" role="19SJt6" />
             </node>
@@ -2295,22 +2295,22 @@
     <node concept="1XyJaU" id="4GKPLBASuiL" role="1X_0GB">
       <property role="TrG5h" value="Control Box" />
       <node concept="1XypPU" id="4GKPLBASum4" role="2I3o71">
-        <ref role="SrP08" node="4GKPLBASuiL" />
-        <ref role="SrP07" node="4GKPLBASukN" />
+        <ref role="SrP08" node="4GKPLBASuiL" resolve="Control Box" />
+        <ref role="SrP07" node="4GKPLBASukN" resolve="Steering wheel" />
         <node concept="Sqzvu" id="4GKPLBASum5" role="Sq$B$">
           <property role="TrG5h" value="vibration" />
         </node>
       </node>
       <node concept="1XypPU" id="4GKPLBASuyj" role="2I3o71">
-        <ref role="SrP08" node="4GKPLBASuiL" />
-        <ref role="SrP07" node="4GKPLBASuvJ" />
+        <ref role="SrP08" node="4GKPLBASuiL" resolve="Control Box" />
+        <ref role="SrP07" node="4GKPLBASuvJ" resolve="Electronic power steering" />
         <node concept="Sqzvu" id="4GKPLBASuyk" role="Sq$B$">
           <property role="TrG5h" value="adjust steering angle" />
         </node>
       </node>
       <node concept="1XypPU" id="4GKPLBASuJO" role="2I3o71">
-        <ref role="SrP08" node="4GKPLBASuiL" />
-        <ref role="SrP07" node="4GKPLBASuv_" />
+        <ref role="SrP08" node="4GKPLBASuiL" resolve="Control Box" />
+        <ref role="SrP07" node="4GKPLBASuv_" resolve="Interface to UI" />
         <node concept="Sqzvu" id="4GKPLBASuJP" role="Sq$B$">
           <property role="TrG5h" value="display status" />
         </node>
@@ -2689,8 +2689,8 @@
     <node concept="1XyJaU" id="4GKPLBASuj0" role="1X_0GB">
       <property role="TrG5h" value="Steering" />
       <node concept="Sq$B_" id="4GKPLBASuFw" role="2I3o71">
-        <ref role="SrP08" node="4GKPLBASuj0" />
-        <ref role="SrP07" node="4GKPLBASuiL" />
+        <ref role="SrP08" node="4GKPLBASuj0" resolve="Steering" />
+        <ref role="SrP07" node="4GKPLBASuiL" resolve="Control Box" />
         <node concept="Sqzvu" id="4GKPLBASuFx" role="Sq$B$">
           <property role="TrG5h" value="current steering angle" />
         </node>
@@ -2699,8 +2699,8 @@
     <node concept="1XyJaU" id="4GKPLBASukN" role="1X_0GB">
       <property role="TrG5h" value="Steering wheel" />
       <node concept="Sq$B_" id="4GKPLBASule" role="2I3o71">
-        <ref role="SrP08" node="4GKPLBASukN" />
-        <ref role="SrP07" node="4GKPLBASuiL" />
+        <ref role="SrP08" node="4GKPLBASukN" resolve="Steering wheel" />
+        <ref role="SrP07" node="4GKPLBASuiL" resolve="Control Box" />
         <node concept="Sqzvu" id="4GKPLBASulf" role="Sq$B$">
           <property role="TrG5h" value="provides steering angle" />
         </node>
@@ -2709,8 +2709,8 @@
     <node concept="1XyJaU" id="4GKPLBASunx" role="1X_0GB">
       <property role="TrG5h" value="Camera sensor" />
       <node concept="Sq$B_" id="4GKPLBASusv" role="2I3o71">
-        <ref role="SrP08" node="4GKPLBASunx" />
-        <ref role="SrP07" node="4GKPLBASur4" />
+        <ref role="SrP08" node="4GKPLBASunx" resolve="Camera sensor" />
+        <ref role="SrP07" node="4GKPLBASur4" resolve="Image processing unit" />
         <node concept="Sqzvu" id="4GKPLBASusw" role="Sq$B$">
           <property role="TrG5h" value="provides optical images" />
         </node>
@@ -2719,8 +2719,8 @@
     <node concept="1XyJaU" id="4GKPLBASur4" role="1X_0GB">
       <property role="TrG5h" value="Image processing unit" />
       <node concept="Sq$B_" id="4GKPLBASutP" role="2I3o71">
-        <ref role="SrP08" node="4GKPLBASur4" />
-        <ref role="SrP07" node="4GKPLBASuiL" />
+        <ref role="SrP08" node="4GKPLBASur4" resolve="Image processing unit" />
+        <ref role="SrP07" node="4GKPLBASuiL" resolve="Control Box" />
         <node concept="Sqzvu" id="4GKPLBASutQ" role="Sq$B$">
           <property role="TrG5h" value="distance to lanes" />
         </node>
@@ -2729,8 +2729,8 @@
     <node concept="1XyJaU" id="4GKPLBASuv_" role="1X_0GB">
       <property role="TrG5h" value="Interface to UI" />
       <node concept="Sq$B_" id="4GKPLBASuHF" role="2I3o71">
-        <ref role="SrP08" node="4GKPLBASuv_" />
-        <ref role="SrP07" node="4GKPLBASuiL" />
+        <ref role="SrP08" node="4GKPLBASuv_" resolve="Interface to UI" />
+        <ref role="SrP07" node="4GKPLBASuiL" resolve="Control Box" />
         <node concept="Sqzvu" id="4GKPLBASuHG" role="Sq$B$">
           <property role="TrG5h" value="activate/deactivate" />
         </node>
@@ -2739,8 +2739,8 @@
     <node concept="1XyJaU" id="4GKPLBASuvJ" role="1X_0GB">
       <property role="TrG5h" value="Electronic power steering" />
       <node concept="1XypPU" id="4GKPLBASuzT" role="2I3o71">
-        <ref role="SrP08" node="4GKPLBASuvJ" />
-        <ref role="SrP07" node="4GKPLBASuj0" />
+        <ref role="SrP08" node="4GKPLBASuvJ" resolve="Electronic power steering" />
+        <ref role="SrP07" node="4GKPLBASuj0" resolve="Steering" />
         <node concept="Sqzvu" id="4GKPLBASuzU" role="Sq$B$">
           <property role="TrG5h" value="apply torque" />
         </node>
@@ -2749,11 +2749,11 @@
   </node>
   <node concept="1E0nO6" id="2fZol$t_25v">
     <property role="TrG5h" value="_lane_keeping_L05_unsafe_control_analysis" />
-    <ref role="1E05RL" node="2fZol$t_0Lh" />
+    <ref role="1E05RL" node="2fZol$t_0Lh" resolve="_lane_keeping_L05_control_structure" />
     <node concept="1E0nOG" id="2fZol$t_25w" role="1E0n_e">
-      <ref role="1E0nOH" node="2fZol$t_0Pf" />
+      <ref role="1E0nOH" node="2fZol$t_0Pf" resolve="Communication Control Unit" />
       <node concept="1E0nOJ" id="2fZol$t_25x" role="1E0nOC">
-        <ref role="1E0n_N" node="2fZol$t_17g" />
+        <ref role="1E0n_N" node="2fZol$t_17g" resolve="alarm signal" />
         <node concept="3f6qtF" id="6vZMoXu3Mih" role="3f6qqO">
           <node concept="1E0uc6" id="1J1VyY6JMrp" role="3f6qtG">
             <property role="TrG5h" value="UCA_LK_Control_12" />
@@ -2762,7 +2762,7 @@
                 <property role="19SUeA" value="Alarm signal issues in non emergency situations " />
               </node>
               <node concept="oY6sn" id="4NqRXFNx6RJ" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYgH" />
+                <ref role="oTUVg" node="G$XGFsgYgH" resolve="Unnecessary warnings - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4NqRXFNx6RK" role="19SJt6" />
             </node>
@@ -2776,7 +2776,7 @@
                 <property role="19SUeA" value="A few (not all) alarm signals not working " />
               </node>
               <node concept="oY6sn" id="4NqRXFNx6RE" role="19SJt6">
-                <ref role="oTUVg" node="lV44fsLWjR" />
+                <ref role="oTUVg" node="lV44fsLWjR" resolve="User interface devices not working properly - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4NqRXFNx6RF" role="19SJt6">
                 <property role="19SUeA" value="&#10;  " />
@@ -2792,7 +2792,7 @@
                 <property role="19SUeA" value="Alarm signal issues too late " />
               </node>
               <node concept="oY6sn" id="4NqRXFNx6RO" role="19SJt6">
-                <ref role="oTUVg" node="lV44fsLWjR" />
+                <ref role="oTUVg" node="lV44fsLWjR" resolve="User interface devices not working properly - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4NqRXFNx6RP" role="19SJt6" />
             </node>
@@ -2806,13 +2806,13 @@
                 <property role="19SUeA" value="Alarm signal stoppes too soon, so driver might not interprete signal. " />
               </node>
               <node concept="oY6sn" id="4NqRXFNx6RT" role="19SJt6">
-                <ref role="oTUVg" node="lV44fsLWjR" />
+                <ref role="oTUVg" node="lV44fsLWjR" resolve="User interface devices not working properly - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4NqRXFNx6RU" role="19SJt6">
                 <property role="19SUeA" value="&#10;Alarm signal stoppes too late, so driver might be confused and/or &#10;disturbed. " />
               </node>
               <node concept="oY6sn" id="4NqRXFNx6RY" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYgH" />
+                <ref role="oTUVg" node="G$XGFsgYgH" resolve="Unnecessary warnings - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4NqRXFNx6RZ" role="19SJt6" />
             </node>
@@ -2821,9 +2821,9 @@
       </node>
     </node>
     <node concept="1E0nOG" id="1J1VyY6JMvJ" role="1E0n_e">
-      <ref role="1E0nOH" node="2fZol$t_0Pf" />
+      <ref role="1E0nOH" node="2fZol$t_0Pf" resolve="Communication Control Unit" />
       <node concept="1E0nOJ" id="1J1VyY6JMvK" role="1E0nOC">
-        <ref role="1E0n_N" node="1J1VyY6JMus" />
+        <ref role="1E0n_N" node="1J1VyY6JMus" resolve="activation signal" />
         <node concept="3f6qtF" id="6vZMoXu3Mio" role="3f6qqO">
           <node concept="1E0uc6" id="1J1VyY6JMxe" role="3f6qtG">
             <property role="TrG5h" value="UCA_LK_Control_22" />
@@ -2832,7 +2832,7 @@
                 <property role="19SUeA" value="Signal of system activation without system being actually active -&gt; driver confused. " />
               </node>
               <node concept="oY6sn" id="4NqRXFNx6Sa" role="19SJt6">
-                <ref role="oTUVg" node="lV44fsLWj5" />
+                <ref role="oTUVg" node="lV44fsLWj5" resolve="Bad system feedback to driver (e.g. error reporting) - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4NqRXFNx6Sb" role="19SJt6" />
             </node>
@@ -2846,7 +2846,7 @@
                 <property role="19SUeA" value="Driver cannot recognize that system is activated. " />
               </node>
               <node concept="oY6sn" id="4NqRXFNx6S5" role="19SJt6">
-                <ref role="oTUVg" node="lV44fsLWj5" />
+                <ref role="oTUVg" node="lV44fsLWj5" resolve="Bad system feedback to driver (e.g. error reporting) - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4NqRXFNx6S6" role="19SJt6" />
             </node>
@@ -2860,7 +2860,7 @@
                 <property role="19SUeA" value="Activation signal delayed -&gt; Driver confused why system is not activated. " />
               </node>
               <node concept="oY6sn" id="4NqRXFNx6Tm" role="19SJt6">
-                <ref role="oTUVg" node="lV44fsLWj5" />
+                <ref role="oTUVg" node="lV44fsLWj5" resolve="Bad system feedback to driver (e.g. error reporting) - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4NqRXFNx6Tn" role="19SJt6" />
             </node>
@@ -2872,9 +2872,9 @@
       </node>
     </node>
     <node concept="1E0nOG" id="1J1VyY6JMtZ" role="1E0n_e">
-      <ref role="1E0nOH" node="2fZol$t_0Rm" />
+      <ref role="1E0nOH" node="2fZol$t_0Rm" resolve="LK Activation button" />
       <node concept="1E0nOJ" id="1J1VyY6JMu0" role="1E0nOC">
-        <ref role="1E0n_N" node="2fZol$t_1dX" />
+        <ref role="1E0n_N" node="2fZol$t_1dX" resolve="activate" />
         <node concept="3f6qtF" id="6vZMoXu3Mis" role="3f6qqO">
           <node concept="3XErhT" id="1J1VyY6JMwe" role="3f6qtG" />
         </node>
@@ -2886,13 +2886,13 @@
                 <property role="19SUeA" value="Button does not switch. " />
               </node>
               <node concept="oY6sn" id="4NqRXFNx6Sf" role="19SJt6">
-                <ref role="oTUVg" node="lV44fsLWkF" />
+                <ref role="oTUVg" node="lV44fsLWkF" resolve="Lane keeping system cannot be activated - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4NqRXFNx6Sg" role="19SJt6">
                 <property role="19SUeA" value="&#10;Button difficult to find or handle. " />
               </node>
               <node concept="oY6sn" id="4NqRXFNx6Sk" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYh9" />
+                <ref role="oTUVg" node="G$XGFsgYh9" resolve="Complicated interface - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4NqRXFNx6Sl" role="19SJt6" />
             </node>
@@ -2907,9 +2907,9 @@
       </node>
     </node>
     <node concept="1E0nOG" id="1J1VyY6JMxs" role="1E0n_e">
-      <ref role="1E0nOH" node="2fZol$t_0O3" />
+      <ref role="1E0nOH" node="2fZol$t_0O3" resolve="Lane Keeping Control Unit" />
       <node concept="1E0nOJ" id="1J1VyY6JM$8" role="1E0nOC">
-        <ref role="1E0n_N" node="2fZol$t_1LI" />
+        <ref role="1E0n_N" node="2fZol$t_1LI" resolve="driver overtake request" />
         <node concept="3f6qtF" id="6vZMoXu3Miw" role="3f6qqO">
           <node concept="1E0uc6" id="1J1VyY6JM_i" role="3f6qtG">
             <property role="TrG5h" value="UCA_LK_Control_42" />
@@ -2918,7 +2918,7 @@
                 <property role="19SUeA" value="Signal of system deactivation without need. -&gt; driver confused. " />
               </node>
               <node concept="oY6sn" id="4NqRXFNx6Sr" role="19SJt6">
-                <ref role="oTUVg" node="lV44fsLWj5" />
+                <ref role="oTUVg" node="lV44fsLWj5" resolve="Bad system feedback to driver (e.g. error reporting) - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4NqRXFNx6Ss" role="19SJt6" />
             </node>
@@ -2936,9 +2936,9 @@
       </node>
     </node>
     <node concept="1E0nOG" id="1J1VyY6JM_B" role="1E0n_e">
-      <ref role="1E0nOH" node="2fZol$t_0O3" />
+      <ref role="1E0nOH" node="2fZol$t_0O3" resolve="Lane Keeping Control Unit" />
       <node concept="1E0nOJ" id="1J1VyY6JM_C" role="1E0nOC">
-        <ref role="1E0n_N" node="2fZol$t_1ma" />
+        <ref role="1E0n_N" node="2fZol$t_1ma" resolve="control" />
         <node concept="3f6qtF" id="6vZMoXu3Mi$" role="3f6qqO">
           <node concept="3XErhT" id="1J1VyY6JMAV" role="3f6qtG" />
         </node>
@@ -2954,9 +2954,9 @@
       </node>
     </node>
     <node concept="1E0nOG" id="1J1VyY6JMy4" role="1E0n_e">
-      <ref role="1E0nOH" node="2fZol$t_0Ly" />
+      <ref role="1E0nOH" node="2fZol$t_0Ly" resolve="Motor providing torque to steering wheel" />
       <node concept="1E0nOJ" id="1J1VyY6JMy5" role="1E0nOC">
-        <ref role="1E0n_N" node="2fZol$t_13w" />
+        <ref role="1E0n_N" node="2fZol$t_13w" resolve="steer" />
         <node concept="3f6qtF" id="6vZMoXu3MiC" role="3f6qqO">
           <node concept="3XErhT" id="1J1VyY6JM_x" role="3f6qtG" />
         </node>
@@ -2972,9 +2972,9 @@
       </node>
     </node>
     <node concept="1E0nOG" id="1J1VyY6JMyI" role="1E0n_e">
-      <ref role="1E0nOH" node="2fZol$t_0Lj" />
+      <ref role="1E0nOH" node="2fZol$t_0Lj" resolve="Motor providing vibrations to steering wheel&#10;" />
       <node concept="1E0nOJ" id="1J1VyY6JMyJ" role="1E0nOC">
-        <ref role="1E0n_N" node="2fZol$t_15g" />
+        <ref role="1E0n_N" node="2fZol$t_15g" resolve="vibrate" />
         <node concept="3f6qtF" id="6vZMoXu3MiG" role="3f6qqO">
           <node concept="1E0uc6" id="1J1VyY6JM$q" role="3f6qtG">
             <property role="TrG5h" value="UCA_LK_Control_72" />
@@ -2983,7 +2983,7 @@
                 <property role="19SUeA" value="Signal of system activation without system being actually active -&gt; driver confused. " />
               </node>
               <node concept="oY6sn" id="4NqRXFNx6Sw" role="19SJt6">
-                <ref role="oTUVg" node="lV44fsLWj5" />
+                <ref role="oTUVg" node="lV44fsLWj5" resolve="Bad system feedback to driver (e.g. error reporting) - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4NqRXFNx6Sx" role="19SJt6" />
             </node>
@@ -2997,7 +2997,7 @@
                 <property role="19SUeA" value="Driver cannot recognize that he has to intervene. " />
               </node>
               <node concept="oY6sn" id="4NqRXFNx6Tc" role="19SJt6">
-                <ref role="oTUVg" node="lV44fsLWjR" />
+                <ref role="oTUVg" node="lV44fsLWjR" resolve="User interface devices not working properly - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4NqRXFNx6Td" role="19SJt6" />
             </node>
@@ -3011,7 +3011,7 @@
                 <property role="19SUeA" value="Activation signal delayed -&gt; Driver confused why system is not activated. " />
               </node>
               <node concept="oY6sn" id="4NqRXFNx6SE" role="19SJt6">
-                <ref role="oTUVg" node="lV44fsLWj5" />
+                <ref role="oTUVg" node="lV44fsLWj5" resolve="Bad system feedback to driver (e.g. error reporting) - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4NqRXFNx6SF" role="19SJt6" />
             </node>
@@ -3025,17 +3025,17 @@
                 <property role="19SUeA" value="Vibration stoppes too soon, so driver might not interprete signal. " />
               </node>
               <node concept="oY6sn" id="4NqRXFNx6SO" role="19SJt6">
-                <ref role="oTUVg" node="lV44fsLWjR" />
+                <ref role="oTUVg" node="lV44fsLWjR" resolve="User interface devices not working properly - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4NqRXFNx6SP" role="19SJt6">
                 <property role="19SUeA" value="&#10;Vibration stoppes too late -&gt; uncomfortable. " />
               </node>
               <node concept="oY6sn" id="4NqRXFNx6SY" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYgH" />
+                <ref role="oTUVg" node="G$XGFsgYgH" resolve="Unnecessary warnings - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4NqRXFNx6Ts" role="19SJt6" />
               <node concept="oY6sn" id="4NqRXFNx6Tr" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYeZ" />
+                <ref role="oTUVg" node="G$XGFsgYeZ" resolve="Uncomfortable steering - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4NqRXFNx6Tt" role="19SJt6" />
             </node>
@@ -3044,9 +3044,9 @@
       </node>
     </node>
     <node concept="1E0nOG" id="1J1VyY6JMzq" role="1E0n_e">
-      <ref role="1E0nOH" node="2fZol$t_0Nn" />
+      <ref role="1E0nOH" node="2fZol$t_0Nn" resolve="Steering wheel" />
       <node concept="1E0nOJ" id="1J1VyY6JMzr" role="1E0nOC">
-        <ref role="1E0n_N" node="2fZol$t_10d" />
+        <ref role="1E0n_N" node="2fZol$t_10d" resolve="vibrate" />
         <node concept="3f6qtF" id="6vZMoXu3MiK" role="3f6qqO">
           <node concept="1E0uc6" id="1J1VyY6JM$K" role="3f6qtG">
             <property role="TrG5h" value="UCA_LK_Control_82" />
@@ -3055,7 +3055,7 @@
                 <property role="19SUeA" value="Signal of system activation without system being actually active -&gt; driver confused. " />
               </node>
               <node concept="oY6sn" id="4NqRXFNx6S_" role="19SJt6">
-                <ref role="oTUVg" node="lV44fsLWj5" />
+                <ref role="oTUVg" node="lV44fsLWj5" resolve="Bad system feedback to driver (e.g. error reporting) - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4NqRXFNx6SA" role="19SJt6" />
             </node>
@@ -3069,7 +3069,7 @@
                 <property role="19SUeA" value="Driver cannot recognize that he has to intervene. " />
               </node>
               <node concept="oY6sn" id="4NqRXFNx6Th" role="19SJt6">
-                <ref role="oTUVg" node="lV44fsLWjR" />
+                <ref role="oTUVg" node="lV44fsLWjR" resolve="User interface devices not working properly - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4NqRXFNx6Ti" role="19SJt6" />
             </node>
@@ -3083,7 +3083,7 @@
                 <property role="19SUeA" value="Activation signal delayed -&gt; Driver confused why system is not activated. " />
               </node>
               <node concept="oY6sn" id="4NqRXFNx6SJ" role="19SJt6">
-                <ref role="oTUVg" node="lV44fsLWj5" />
+                <ref role="oTUVg" node="lV44fsLWj5" resolve="Bad system feedback to driver (e.g. error reporting) - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4NqRXFNx6SK" role="19SJt6" />
             </node>
@@ -3097,17 +3097,17 @@
                 <property role="19SUeA" value="Vibration stoppes too soon, so driver might not interprete signal. " />
               </node>
               <node concept="oY6sn" id="4NqRXFNx6ST" role="19SJt6">
-                <ref role="oTUVg" node="lV44fsLWjR" />
+                <ref role="oTUVg" node="lV44fsLWjR" resolve="User interface devices not working properly - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4NqRXFNx6SU" role="19SJt6">
                 <property role="19SUeA" value="&#10;Vibration stoppes too late -&gt; uncomfortable. " />
               </node>
               <node concept="oY6sn" id="4NqRXFNx6T5" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYgH" />
+                <ref role="oTUVg" node="G$XGFsgYgH" resolve="Unnecessary warnings - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4NqRXFNx6TA" role="19SJt6" />
               <node concept="oY6sn" id="4NqRXFNx6T_" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYeZ" />
+                <ref role="oTUVg" node="G$XGFsgYeZ" resolve="Uncomfortable steering - ASIL QM" />
               </node>
               <node concept="19SUe$" id="4NqRXFNx6TB" role="19SJt6" />
             </node>
@@ -3135,7 +3135,7 @@
       <property role="0ke_I" value="Jonas&amp;Moritz" />
       <node concept="2iDXIW" id="4WLVkAsg3p2" role="0nOlf">
         <node concept="DABN8" id="4WLVkAsg6w2" role="DABNk">
-          <ref role="DABNb" node="G$XGFsgYdV" />
+          <ref role="DABNb" node="G$XGFsgYdV" resolve="Missing of lane markers - ASIL QM " />
         </node>
       </node>
       <node concept="19SGf9" id="4WLVkAsg3oV" role="1QQeG9">
@@ -3158,13 +3158,13 @@
       <property role="0ke_I" value="Jonas&amp;Moritz" />
       <node concept="2iDXIW" id="4WLVkAsg6wx" role="0nOlf">
         <node concept="DABN8" id="4WLVkAsg6wG" role="DABNk">
-          <ref role="DABNb" node="G$XGFsgYeb" />
+          <ref role="DABNb" node="G$XGFsgYeb" resolve="System does not recognize lane - ASIL QM" />
         </node>
         <node concept="DABN8" id="4WLVkAsg6xz" role="DABNk">
-          <ref role="DABNb" node="G$XGFsgYel" />
+          <ref role="DABNb" node="G$XGFsgYel" resolve="System recognizes wrong lane -  ASIL B" />
         </node>
         <node concept="DABN8" id="4WLVkAsg6EX" role="DABNk">
-          <ref role="DABNb" node="4GKPLBASxXu" />
+          <ref role="DABNb" node="4GKPLBASxXu" resolve="Leaving of lane - ASIL B" />
         </node>
       </node>
       <node concept="19SGf9" id="4WLVkAsg6wh" role="1QQeG9">
@@ -3187,10 +3187,10 @@
       <property role="0ke_I" value="Jonas&amp;Moritz" />
       <node concept="2iDXIW" id="4WLVkAsg6Cl" role="0nOlf">
         <node concept="DABN8" id="4WLVkAsg6Co" role="DABNk">
-          <ref role="DABNb" node="G$XGFsgYl5" />
+          <ref role="DABNb" node="G$XGFsgYl5" resolve="Camera is dirty - ASIL QM" />
         </node>
         <node concept="DABN8" id="4WLVkAsg6C_" role="DABNk">
-          <ref role="DABNb" node="G$XGFsgYmv" />
+          <ref role="DABNb" node="G$XGFsgYmv" resolve="Overexposed camera - ASIL QM" />
         </node>
       </node>
       <node concept="19SGf9" id="4WLVkAsg6Bn" role="1QQeG9">
@@ -3213,7 +3213,7 @@
       <property role="0ke_I" value="Jonas&amp;Moritz" />
       <node concept="2iDXIW" id="4j8iycQYkXd" role="0nOlf">
         <node concept="DABN8" id="4j8iycQYkXi" role="DABNk">
-          <ref role="DABNb" node="4GKPLBASxXu" />
+          <ref role="DABNb" node="4GKPLBASxXu" resolve="Leaving of lane - ASIL B" />
         </node>
       </node>
       <node concept="19SGf9" id="4j8iycQYkWB" role="1QQeG9">
@@ -3240,19 +3240,19 @@
       <property role="0ke_I" value="Jonas&amp;Moritz" />
       <node concept="2iDXIW" id="4WLVkAsg6GE" role="0nOlf">
         <node concept="DABN8" id="4WLVkAsg6GH" role="DABNk">
-          <ref role="DABNb" node="G$XGFsgYdV" />
+          <ref role="DABNb" node="G$XGFsgYdV" resolve="Missing of lane markers - ASIL QM " />
         </node>
         <node concept="DABN8" id="4WLVkAsg6HZ" role="DABNk">
-          <ref role="DABNb" node="G$XGFsgYeb" />
+          <ref role="DABNb" node="G$XGFsgYeb" resolve="System does not recognize lane - ASIL QM" />
         </node>
         <node concept="DABN8" id="4WLVkAsg6I7" role="DABNk">
-          <ref role="DABNb" node="G$XGFsgYel" />
+          <ref role="DABNb" node="G$XGFsgYel" resolve="System recognizes wrong lane -  ASIL B" />
         </node>
         <node concept="DABN8" id="4WLVkAsg6Ih" role="DABNk">
-          <ref role="DABNb" node="4GKPLBASxXu" />
+          <ref role="DABNb" node="4GKPLBASxXu" resolve="Leaving of lane - ASIL B" />
         </node>
         <node concept="DABN8" id="4WLVkAsg6Lh" role="DABNk">
-          <ref role="DABNb" node="G$XGFsgYjd" />
+          <ref role="DABNb" node="G$XGFsgYjd" resolve="Wrong data processing (bug) - ASIL QM" />
         </node>
       </node>
       <node concept="19SGf9" id="4WLVkAsg6Gz" role="1QQeG9">
@@ -3280,22 +3280,22 @@
       <property role="0ke_I" value="Jonas&amp;Moritz" />
       <node concept="2iDXIW" id="4WLVkAsg6Hk" role="0nOlf">
         <node concept="DABN8" id="4WLVkAsg6Hn" role="DABNk">
-          <ref role="DABNb" node="G$XGFsgYdV" />
+          <ref role="DABNb" node="G$XGFsgYdV" resolve="Missing of lane markers - ASIL QM " />
         </node>
         <node concept="DABN8" id="4WLVkAsg6H$" role="DABNk">
-          <ref role="DABNb" node="4GKPLBASxXu" />
+          <ref role="DABNb" node="4GKPLBASxXu" resolve="Leaving of lane - ASIL B" />
         </node>
         <node concept="DABN8" id="4WLVkAsg6HG" role="DABNk">
-          <ref role="DABNb" node="G$XGFsgYeb" />
+          <ref role="DABNb" node="G$XGFsgYeb" resolve="System does not recognize lane - ASIL QM" />
         </node>
         <node concept="DABN8" id="4WLVkAsg6HQ" role="DABNk">
-          <ref role="DABNb" node="G$XGFsgYel" />
+          <ref role="DABNb" node="G$XGFsgYel" resolve="System recognizes wrong lane -  ASIL B" />
         </node>
         <node concept="DABN8" id="4WLVkAsg6It" role="DABNk">
-          <ref role="DABNb" node="G$XGFsgYex" />
+          <ref role="DABNb" node="G$XGFsgYex" resolve="Delayed steering - ASIL QM" />
         </node>
         <node concept="DABN8" id="4WLVkAsg6Lv" role="DABNk">
-          <ref role="DABNb" node="G$XGFsgYjd" />
+          <ref role="DABNb" node="G$XGFsgYjd" resolve="Wrong data processing (bug) - ASIL QM" />
         </node>
       </node>
       <node concept="19SGf9" id="4WLVkAsg6H4" role="1QQeG9">
@@ -3323,7 +3323,7 @@
       <property role="0ke_I" value="Jonas&amp;Moritz" />
       <node concept="2iDXIW" id="4WLVkAsg6Jx" role="0nOlf">
         <node concept="DABN8" id="4WLVkAsg6J$" role="DABNk">
-          <ref role="DABNb" node="G$XGFsgYex" />
+          <ref role="DABNb" node="G$XGFsgYex" resolve="Delayed steering - ASIL QM" />
         </node>
       </node>
       <node concept="19SGf9" id="4WLVkAsg6J1" role="1QQeG9">
@@ -3351,7 +3351,7 @@
       <property role="0ke_I" value="Jonas&amp;Moritz" />
       <node concept="2iDXIW" id="4WLVkAsg6Qk" role="0nOlf">
         <node concept="DABN8" id="4WLVkAsg6Qn" role="DABNk">
-          <ref role="DABNb" node="G$XGFsgYl5" />
+          <ref role="DABNb" node="G$XGFsgYl5" resolve="Camera is dirty - ASIL QM" />
         </node>
       </node>
       <node concept="19SGf9" id="4WLVkAsg6Pn" role="1QQeG9">
@@ -3379,10 +3379,10 @@
       <property role="0ke_I" value="Jonas&amp;Moritz" />
       <node concept="2iDXIW" id="4WLVkAsg6SE" role="0nOlf">
         <node concept="DABN8" id="4WLVkAsg6SH" role="DABNk">
-          <ref role="DABNb" node="G$XGFsgYmv" />
+          <ref role="DABNb" node="G$XGFsgYmv" resolve="Overexposed camera - ASIL QM" />
         </node>
         <node concept="DABN8" id="4WLVkAsg6SU" role="DABNk">
-          <ref role="DABNb" node="G$XGFsgYeb" />
+          <ref role="DABNb" node="G$XGFsgYeb" resolve="System does not recognize lane - ASIL QM" />
         </node>
       </node>
       <node concept="19SGf9" id="4WLVkAsg6R$" role="1QQeG9">
@@ -3553,20 +3553,20 @@
               <node concept="32OYss" id="2Q6_IeFkcZZ" role="2H9Iav">
                 <node concept="2HbLFT" id="2Q6_IeFkd00" role="32OYtT">
                   <node concept="3Ug1Ap" id="2Q6_IeFkcll" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="16Ng_xNT8nk" />
+                    <ref role="3Ug1Ao" node="16Ng_xNT8nk" resolve="state_image_processing" />
                   </node>
                   <node concept="2HeeqP" id="2Q6_IeFkcrt" role="2H9Ial">
-                    <ref role="2HeeqO" node="2Q6_IeFkb1A" />
+                    <ref role="2HeeqO" node="2Q6_IeFkb1A" resolve="camera_fail" />
                   </node>
                 </node>
               </node>
               <node concept="32OYss" id="2Q6_IeFkd01" role="2H9Ial">
                 <node concept="2HbLFT" id="2Q6_IeFkd02" role="32OYtT">
                   <node concept="3Ug1Ap" id="2Q6_IeFkcwt" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="16Ng_xNT8_3" />
+                    <ref role="3Ug1Ao" node="16Ng_xNT8_3" resolve="state_LKA_control" />
                   </node>
                   <node concept="2HeeqP" id="2Q6_IeFkcAR" role="2H9Ial">
-                    <ref role="2HeeqO" node="2Q6_IeFkb1A" />
+                    <ref role="2HeeqO" node="2Q6_IeFkb1A" resolve="camera_fail" />
                   </node>
                 </node>
               </node>
@@ -3582,7 +3582,7 @@
               <node concept="32OYss" id="2Q6_IeFkcSz" role="2H9Iav">
                 <node concept="2HbLFT" id="2Q6_IeFkcS$" role="32OYtT">
                   <node concept="3Ug1Ap" id="2Q6_IeFkcIL" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="16Ng_xNT8p3" />
+                    <ref role="3Ug1Ao" node="16Ng_xNT8p3" resolve="lane_detected" />
                   </node>
                   <node concept="1yCjT0" id="2Q6_IeFkcIZ" role="2H9Ial" />
                 </node>
@@ -3590,10 +3590,10 @@
               <node concept="32OYss" id="2Q6_IeFkcS_" role="2H9Ial">
                 <node concept="2HbLFT" id="2Q6_IeFkcSA" role="32OYtT">
                   <node concept="3Ug1Ap" id="2Q6_IeFkcKm" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="16Ng_xNT8_3" />
+                    <ref role="3Ug1Ao" node="16Ng_xNT8_3" resolve="state_LKA_control" />
                   </node>
                   <node concept="2HeeqP" id="2Q6_IeFkcKG" role="2H9Ial">
-                    <ref role="2HeeqO" node="2Q6_IeFkb1P" />
+                    <ref role="2HeeqO" node="2Q6_IeFkb1P" resolve="lane_keeping_fail" />
                   </node>
                 </node>
               </node>
@@ -3610,13 +3610,13 @@
                 <node concept="2HbMbg" id="2Q6_IeFke3F" role="32OYtT">
                   <node concept="2HbLFT" id="2Q6_IeFke3G" role="2H9Iav">
                     <node concept="3Ug1Ap" id="2Q6_IeFkd0T" role="2H9Iav">
-                      <ref role="3Ug1Ao" node="16Ng_xNT8sM" />
+                      <ref role="3Ug1Ao" node="16Ng_xNT8sM" resolve="activated" />
                     </node>
                     <node concept="1yCjRe" id="2Q6_IeFkd1f" role="2H9Ial" />
                   </node>
                   <node concept="2HbLFT" id="2Q6_IeFke3H" role="2H9Ial">
                     <node concept="3Ug1Ap" id="2Q6_IeFkd1N" role="2H9Iav">
-                      <ref role="3Ug1Ao" node="16Ng_xNT8p3" />
+                      <ref role="3Ug1Ao" node="16Ng_xNT8p3" resolve="lane_detected" />
                     </node>
                     <node concept="1yCjT0" id="2Q6_IeFkd2c" role="2H9Ial" />
                   </node>
@@ -3625,14 +3625,14 @@
               <node concept="2HbMbg" id="2Q6_IeFke3I" role="2H9Ial">
                 <node concept="2HbLFT" id="2Q6_IeFke3J" role="2H9Iav">
                   <node concept="3Ug1Ap" id="2Q6_IeFkdFa" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="16Ng_xNT8ss" />
+                    <ref role="3Ug1Ao" node="16Ng_xNT8ss" resolve="driver_takeover_request" />
                   </node>
                   <node concept="1yCjRe" id="2Q6_IeFkdLR" role="2H9Ial" />
                 </node>
                 <node concept="2HbLFT" id="2Q6_IeFke4n" role="2H9Ial">
                   <node concept="1yCjRe" id="2Q6_IeFkelw" role="2H9Ial" />
                   <node concept="3Ug1Ap" id="2Q6_IeFke4i" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="16Ng_xNT8$K" />
+                    <ref role="3Ug1Ao" node="16Ng_xNT8$K" resolve="vibrate_steering_wheel" />
                   </node>
                 </node>
               </node>
@@ -3648,20 +3648,20 @@
               <node concept="32OYss" id="5ARJOALx5lb" role="2H9Iav">
                 <node concept="2HbLFT" id="5ARJOALx5lc" role="32OYtT">
                   <node concept="3Ug1Ap" id="2Q6_IeFkemw" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="16Ng_xNT8nk" />
+                    <ref role="3Ug1Ao" node="16Ng_xNT8nk" resolve="state_image_processing" />
                   </node>
                   <node concept="2HeeqP" id="2Q6_IeFkemK" role="2H9Ial">
-                    <ref role="2HeeqO" node="2Q6_IeFkb1C" />
+                    <ref role="2HeeqO" node="2Q6_IeFkb1C" resolve="image_process_fail" />
                   </node>
                 </node>
               </node>
               <node concept="32OYss" id="5ARJOALx5ld" role="2H9Ial">
                 <node concept="2HbLFT" id="5ARJOALx5le" role="32OYtT">
                   <node concept="3Ug1Ap" id="2Q6_IeFkeng" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="16Ng_xNT8_3" />
+                    <ref role="3Ug1Ao" node="16Ng_xNT8_3" resolve="state_LKA_control" />
                   </node>
                   <node concept="2HeeqP" id="2Q6_IeFkenw" role="2H9Ial">
-                    <ref role="2HeeqO" node="2Q6_IeFkb1C" />
+                    <ref role="2HeeqO" node="2Q6_IeFkb1C" resolve="image_process_fail" />
                   </node>
                 </node>
               </node>
@@ -3677,20 +3677,20 @@
               <node concept="32OYss" id="5ARJOALx5HI" role="2H9Iav">
                 <node concept="2HbLFT" id="5ARJOALx5HJ" role="32OYtT">
                   <node concept="3Ug1Ap" id="2Q6_IeFkevw" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="16Ng_xNT8nk" />
+                    <ref role="3Ug1Ao" node="16Ng_xNT8nk" resolve="state_image_processing" />
                   </node>
                   <node concept="2HeeqP" id="2Q6_IeFkevI" role="2H9Ial">
-                    <ref role="2HeeqO" node="2Q6_IeFkb1L" />
+                    <ref role="2HeeqO" node="2Q6_IeFkb1L" resolve="ok" />
                   </node>
                 </node>
               </node>
               <node concept="32OYss" id="5ARJOALx5HK" role="2H9Ial">
                 <node concept="2HbLFT" id="5ARJOALx5HL" role="32OYtT">
                   <node concept="3Ug1Ap" id="2Q6_IeFkew8" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="16Ng_xNT8_3" />
+                    <ref role="3Ug1Ao" node="16Ng_xNT8_3" resolve="state_LKA_control" />
                   </node>
                   <node concept="2HeeqP" id="2Q6_IeFkew$" role="2H9Ial">
-                    <ref role="2HeeqO" node="2Q6_IeFkb1L" />
+                    <ref role="2HeeqO" node="2Q6_IeFkb1L" resolve="ok" />
                   </node>
                 </node>
               </node>
@@ -3707,7 +3707,7 @@
                 <node concept="2HbMbg" id="5ARJOALx5Bw" role="32OYtT">
                   <node concept="2HbLFT" id="5ARJOALx5Bx" role="2H9Iav">
                     <node concept="3Ug1Ap" id="2Q6_IeFkeCU" role="2H9Iav">
-                      <ref role="3Ug1Ao" node="16Ng_xNT8$g" />
+                      <ref role="3Ug1Ao" node="16Ng_xNT8$g" resolve="steering_wheel_torque" />
                     </node>
                     <node concept="2IPVmt" id="5ARJOALx5By" role="2H9Ial">
                       <property role="2IPVms" value="0" />
@@ -3715,7 +3715,7 @@
                   </node>
                   <node concept="2HbLFT" id="5ARJOALx5Bz" role="2H9Ial">
                     <node concept="3Ug1Ap" id="2Q6_IeFkeDV" role="2H9Iav">
-                      <ref role="3Ug1Ao" node="16Ng_xNT8ss" />
+                      <ref role="3Ug1Ao" node="16Ng_xNT8ss" resolve="driver_takeover_request" />
                     </node>
                     <node concept="1yCjRe" id="2Q6_IeFkeEw" role="2H9Ial" />
                   </node>
@@ -3724,10 +3724,10 @@
               <node concept="32OYss" id="5ARJOALx5B$" role="2H9Ial">
                 <node concept="2HbLFT" id="5ARJOALx5B_" role="32OYtT">
                   <node concept="3Ug1Ap" id="2Q6_IeFkeFg" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="16Ng_xNT8_3" />
+                    <ref role="3Ug1Ao" node="16Ng_xNT8_3" resolve="state_LKA_control" />
                   </node>
                   <node concept="2HeeqP" id="2Q6_IeFkeGq" role="2H9Ial">
-                    <ref role="2HeeqO" node="2Q6_IeFkb20" />
+                    <ref role="2HeeqO" node="2Q6_IeFkb20" resolve="emergency_stop_required" />
                   </node>
                 </node>
               </node>
@@ -3744,21 +3744,21 @@
                 <node concept="nE0YI" id="5ARJOALx6yf" role="32OYtT">
                   <node concept="2EDkE1" id="2Q6_IeFkfbu" role="2H9Iav">
                     <node concept="3Ug1Ap" id="2Q6_IeFkfbE" role="32OYtT">
-                      <ref role="3Ug1Ao" node="16Ng_xNT8$g" />
+                      <ref role="3Ug1Ao" node="16Ng_xNT8$g" resolve="steering_wheel_torque" />
                     </node>
                   </node>
                   <node concept="hx854" id="5ARJOALx6e7" role="2H9Ial">
-                    <ref role="hx9HS" node="5ARJOALx62F" />
+                    <ref role="hx9HS" node="5ARJOALx62F" resolve="torqueThreshold" />
                   </node>
                 </node>
               </node>
               <node concept="32OYss" id="5ARJOALx6yg" role="2H9Ial">
                 <node concept="2HbLFT" id="5ARJOALx6yh" role="32OYtT">
                   <node concept="3Ug1Ap" id="2Q6_IeFkfkV" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="16Ng_xNT8_3" />
+                    <ref role="3Ug1Ao" node="16Ng_xNT8_3" resolve="state_LKA_control" />
                   </node>
                   <node concept="2HeeqP" id="2Q6_IeFkflq" role="2H9Ial">
-                    <ref role="2HeeqO" node="2Q6_IeFkfkE" />
+                    <ref role="2HeeqO" node="2Q6_IeFkfkE" resolve="driver_engages" />
                   </node>
                 </node>
               </node>
@@ -3774,10 +3774,10 @@
               <node concept="32OYss" id="5ARJOALx78d" role="2H9Iav">
                 <node concept="2HbLFT" id="5ARJOALx78e" role="32OYtT">
                   <node concept="3Ug1Ap" id="2Q6_IeFkfoH" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="16Ng_xNT8_3" />
+                    <ref role="3Ug1Ao" node="16Ng_xNT8_3" resolve="state_LKA_control" />
                   </node>
                   <node concept="2HeeqP" id="2Q6_IeFkfoX" role="2H9Ial">
-                    <ref role="2HeeqO" node="2Q6_IeFkfkE" />
+                    <ref role="2HeeqO" node="2Q6_IeFkfkE" resolve="driver_engages" />
                   </node>
                 </node>
               </node>
@@ -3785,13 +3785,13 @@
                 <node concept="2HbMbg" id="5ARJOALx78g" role="32OYtT">
                   <node concept="2HbLFT" id="5ARJOALx78h" role="2H9Iav">
                     <node concept="3Ug1Ap" id="2Q6_IeFkfpF" role="2H9Iav">
-                      <ref role="3Ug1Ao" node="16Ng_xNT8ss" />
+                      <ref role="3Ug1Ao" node="16Ng_xNT8ss" resolve="driver_takeover_request" />
                     </node>
                     <node concept="1yCjT0" id="2Q6_IeFkfq4" role="2H9Ial" />
                   </node>
                   <node concept="2HbLFT" id="5ARJOALx78i" role="2H9Ial">
                     <node concept="3Ug1Ap" id="2Q6_IeFkfqx" role="2H9Iav">
-                      <ref role="3Ug1Ao" node="16Ng_xNT8$K" />
+                      <ref role="3Ug1Ao" node="16Ng_xNT8$K" resolve="vibrate_steering_wheel" />
                     </node>
                     <node concept="1yCjT0" id="2Q6_IeFkfr7" role="2H9Ial" />
                   </node>
@@ -3810,15 +3810,15 @@
                 <node concept="2HbMbg" id="5ARJOALx7KT" role="32OYtT">
                   <node concept="2HbLFT" id="5ARJOALx7KU" role="2H9Iav">
                     <node concept="3Ug1Ap" id="2Q6_IeFkfzP" role="2H9Iav">
-                      <ref role="3Ug1Ao" node="16Ng_xNT8nk" />
+                      <ref role="3Ug1Ao" node="16Ng_xNT8nk" resolve="state_image_processing" />
                     </node>
                     <node concept="2HeeqP" id="2Q6_IeFkf$3" role="2H9Ial">
-                      <ref role="2HeeqO" node="2Q6_IeFkcr9" />
+                      <ref role="2HeeqO" node="2Q6_IeFkcr9" resolve="dirt_detected" />
                     </node>
                   </node>
                   <node concept="2HbLFT" id="5ARJOALx7KV" role="2H9Ial">
                     <node concept="3Ug1Ap" id="2Q6_IeFkfCv" role="2H9Iav">
-                      <ref role="3Ug1Ao" node="16Ng_xNT8sM" />
+                      <ref role="3Ug1Ao" node="16Ng_xNT8sM" resolve="activated" />
                     </node>
                     <node concept="1yCjRe" id="2Q6_IeFkfCQ" role="2H9Ial" />
                   </node>
@@ -3827,10 +3827,10 @@
               <node concept="32OYss" id="5ARJOALx7KW" role="2H9Ial">
                 <node concept="2HbLFT" id="5ARJOALx7KX" role="32OYtT">
                   <node concept="3Ug1Ap" id="2Q6_IeFkf_M" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="16Ng_xNT8_3" />
+                    <ref role="3Ug1Ao" node="16Ng_xNT8_3" resolve="state_LKA_control" />
                   </node>
                   <node concept="2HeeqP" id="2Q6_IeFkfA1" role="2H9Ial">
-                    <ref role="2HeeqO" node="2Q6_IeFkb1U" />
+                    <ref role="2HeeqO" node="2Q6_IeFkb1U" resolve="degraded_mode" />
                   </node>
                 </node>
               </node>
@@ -3841,19 +3841,19 @@
       <node concept="3UnI81" id="16Ng_xNT8mi" role="3UnI9m">
         <property role="TrG5h" value="lane_distance_left" />
         <node concept="2XEmfi" id="2Q6_IeFkbp6" role="3UnI80">
-          <ref role="2XEmfl" node="2Q6_IeFkbjg" />
+          <ref role="2XEmfl" node="2Q6_IeFkbjg" resolve="lane_distance" />
         </node>
       </node>
       <node concept="3UnI81" id="16Ng_xNT8mQ" role="3UnI9m">
         <property role="TrG5h" value="lane_distance_right" />
         <node concept="2XEmfi" id="2Q6_IeFkbpz" role="3UnI80">
-          <ref role="2XEmfl" node="2Q6_IeFkbjg" />
+          <ref role="2XEmfl" node="2Q6_IeFkbjg" resolve="lane_distance" />
         </node>
       </node>
       <node concept="3UnI81" id="16Ng_xNT8nk" role="3UnI9m">
         <property role="TrG5h" value="state_image_processing" />
         <node concept="2XJXdx" id="2Q6_IeFkcri" role="3UnI80">
-          <ref role="2XJXdw" node="2Q6_IeFkaVR" />
+          <ref role="2XJXdw" node="2Q6_IeFkaVR" resolve="enum_state" />
         </node>
       </node>
       <node concept="3UnI81" id="16Ng_xNT8p3" role="3UnI9m">
@@ -3867,7 +3867,7 @@
       <node concept="3UnI81" id="16Ng_xNT8$g" role="3UnI9m">
         <property role="TrG5h" value="steering_wheel_torque" />
         <node concept="2XEmfi" id="2Q6_IeFkbVj" role="3UnI80">
-          <ref role="2XEmfl" node="2Q6_IeFkbP6" />
+          <ref role="2XEmfl" node="2Q6_IeFkbP6" resolve="steering_wheel_torque_range" />
         </node>
       </node>
       <node concept="3UnI81" id="4j8iycQYvqD" role="3UnI9m">
@@ -3885,7 +3885,7 @@
       <node concept="3UnI9n" id="16Ng_xNT8sD" role="3UnI90">
         <property role="TrG5h" value="desired_steering_wheel_angle" />
         <node concept="2XEmfi" id="2Q6_IeFkbWx" role="3UnI80">
-          <ref role="2XEmfl" node="2Q6_IeFkbDI" />
+          <ref role="2XEmfl" node="2Q6_IeFkbDI" resolve="steering_wheel_range" />
         </node>
       </node>
       <node concept="3UnI9n" id="16Ng_xNT8$K" role="3UnI90">
@@ -3895,7 +3895,7 @@
       <node concept="3UnI9n" id="16Ng_xNT8_3" role="3UnI90">
         <property role="TrG5h" value="state_LKA_control" />
         <node concept="2XJXdx" id="2Q6_IeFkb2P" role="3UnI80">
-          <ref role="2XJXdw" node="2Q6_IeFkaVR" />
+          <ref role="2XJXdw" node="2Q6_IeFkaVR" resolve="enum_state" />
         </node>
       </node>
       <node concept="3UnI9n" id="4j8iycQYviM" role="3UnI90">
@@ -3918,13 +3918,13 @@
       <node concept="3UnI81" id="16Ng_xNT8PA" role="3UnI9m">
         <property role="TrG5h" value="desired_steering_wheel_angle" />
         <node concept="2XEmfi" id="2Q6_IeFkbXf" role="3UnI80">
-          <ref role="2XEmfl" node="2Q6_IeFkbDI" />
+          <ref role="2XEmfl" node="2Q6_IeFkbDI" resolve="steering_wheel_range" />
         </node>
       </node>
       <node concept="3UnI81" id="1P9g7h7qr0m" role="3UnI9m">
         <property role="TrG5h" value="steering_wheel_angle" />
         <node concept="2XEmfi" id="1P9g7h7qr0N" role="3UnI80">
-          <ref role="2XEmfl" node="2Q6_IeFkbDI" />
+          <ref role="2XEmfl" node="2Q6_IeFkbDI" resolve="steering_wheel_range" />
         </node>
       </node>
       <node concept="0Sh09" id="4j8iycQYmwx" role="lGtFl">
@@ -3935,7 +3935,7 @@
       <node concept="3UnI9n" id="4j8iycQYv$6" role="3UnI90">
         <property role="TrG5h" value="steeringWheel_motor" />
         <node concept="2XEmfi" id="4j8iycQYvRA" role="3UnI80">
-          <ref role="2XEmfl" node="4j8iycQYvHc" />
+          <ref role="2XEmfl" node="4j8iycQYvHc" resolve="steering_wheel_motor_range" />
         </node>
       </node>
       <node concept="3UnI9n" id="1P9g7h7qqDH" role="3UnI90">
@@ -3953,7 +3953,7 @@
       <node concept="3UnI81" id="16Ng_xNT8ME" role="3UnI9m">
         <property role="TrG5h" value="state_LKA_control" />
         <node concept="2XJXdx" id="2Q6_IeFkb3A" role="3UnI80">
-          <ref role="2XJXdw" node="2Q6_IeFkaVR" />
+          <ref role="2XJXdw" node="2Q6_IeFkaVR" resolve="enum_state" />
         </node>
       </node>
       <node concept="3UnI9n" id="16Ng_xNT8RK" role="3UnI90">
@@ -3963,7 +3963,7 @@
       <node concept="3UnI9n" id="16Ng_xNT8RX" role="3UnI90">
         <property role="TrG5h" value="state" />
         <node concept="2XJXdx" id="2Q6_IeFkb40" role="3UnI80">
-          <ref role="2XJXdw" node="2Q6_IeFkaVR" />
+          <ref role="2XJXdw" node="2Q6_IeFkaVR" resolve="enum_state" />
         </node>
       </node>
       <node concept="3UTh7Y" id="2cE4ICdOu8O" role="3UnIb_">
@@ -3974,7 +3974,7 @@
               <node concept="32OYss" id="7LZOTnQWE7h" role="2H9Iav">
                 <node concept="2HbLFT" id="7LZOTnQWE7i" role="32OYtT">
                   <node concept="3Ug1Ap" id="2cE4ICdOu99" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="16Ng_xNT8Mt" />
+                    <ref role="3Ug1Ao" node="16Ng_xNT8Mt" resolve="driver_takeover_request" />
                   </node>
                   <node concept="1yCjRe" id="2cE4ICdOu9z" role="2H9Ial" />
                 </node>
@@ -3983,7 +3983,7 @@
                 <node concept="32OYss" id="7LZOTnQWE7k" role="1yBIc4">
                   <node concept="2HbLFT" id="7LZOTnQWE7l" role="32OYtT">
                     <node concept="3Ug1Ap" id="2cE4ICdOueI" role="2H9Iav">
-                      <ref role="3Ug1Ao" node="16Ng_xNT8RK" />
+                      <ref role="3Ug1Ao" node="16Ng_xNT8RK" resolve="alert_signal" />
                     </node>
                     <node concept="1yCjRe" id="2cE4ICdOuf8" role="2H9Ial" />
                   </node>
@@ -4001,7 +4001,7 @@
               <node concept="32OYss" id="7LZOTnQWEt8" role="2H9Iav">
                 <node concept="2HbLFT" id="7LZOTnQWEt9" role="32OYtT">
                   <node concept="3Ug1Ap" id="2cE4ICdOubm" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="16Ng_xNT8Mt" />
+                    <ref role="3Ug1Ao" node="16Ng_xNT8Mt" resolve="driver_takeover_request" />
                   </node>
                   <node concept="1yCjT0" id="2cE4ICdOubM" role="2H9Ial" />
                 </node>
@@ -4010,7 +4010,7 @@
                 <node concept="32OYss" id="7LZOTnQWEtb" role="1yBIc4">
                   <node concept="2HbLFT" id="7LZOTnQWEtc" role="32OYtT">
                     <node concept="3Ug1Ap" id="2cE4ICdOuda" role="2H9Iav">
-                      <ref role="3Ug1Ao" node="16Ng_xNT8RK" />
+                      <ref role="3Ug1Ao" node="16Ng_xNT8RK" resolve="alert_signal" />
                     </node>
                     <node concept="1yCjT0" id="2cE4ICdOuek" role="2H9Ial" />
                   </node>
@@ -4026,10 +4026,10 @@
           <node concept="32OYss" id="7LZOTnQWDob" role="1yBIc4">
             <node concept="2HbLFT" id="7LZOTnQWDoc" role="32OYtT">
               <node concept="3Ug1Ap" id="4SubkoiB3jZ" role="2H9Iav">
-                <ref role="3Ug1Ao" node="16Ng_xNT8ME" />
+                <ref role="3Ug1Ao" node="16Ng_xNT8ME" resolve="state_LKA_control" />
               </node>
               <node concept="3Ug1Ap" id="4SubkoiB3km" role="2H9Ial">
-                <ref role="3Ug1Ao" node="16Ng_xNT8RX" />
+                <ref role="3Ug1Ao" node="16Ng_xNT8RX" resolve="state" />
               </node>
             </node>
           </node>
@@ -4076,11 +4076,11 @@
             <node concept="2HbLFT" id="3OFTjxLQ_42" role="32OYtT">
               <node concept="1yA0yd" id="3OFTjxLQ_4i" role="2H9Iav">
                 <node concept="3Ug1Ap" id="4j8iycQYxca" role="32OYtT">
-                  <ref role="3Ug1Ao" node="4j8iycQYvig" />
+                  <ref role="3Ug1Ao" node="4j8iycQYvig" resolve="stroke" />
                 </node>
               </node>
               <node concept="3Ug1Ap" id="4j8iycQYxeR" role="2H9Ial">
-                <ref role="3Ug1Ao" node="4j8iycQYvin" />
+                <ref role="3Ug1Ao" node="4j8iycQYvin" resolve="shutdown" />
               </node>
             </node>
           </node>
@@ -4111,7 +4111,7 @@
               <node concept="32OYss" id="7LZOTnQWFdZ" role="2H9Iav">
                 <node concept="2xSSBo" id="SQH6SzHyGm" role="32OYtT">
                   <node concept="3Ug1Ap" id="7LZOTnQWEu4" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="7LZOTnQWD9x" />
+                    <ref role="3Ug1Ao" node="7LZOTnQWD9x" resolve="image_In" />
                   </node>
                   <node concept="2IPVmt" id="7LZOTnQWFe1" role="2H9Ial">
                     <property role="2IPVms" value="0" />
@@ -4121,7 +4121,7 @@
               <node concept="32OYss" id="7LZOTnQWFe2" role="2H9Ial">
                 <node concept="2HbLFT" id="7LZOTnQWFe3" role="32OYtT">
                   <node concept="3Ug1Ap" id="7LZOTnQWEyL" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="7LZOTnQWD9C" />
+                    <ref role="3Ug1Ao" node="7LZOTnQWD9C" resolve="monitor_alert" />
                   </node>
                   <node concept="1yCjRe" id="7LZOTnQWE$1" role="2H9Ial" />
                 </node>
@@ -4142,7 +4142,7 @@
       <node concept="3Ug1AV" id="16Ng_xNT9ea" role="3UgYNK">
         <property role="TrG5h" value="Camera" />
         <node concept="3Ug1AZ" id="16Ng_xNT9eb" role="3Ug1A_">
-          <ref role="3Ug1AY" node="16Ng_xNT7ZF" />
+          <ref role="3Ug1AY" node="16Ng_xNT7ZF" resolve="Camera" />
         </node>
       </node>
       <node concept="37mRI7" id="16Ng_xNT9ef" role="lGtFl">
@@ -4986,170 +4986,170 @@
       <node concept="3Ug1AV" id="16Ng_xNT9eh" role="3UgYNK">
         <property role="TrG5h" value="Image_Processing_Unit" />
         <node concept="3Ug1AZ" id="16Ng_xNT9ei" role="3Ug1A_">
-          <ref role="3Ug1AY" node="16Ng_xNT87r" />
+          <ref role="3Ug1AY" node="16Ng_xNT87r" resolve="Image_Processing_Unit" />
         </node>
       </node>
       <node concept="3Ug1$w" id="16Ng_xNT9eM" role="3UgYNK">
         <node concept="3Ug1GC" id="16Ng_xNT9eN" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="16Ng_xNT80D" />
+          <ref role="3Ug1Ha" node="16Ng_xNT80D" resolve="operation" />
           <node concept="3Ug1GJ" id="16Ng_xNT9eO" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9ea" />
+            <ref role="3Ug1GI" node="16Ng_xNT9ea" resolve="Camera" />
           </node>
         </node>
         <node concept="3Ug1GC" id="16Ng_xNT9eP" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="16Ng_xNT88_" />
+          <ref role="3Ug1Ha" node="16Ng_xNT88_" resolve="operation" />
           <node concept="3Ug1GJ" id="16Ng_xNT9eQ" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9eh" />
+            <ref role="3Ug1GI" node="16Ng_xNT9eh" resolve="Image_Processing_Unit" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="16Ng_xNT9f5" role="3UgYNK">
         <node concept="3Ug1GC" id="16Ng_xNT9f6" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="16Ng_xNT80o" />
+          <ref role="3Ug1Ha" node="16Ng_xNT80o" resolve="connectivity" />
           <node concept="3Ug1GJ" id="16Ng_xNT9f7" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9ea" />
+            <ref role="3Ug1GI" node="16Ng_xNT9ea" resolve="Camera" />
           </node>
         </node>
         <node concept="3Ug1GC" id="16Ng_xNT9f8" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="16Ng_xNT88k" />
+          <ref role="3Ug1Ha" node="16Ng_xNT88k" resolve="connectivity" />
           <node concept="3Ug1GJ" id="16Ng_xNT9f9" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9eh" />
+            <ref role="3Ug1GI" node="16Ng_xNT9eh" resolve="Image_Processing_Unit" />
           </node>
         </node>
       </node>
       <node concept="3Ug1AV" id="16Ng_xNT9gs" role="3UgYNK">
         <property role="TrG5h" value="LKA_Control_Box" />
         <node concept="3Ug1AZ" id="16Ng_xNT9gt" role="3Ug1A_">
-          <ref role="3Ug1AY" node="16Ng_xNT8lq" />
+          <ref role="3Ug1AY" node="16Ng_xNT8lq" resolve="LKA_Control_Box" />
         </node>
       </node>
       <node concept="3Ug1$w" id="16Ng_xNT9h6" role="3UgYNK">
         <node concept="3Ug1GC" id="16Ng_xNT9h7" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="16Ng_xNT8cb" />
+          <ref role="3Ug1Ha" node="16Ng_xNT8cb" resolve="lane_distance_left" />
           <node concept="3Ug1GJ" id="16Ng_xNT9h8" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9eh" />
+            <ref role="3Ug1GI" node="16Ng_xNT9eh" resolve="Image_Processing_Unit" />
           </node>
         </node>
         <node concept="3Ug1GC" id="16Ng_xNT9h9" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="16Ng_xNT8mi" />
+          <ref role="3Ug1Ha" node="16Ng_xNT8mi" resolve="lane_distance_left" />
           <node concept="3Ug1GJ" id="16Ng_xNT9ha" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9gs" />
+            <ref role="3Ug1GI" node="16Ng_xNT9gs" resolve="LKA_Control_Box" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="16Ng_xNT9hJ" role="3UgYNK">
         <node concept="3Ug1GC" id="16Ng_xNT9hK" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="16Ng_xNT8co" />
+          <ref role="3Ug1Ha" node="16Ng_xNT8co" resolve="lane_distance_right" />
           <node concept="3Ug1GJ" id="16Ng_xNT9hL" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9eh" />
+            <ref role="3Ug1GI" node="16Ng_xNT9eh" resolve="Image_Processing_Unit" />
           </node>
         </node>
         <node concept="3Ug1GC" id="16Ng_xNT9hM" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="16Ng_xNT8mQ" />
+          <ref role="3Ug1Ha" node="16Ng_xNT8mQ" resolve="lane_distance_right" />
           <node concept="3Ug1GJ" id="16Ng_xNT9hN" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9gs" />
+            <ref role="3Ug1GI" node="16Ng_xNT9gs" resolve="LKA_Control_Box" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="16Ng_xNT9it" role="3UgYNK">
         <node concept="3Ug1GC" id="16Ng_xNT9iu" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="16Ng_xNT8cY" />
+          <ref role="3Ug1Ha" node="16Ng_xNT8cY" resolve="state_image_processing" />
           <node concept="3Ug1GJ" id="16Ng_xNT9iv" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9eh" />
+            <ref role="3Ug1GI" node="16Ng_xNT9eh" resolve="Image_Processing_Unit" />
           </node>
         </node>
         <node concept="3Ug1GC" id="16Ng_xNT9iw" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="16Ng_xNT8nk" />
+          <ref role="3Ug1Ha" node="16Ng_xNT8nk" resolve="state_image_processing" />
           <node concept="3Ug1GJ" id="16Ng_xNT9ix" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9gs" />
+            <ref role="3Ug1GI" node="16Ng_xNT9gs" resolve="LKA_Control_Box" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="16Ng_xNT9jg" role="3UgYNK">
         <node concept="3Ug1GC" id="16Ng_xNT9jh" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="16Ng_xNT8eP" />
+          <ref role="3Ug1Ha" node="16Ng_xNT8eP" resolve="lane_detect" />
           <node concept="3Ug1GJ" id="16Ng_xNT9ji" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9eh" />
+            <ref role="3Ug1GI" node="16Ng_xNT9eh" resolve="Image_Processing_Unit" />
           </node>
         </node>
         <node concept="3Ug1GC" id="16Ng_xNT9jj" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="16Ng_xNT8p3" />
+          <ref role="3Ug1Ha" node="16Ng_xNT8p3" resolve="lane_detected" />
           <node concept="3Ug1GJ" id="16Ng_xNT9jk" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9gs" />
+            <ref role="3Ug1GI" node="16Ng_xNT9gs" resolve="LKA_Control_Box" />
           </node>
         </node>
       </node>
       <node concept="3Ug1AV" id="16Ng_xNT9k8" role="3UgYNK">
         <property role="TrG5h" value="LKA_Activation_Button" />
         <node concept="3Ug1AZ" id="16Ng_xNT9k9" role="3Ug1A_">
-          <ref role="3Ug1AY" node="16Ng_xNT8tc" />
+          <ref role="3Ug1AY" node="16Ng_xNT8tc" resolve="LKA_Activation_Button" />
         </node>
       </node>
       <node concept="3Ug1$w" id="16Ng_xNT9l1" role="3UgYNK">
         <node concept="3Ug1GC" id="16Ng_xNT9l2" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="16Ng_xNT8uo" />
+          <ref role="3Ug1Ha" node="16Ng_xNT8uo" resolve="activated" />
           <node concept="3Ug1GJ" id="16Ng_xNT9l3" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9k8" />
+            <ref role="3Ug1GI" node="16Ng_xNT9k8" resolve="LKA_Activation_Button" />
           </node>
         </node>
         <node concept="3Ug1GC" id="16Ng_xNT9l4" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="16Ng_xNT8sM" />
+          <ref role="3Ug1Ha" node="16Ng_xNT8sM" resolve="activated" />
           <node concept="3Ug1GJ" id="16Ng_xNT9l5" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9gs" />
+            <ref role="3Ug1GI" node="16Ng_xNT9gs" resolve="LKA_Control_Box" />
           </node>
         </node>
       </node>
       <node concept="3Ug1AV" id="16Ng_xNT9m9" role="3UgYNK">
         <property role="TrG5h" value="SteeringWheel_Control_Unit" />
         <node concept="3Ug1AZ" id="16Ng_xNT9ma" role="3Ug1A_">
-          <ref role="3Ug1AY" node="16Ng_xNT8Hh" />
+          <ref role="3Ug1AY" node="16Ng_xNT8Hh" resolve="Steering_wheel_Control_Unit" />
         </node>
       </node>
       <node concept="3Ug1$w" id="16Ng_xNT9p_" role="3UgYNK">
         <node concept="3Ug1GC" id="16Ng_xNT9pA" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="16Ng_xNT8$K" />
+          <ref role="3Ug1Ha" node="16Ng_xNT8$K" resolve="vibrate_steering_wheel" />
           <node concept="3Ug1GJ" id="16Ng_xNT9pB" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9gs" />
+            <ref role="3Ug1GI" node="16Ng_xNT9gs" resolve="LKA_Control_Box" />
           </node>
         </node>
         <node concept="3Ug1GC" id="16Ng_xNT9pC" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="16Ng_xNT8IM" />
+          <ref role="3Ug1Ha" node="16Ng_xNT8IM" resolve="vibrate_steering_wheel" />
           <node concept="3Ug1GJ" id="16Ng_xNT9pD" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9m9" />
+            <ref role="3Ug1GI" node="16Ng_xNT9m9" resolve="SteeringWheel_Control_Unit" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="16Ng_xNT9qP" role="3UgYNK">
         <node concept="3Ug1GC" id="16Ng_xNT9qQ" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="16Ng_xNT8sD" />
+          <ref role="3Ug1Ha" node="16Ng_xNT8sD" resolve="desired_steering_wheel_angle" />
           <node concept="3Ug1GJ" id="16Ng_xNT9qR" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9gs" />
+            <ref role="3Ug1GI" node="16Ng_xNT9gs" resolve="LKA_Control_Box" />
           </node>
         </node>
         <node concept="3Ug1GC" id="16Ng_xNT9qS" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="16Ng_xNT8PA" />
+          <ref role="3Ug1Ha" node="16Ng_xNT8PA" resolve="desired_steering_wheel_angle" />
           <node concept="3Ug1GJ" id="16Ng_xNT9qT" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9m9" />
+            <ref role="3Ug1GI" node="16Ng_xNT9m9" resolve="SteeringWheel_Control_Unit" />
           </node>
         </node>
       </node>
       <node concept="3Ug1AV" id="16Ng_xNT9t3" role="3UgYNK">
         <property role="TrG5h" value="LKA_Communication_Control_Unit" />
         <node concept="3Ug1AZ" id="16Ng_xNT9t4" role="3Ug1A_">
-          <ref role="3Ug1AY" node="16Ng_xNT8KQ" />
+          <ref role="3Ug1AY" node="16Ng_xNT8KQ" resolve="LKA_Communication_Control_Unit" />
         </node>
       </node>
       <node concept="3Ug1$w" id="16Ng_xNT9xV" role="3UgYNK">
         <node concept="3Ug1GC" id="16Ng_xNT9xW" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="16Ng_xNT8ss" />
+          <ref role="3Ug1Ha" node="16Ng_xNT8ss" resolve="driver_takeover_request" />
           <node concept="3Ug1GJ" id="16Ng_xNT9xX" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9gs" />
+            <ref role="3Ug1GI" node="16Ng_xNT9gs" resolve="LKA_Control_Box" />
           </node>
         </node>
         <node concept="3Ug1GC" id="16Ng_xNT9xY" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="16Ng_xNT8Mt" />
+          <ref role="3Ug1Ha" node="16Ng_xNT8Mt" resolve="driver_takeover_request" />
           <node concept="3Ug1GJ" id="16Ng_xNT9xZ" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9t3" />
+            <ref role="3Ug1GI" node="16Ng_xNT9t3" resolve="LKA_Communication_Control_Unit" />
           </node>
         </node>
       </node>
@@ -5160,13 +5160,13 @@
       <node concept="3UnI9n" id="16Ng_xNT9zs" role="3UnI90">
         <property role="TrG5h" value="state" />
         <node concept="2XJXdx" id="2Q6_IeFkb4q" role="3UnI80">
-          <ref role="2XJXdw" node="2Q6_IeFkaVR" />
+          <ref role="2XJXdw" node="2Q6_IeFkaVR" resolve="enum_state" />
         </node>
       </node>
       <node concept="3UnI9n" id="4j8iycQYvSb" role="3UnI90">
         <property role="TrG5h" value="steering_motor" />
         <node concept="2XEmfi" id="4j8iycQYvSm" role="3UnI80">
-          <ref role="2XEmfl" node="4j8iycQYvHc" />
+          <ref role="2XEmfl" node="4j8iycQYvHc" resolve="steering_wheel_motor_range" />
         </node>
       </node>
       <node concept="3UnI9n" id="1P9g7h7qqEo" role="3UnI90">
@@ -5175,84 +5175,84 @@
       </node>
       <node concept="3Ug1$w" id="16Ng_xNT9IK" role="3UgYNK">
         <node concept="3Ug1GC" id="16Ng_xNT9IL" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="16Ng_xNT8RK" />
+          <ref role="3Ug1Ha" node="16Ng_xNT8RK" resolve="alert_signal" />
           <node concept="3Ug1GJ" id="16Ng_xNT9IM" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9t3" />
+            <ref role="3Ug1GI" node="16Ng_xNT9t3" resolve="LKA_Communication_Control_Unit" />
           </node>
         </node>
         <node concept="3Ug1Ap" id="16Ng_xNT9IN" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="16Ng_xNT9CS" />
+          <ref role="3Ug1Ao" node="16Ng_xNT9CS" resolve="alert_signal" />
         </node>
       </node>
       <node concept="3Ug1$w" id="1RZJT$oWwdx" role="3UgYNK">
         <node concept="3Ug1GC" id="1RZJT$oWwdy" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="16Ng_xNT8_3" />
+          <ref role="3Ug1Ha" node="16Ng_xNT8_3" resolve="state_LKA_control" />
           <node concept="3Ug1GJ" id="1RZJT$oWwdz" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9gs" />
+            <ref role="3Ug1GI" node="16Ng_xNT9gs" resolve="LKA_Control_Box" />
           </node>
         </node>
         <node concept="3Ug1GC" id="1RZJT$oWwd$" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="16Ng_xNT8ME" />
+          <ref role="3Ug1Ha" node="16Ng_xNT8ME" resolve="state_LKA_control" />
           <node concept="3Ug1GJ" id="1RZJT$oWwd_" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9t3" />
+            <ref role="3Ug1GI" node="16Ng_xNT9t3" resolve="LKA_Communication_Control_Unit" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="1RZJT$oWwfg" role="3UgYNK">
         <node concept="3Ug1GC" id="1RZJT$oWwfh" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="16Ng_xNT8RX" />
+          <ref role="3Ug1Ha" node="16Ng_xNT8RX" resolve="state" />
           <node concept="3Ug1GJ" id="1RZJT$oWwfi" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9t3" />
+            <ref role="3Ug1GI" node="16Ng_xNT9t3" resolve="LKA_Communication_Control_Unit" />
           </node>
         </node>
         <node concept="3Ug1Ap" id="1RZJT$oWwfj" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="16Ng_xNT9zs" />
+          <ref role="3Ug1Ao" node="16Ng_xNT9zs" resolve="state" />
         </node>
       </node>
       <node concept="3Ug1AV" id="4j8iycQYvjc" role="3UgYNK">
         <property role="TrG5h" value="Watchdog_LKA" />
         <node concept="3Ug1AZ" id="4j8iycQYvjd" role="3Ug1A_">
-          <ref role="3Ug1AY" node="4j8iycQYuMY" />
+          <ref role="3Ug1AY" node="4j8iycQYuMY" resolve="Watchdog" />
         </node>
       </node>
       <node concept="3Ug1$w" id="4j8iycQYvmy" role="3UgYNK">
         <node concept="3Ug1GC" id="4j8iycQYvmz" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4j8iycQYviM" />
+          <ref role="3Ug1Ha" node="4j8iycQYviM" resolve="stroke" />
           <node concept="3Ug1GJ" id="4j8iycQYvm$" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9gs" />
+            <ref role="3Ug1GI" node="16Ng_xNT9gs" resolve="LKA_Control_Box" />
           </node>
         </node>
         <node concept="3Ug1GC" id="4j8iycQYvm_" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4j8iycQYvig" />
+          <ref role="3Ug1Ha" node="4j8iycQYvig" resolve="stroke" />
           <node concept="3Ug1GJ" id="4j8iycQYvmA" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4j8iycQYvjc" />
+            <ref role="3Ug1GI" node="4j8iycQYvjc" resolve="Watchdog_LKA" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4j8iycQYvrd" role="3UgYNK">
         <node concept="3Ug1GC" id="4j8iycQYvre" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4j8iycQYvin" />
+          <ref role="3Ug1Ha" node="4j8iycQYvin" resolve="shutdown" />
           <node concept="3Ug1GJ" id="4j8iycQYvrf" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4j8iycQYvjc" />
+            <ref role="3Ug1GI" node="4j8iycQYvjc" resolve="Watchdog_LKA" />
           </node>
         </node>
         <node concept="3Ug1GC" id="4j8iycQYvrg" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4j8iycQYvqD" />
+          <ref role="3Ug1Ha" node="4j8iycQYvqD" resolve="watchdog_alert" />
           <node concept="3Ug1GJ" id="4j8iycQYvrh" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9gs" />
+            <ref role="3Ug1GI" node="16Ng_xNT9gs" resolve="LKA_Control_Box" />
           </node>
         </node>
       </node>
       <node concept="3UnI81" id="4j8iycQYvRP" role="3UnI9m">
         <property role="TrG5h" value="steering_wheel_angle" />
         <node concept="2XEmfi" id="4j8iycQYvRW" role="3UnI80">
-          <ref role="2XEmfl" node="2Q6_IeFkbDI" />
+          <ref role="2XEmfl" node="2Q6_IeFkbDI" resolve="steering_wheel_range" />
         </node>
       </node>
       <node concept="3UnI81" id="4j8iycQYvZs" role="3UnI9m">
         <property role="TrG5h" value="steering_wheel_torque" />
         <node concept="2XEmfi" id="4j8iycQYvZJ" role="3UnI80">
-          <ref role="2XEmfl" node="2Q6_IeFkbP6" />
+          <ref role="2XEmfl" node="2Q6_IeFkbP6" resolve="steering_wheel_torque_range" />
         </node>
       </node>
       <node concept="3UnI81" id="1P9g7h7qqQW" role="3UnI9m">
@@ -5265,115 +5265,115 @@
       </node>
       <node concept="3Ug1$w" id="4j8iycQYvXp" role="3UgYNK">
         <node concept="3Ug1GC" id="4j8iycQYvXq" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4j8iycQYv$6" />
+          <ref role="3Ug1Ha" node="4j8iycQYv$6" resolve="steeringWheel_motor" />
           <node concept="3Ug1GJ" id="4j8iycQYvXr" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9m9" />
+            <ref role="3Ug1GI" node="16Ng_xNT9m9" resolve="SteeringWheel_Control_Unit" />
           </node>
         </node>
         <node concept="3Ug1Ap" id="4j8iycQYvXs" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="4j8iycQYvSb" />
+          <ref role="3Ug1Ao" node="4j8iycQYvSb" resolve="steering_motor" />
         </node>
       </node>
       <node concept="3Ug1$w" id="4j8iycQYwkw" role="3UgYNK">
         <node concept="3Ug1Ap" id="4j8iycQYwkx" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="4j8iycQYvZs" />
+          <ref role="3Ug1Ao" node="4j8iycQYvZs" resolve="steering_wheel_torque" />
         </node>
         <node concept="3Ug1GC" id="4j8iycQYwky" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="16Ng_xNT8$g" />
+          <ref role="3Ug1Ha" node="16Ng_xNT8$g" resolve="steering_wheel_torque" />
           <node concept="3Ug1GJ" id="4j8iycQYwkz" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9gs" />
+            <ref role="3Ug1GI" node="16Ng_xNT9gs" resolve="LKA_Control_Box" />
           </node>
         </node>
       </node>
       <node concept="3Ug1AV" id="7LZOTnQWFgv" role="3UgYNK">
         <property role="TrG5h" value="MonitorChannel_IC" />
         <node concept="3Ug1AZ" id="7LZOTnQWFgw" role="3Ug1A_">
-          <ref role="3Ug1AY" node="7LZOTnQWCZs" />
+          <ref role="3Ug1AY" node="7LZOTnQWCZs" resolve="MonitorChannel_IC" />
         </node>
       </node>
       <node concept="3Ug1$w" id="7LZOTnQWFlO" role="3UgYNK">
         <node concept="3Ug1GC" id="7LZOTnQWFlP" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="16Ng_xNT80W" />
+          <ref role="3Ug1Ha" node="16Ng_xNT80W" resolve="image" />
           <node concept="3Ug1GJ" id="7LZOTnQWFlQ" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9ea" />
+            <ref role="3Ug1GI" node="16Ng_xNT9ea" resolve="Camera" />
           </node>
         </node>
         <node concept="3Ug1GC" id="7LZOTnQWFlR" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="7LZOTnQWD9x" />
+          <ref role="3Ug1Ha" node="7LZOTnQWD9x" resolve="image_In" />
           <node concept="3Ug1GJ" id="7LZOTnQWFlS" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="7LZOTnQWFgv" />
+            <ref role="3Ug1GI" node="7LZOTnQWFgv" resolve="MonitorChannel_IC" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="7LZOTnQWF_j" role="3UgYNK">
         <node concept="3Ug1GC" id="7LZOTnQWF_k" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="7LZOTnQWD9C" />
+          <ref role="3Ug1Ha" node="7LZOTnQWD9C" resolve="monitor_alert" />
           <node concept="3Ug1GJ" id="7LZOTnQWF_l" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="7LZOTnQWFgv" />
+            <ref role="3Ug1GI" node="7LZOTnQWFgv" resolve="MonitorChannel_IC" />
           </node>
         </node>
         <node concept="3Ug1GC" id="7LZOTnQWF_m" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4j8iycQYwv$" />
+          <ref role="3Ug1Ha" node="4j8iycQYwv$" resolve="monitorchannel_alert" />
           <node concept="3Ug1GJ" id="7LZOTnQWF_n" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9gs" />
+            <ref role="3Ug1GI" node="16Ng_xNT9gs" resolve="LKA_Control_Box" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="1P9g7h7qqIK" role="3UgYNK">
         <node concept="3Ug1GC" id="1P9g7h7qqIL" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="1P9g7h7qqDH" />
+          <ref role="3Ug1Ha" node="1P9g7h7qqDH" resolve="vibrate" />
           <node concept="3Ug1GJ" id="1P9g7h7qqIM" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9m9" />
+            <ref role="3Ug1GI" node="16Ng_xNT9m9" resolve="SteeringWheel_Control_Unit" />
           </node>
         </node>
         <node concept="3Ug1Ap" id="1P9g7h7qqIN" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="1P9g7h7qqEo" />
+          <ref role="3Ug1Ao" node="1P9g7h7qqEo" resolve="vibrate_out" />
         </node>
       </node>
       <node concept="3Ug1$w" id="1P9g7h7qqVS" role="3UgYNK">
         <node concept="3Ug1Ap" id="1P9g7h7qqVT" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="1P9g7h7qqQW" />
+          <ref role="3Ug1Ao" node="1P9g7h7qqQW" resolve="image_data" />
         </node>
         <node concept="3Ug1GC" id="1P9g7h7qqVU" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="1P9g7h7qqPW" />
+          <ref role="3Ug1Ha" node="1P9g7h7qqPW" resolve="image_in" />
           <node concept="3Ug1GJ" id="1P9g7h7qqVV" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9ea" />
+            <ref role="3Ug1GI" node="16Ng_xNT9ea" resolve="Camera" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="1P9g7h7qr4B" role="3UgYNK">
         <node concept="3Ug1Ap" id="1P9g7h7qr4C" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="4j8iycQYvRP" />
+          <ref role="3Ug1Ao" node="4j8iycQYvRP" resolve="steering_wheel_angle" />
         </node>
         <node concept="3Ug1GC" id="1P9g7h7qr4D" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="1P9g7h7qr0m" />
+          <ref role="3Ug1Ha" node="1P9g7h7qr0m" resolve="steering_wheel_angle" />
           <node concept="3Ug1GJ" id="1P9g7h7qr4E" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9m9" />
+            <ref role="3Ug1GI" node="16Ng_xNT9m9" resolve="SteeringWheel_Control_Unit" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="1P9g7h7qrqL" role="3UgYNK">
         <node concept="3Ug1Ap" id="1P9g7h7qrqM" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="1P9g7h7qrlX" />
+          <ref role="3Ug1Ao" node="1P9g7h7qrlX" resolve="activate" />
         </node>
         <node concept="3Ug1GC" id="1P9g7h7qrqN" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="1P9g7h7qrmx" />
+          <ref role="3Ug1Ha" node="1P9g7h7qrmx" resolve="activate_in" />
           <node concept="3Ug1GJ" id="1P9g7h7qrqO" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9k8" />
+            <ref role="3Ug1GI" node="16Ng_xNT9k8" resolve="LKA_Activation_Button" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="SQH6SzHyQ2" role="3UgYNK">
         <node concept="3Ug1GC" id="SQH6SzHyQ3" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="16Ng_xNT80W" />
+          <ref role="3Ug1Ha" node="16Ng_xNT80W" resolve="image" />
           <node concept="3Ug1GJ" id="SQH6SzHyQ4" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9ea" />
+            <ref role="3Ug1GI" node="16Ng_xNT9ea" resolve="Camera" />
           </node>
         </node>
         <node concept="3Ug1GC" id="SQH6SzHyQ5" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="16Ng_xNT88S" />
+          <ref role="3Ug1Ha" node="16Ng_xNT88S" resolve="image" />
           <node concept="3Ug1GJ" id="SQH6SzHyQ6" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="16Ng_xNT9eh" />
+            <ref role="3Ug1GI" node="16Ng_xNT9eh" resolve="Image_Processing_Unit" />
           </node>
         </node>
       </node>
@@ -5390,12 +5390,12 @@
                 <node concept="2HbMDt" id="6jXiwtO8OoS" role="32OYtT">
                   <node concept="1yA0yd" id="6jXiwtO8OoT" role="2H9Iav">
                     <node concept="3Ug1Ap" id="7_EPz_EQ1n8" role="32OYtT">
-                      <ref role="3Ug1Ao" node="16Ng_xNT88k" />
+                      <ref role="3Ug1Ao" node="16Ng_xNT88k" resolve="connectivity" />
                     </node>
                   </node>
                   <node concept="1yA0yd" id="6jXiwtO8OoU" role="2H9Ial">
                     <node concept="3Ug1Ap" id="7_EPz_EQ1oc" role="32OYtT">
-                      <ref role="3Ug1Ao" node="16Ng_xNT88_" />
+                      <ref role="3Ug1Ao" node="16Ng_xNT88_" resolve="operation" />
                     </node>
                   </node>
                 </node>
@@ -5403,10 +5403,10 @@
               <node concept="32OYss" id="6jXiwtO8OoV" role="2H9Ial">
                 <node concept="2HbLFT" id="6jXiwtO8OoW" role="32OYtT">
                   <node concept="3Ug1Ap" id="7_EPz_EQ1pV" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="16Ng_xNT8cY" />
+                    <ref role="3Ug1Ao" node="16Ng_xNT8cY" resolve="state_image_processing" />
                   </node>
                   <node concept="2HeeqP" id="7_EPz_EQ1qi" role="2H9Ial">
-                    <ref role="2HeeqO" node="2Q6_IeFkb1A" />
+                    <ref role="2HeeqO" node="2Q6_IeFkb1A" resolve="camera_fail" />
                   </node>
                 </node>
               </node>
@@ -5424,20 +5424,20 @@
                   <node concept="32OYss" id="6jXiwtO8Ush" role="2H9Iav">
                     <node concept="2HbLFT" id="6jXiwtO8Usi" role="32OYtT">
                       <node concept="3Ug1Ap" id="7_EPz_EQ1rd" role="2H9Iav">
-                        <ref role="3Ug1Ao" node="16Ng_xNT8cY" />
+                        <ref role="3Ug1Ao" node="16Ng_xNT8cY" resolve="state_image_processing" />
                       </node>
                       <node concept="2HeeqP" id="7_EPz_EQ1ry" role="2H9Ial">
-                        <ref role="2HeeqO" node="2Q6_IeFkb1A" />
+                        <ref role="2HeeqO" node="2Q6_IeFkb1A" resolve="camera_fail" />
                       </node>
                     </node>
                   </node>
                   <node concept="32OYss" id="6jXiwtO8Usj" role="2H9Ial">
                     <node concept="2HbLFT" id="6jXiwtO8Usk" role="32OYtT">
                       <node concept="3Ug1Ap" id="7_EPz_EQ1uS" role="2H9Iav">
-                        <ref role="3Ug1Ao" node="16Ng_xNT8cY" />
+                        <ref role="3Ug1Ao" node="16Ng_xNT8cY" resolve="state_image_processing" />
                       </node>
                       <node concept="2HeeqP" id="7_EPz_EQ1vc" role="2H9Ial">
-                        <ref role="2HeeqO" node="2Q6_IeFkb1C" />
+                        <ref role="2HeeqO" node="2Q6_IeFkb1C" resolve="image_process_fail" />
                       </node>
                     </node>
                   </node>
@@ -5446,7 +5446,7 @@
               <node concept="32OYss" id="6jXiwtO8Usl" role="2H9Ial">
                 <node concept="2HbLFT" id="6jXiwtO8Usm" role="32OYtT">
                   <node concept="3Ug1Ap" id="7_EPz_EQ1s$" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="16Ng_xNT8eP" />
+                    <ref role="3Ug1Ao" node="16Ng_xNT8eP" resolve="lane_detect" />
                   </node>
                   <node concept="1yCjT0" id="7_EPz_EQ1t1" role="2H9Ial" />
                 </node>
@@ -5470,19 +5470,19 @@
       <node concept="3UnI9n" id="16Ng_xNT8cb" role="3UnI90">
         <property role="TrG5h" value="lane_distance_left" />
         <node concept="2XEmfi" id="2Q6_IeFkcfj" role="3UnI80">
-          <ref role="2XEmfl" node="2Q6_IeFkbjg" />
+          <ref role="2XEmfl" node="2Q6_IeFkbjg" resolve="lane_distance" />
         </node>
       </node>
       <node concept="3UnI9n" id="16Ng_xNT8co" role="3UnI90">
         <property role="TrG5h" value="lane_distance_right" />
         <node concept="2XEmfi" id="2Q6_IeFkcfK" role="3UnI80">
-          <ref role="2XEmfl" node="2Q6_IeFkbjg" />
+          <ref role="2XEmfl" node="2Q6_IeFkbjg" resolve="lane_distance" />
         </node>
       </node>
       <node concept="3UnI9n" id="16Ng_xNT8cY" role="3UnI90">
         <property role="TrG5h" value="state_image_processing" />
         <node concept="2XJXdx" id="2Q6_IeFkcrm" role="3UnI80">
-          <ref role="2XJXdw" node="2Q6_IeFkaVR" />
+          <ref role="2XJXdw" node="2Q6_IeFkaVR" resolve="enum_state" />
         </node>
       </node>
       <node concept="3UnI9n" id="16Ng_xNT8eP" role="3UnI90">
@@ -5512,7 +5512,7 @@
       </node>
       <node concept="2iDXIW" id="7NWnpv9rNvA" role="0nOlf">
         <node concept="DABN8" id="4j8iycQYm1W" role="DABNk">
-          <ref role="DABNb" node="4GKPLBASxXu" />
+          <ref role="DABNb" node="4GKPLBASxXu" resolve="Leaving of lane - ASIL B" />
         </node>
       </node>
       <node concept="19SGf9" id="7NWnpv9rKoI" role="1QQeG9">
@@ -5535,7 +5535,7 @@
       </node>
       <node concept="2iDXIW" id="7NWnpv9rNyG" role="0nOlf">
         <node concept="DABN8" id="7NWnpv9rNAM" role="DABNk">
-          <ref role="DABNb" node="G$XGFsgYfV" />
+          <ref role="DABNb" node="G$XGFsgYfV" resolve="Overwrite/prevent driver input - ASIL QM" />
         </node>
       </node>
       <node concept="19SGf9" id="7NWnpv9rNya" role="1QQeG9">
@@ -5558,7 +5558,7 @@
       </node>
       <node concept="2iDXIW" id="7NWnpv9rNFD" role="0nOlf">
         <node concept="DABN8" id="7NWnpv9rNFG" role="DABNk">
-          <ref role="DABNb" node="lV44fsLWj5" />
+          <ref role="DABNb" node="lV44fsLWj5" resolve="Bad system feedback to driver (e.g. error reporting) - ASIL QM" />
         </node>
       </node>
       <node concept="19SGf9" id="7NWnpv9rNEx" role="1QQeG9">
@@ -5585,7 +5585,7 @@
       </node>
       <node concept="2iDXIW" id="7NWnpv9rNPm" role="0nOlf">
         <node concept="DABN8" id="4j8iycQYm1Y" role="DABNk">
-          <ref role="DABNb" node="4GKPLBASxXu" />
+          <ref role="DABNb" node="4GKPLBASxXu" resolve="Leaving of lane - ASIL B" />
         </node>
       </node>
       <node concept="19SGf9" id="7NWnpv9rNPe" role="1QQeG9">
@@ -5616,7 +5616,7 @@
         </node>
         <node concept="2iDXIW" id="7NWnpv9rNQv" role="0nOlf">
           <node concept="DABN8" id="7NWnpv9rO8u" role="DABNk">
-            <ref role="DABNb" node="G$XGFsgYfh" />
+            <ref role="DABNb" node="G$XGFsgYfh" resolve="Delayed overtaking of driver - ASIL QM" />
           </node>
         </node>
         <node concept="19SGf9" id="7NWnpv9rNQp" role="1QQeG9">
@@ -5641,7 +5641,7 @@
       </node>
       <node concept="2iDXIW" id="7NWnpv9rNQ6" role="0nOlf">
         <node concept="DABN8" id="7NWnpv9rO8s" role="DABNk">
-          <ref role="DABNb" node="G$XGFsgYex" />
+          <ref role="DABNb" node="G$XGFsgYex" resolve="Delayed steering - ASIL QM" />
         </node>
       </node>
       <node concept="19SGf9" id="7NWnpv9rNPQ" role="1QQeG9">
@@ -5669,7 +5669,7 @@
       </node>
       <node concept="2iDXIW" id="7NWnpv9rNUe" role="0nOlf">
         <node concept="DABN8" id="7NWnpv9rO8Q" role="DABNk">
-          <ref role="DABNb" node="G$XGFsgYfV" />
+          <ref role="DABNb" node="G$XGFsgYfV" resolve="Overwrite/prevent driver input - ASIL QM" />
         </node>
       </node>
       <node concept="19SGf9" id="7NWnpv9rNTu" role="1QQeG9">
@@ -5697,10 +5697,10 @@
       </node>
       <node concept="2iDXIW" id="7NWnpv9rO0T" role="0nOlf">
         <node concept="DABN8" id="7NWnpv9rO9q" role="DABNk">
-          <ref role="DABNb" node="G$XGFsgYhB" />
+          <ref role="DABNb" node="G$XGFsgYhB" resolve="Driver not informed about takeover - ASIL QM" />
         </node>
         <node concept="DABN8" id="7NWnpv9rObk" role="DABNk">
-          <ref role="DABNb" node="lV44fsLWj5" />
+          <ref role="DABNb" node="lV44fsLWj5" resolve="Bad system feedback to driver (e.g. error reporting) - ASIL QM" />
         </node>
       </node>
       <node concept="19SGf9" id="7NWnpv9rNZL" role="1QQeG9">
@@ -5728,10 +5728,10 @@
       </node>
       <node concept="2iDXIW" id="7NWnpv9rO3I" role="0nOlf">
         <node concept="DABN8" id="7NWnpv9rO9o" role="DABNk">
-          <ref role="DABNb" node="G$XGFsgYgH" />
+          <ref role="DABNb" node="G$XGFsgYgH" resolve="Unnecessary warnings - ASIL QM" />
         </node>
         <node concept="DABN8" id="7NWnpv9rOaQ" role="DABNk">
-          <ref role="DABNb" node="lV44fsLWkF" />
+          <ref role="DABNb" node="lV44fsLWkF" resolve="Lane keeping system cannot be activated - ASIL QM" />
         </node>
       </node>
       <node concept="19SGf9" id="7NWnpv9rO2u" role="1QQeG9">
@@ -5864,19 +5864,19 @@
             <node concept="2HbMDt" id="1P9g7h7qr_r" role="d498Q">
               <node concept="2HbMDt" id="1P9g7h7qr_s" role="2H9Iav">
                 <node concept="32Ogvo" id="1P9g7h7qrvV" role="2H9Iav">
-                  <ref role="32Ogvr" node="4j8iycQYy0c" />
+                  <ref role="32Ogvr" node="4j8iycQYy0c" resolve="monitorchannel_alert" />
                 </node>
                 <node concept="32Ogvo" id="1P9g7h7qrwD" role="2H9Ial">
-                  <ref role="32Ogvr" node="4j8iycQYxZp" />
+                  <ref role="32Ogvr" node="4j8iycQYxZp" resolve="watchdog_alert" />
                 </node>
               </node>
               <node concept="32OYss" id="1P9g7h7qr_t" role="2H9Ial">
                 <node concept="2HbLFT" id="1P9g7h7qr_u" role="32OYtT">
                   <node concept="32Ogvo" id="1P9g7h7qrxM" role="2H9Iav">
-                    <ref role="32Ogvr" node="2Q6_IeFkfLh" />
+                    <ref role="32Ogvr" node="2Q6_IeFkfLh" resolve="state_image_processing" />
                   </node>
                   <node concept="2HeeqP" id="1P9g7h7qryg" role="2H9Ial">
-                    <ref role="2HeeqO" node="2cE4ICdOt5U" />
+                    <ref role="2HeeqO" node="2cE4ICdOt5U" resolve="camera_fail" />
                   </node>
                 </node>
               </node>
@@ -5890,10 +5890,10 @@
           <node concept="d4bQV" id="1P9g7h7qrAG" role="1zoetD">
             <node concept="nE0YJ" id="1P9g7h7qrYU" role="d498Q">
               <node concept="hx854" id="1P9g7h7qrZh" role="2H9Ial">
-                <ref role="hx9HS" node="1P9g7h7qrMR" />
+                <ref role="hx9HS" node="1P9g7h7qrMR" resolve="lanedistanceThreshold" />
               </node>
               <node concept="32Ogvo" id="1P9g7h7qrYJ" role="2H9Iav">
-                <ref role="32Ogvr" node="2Q6_IeFkfLc" />
+                <ref role="32Ogvr" node="2Q6_IeFkfLc" resolve="lane_distance_left" />
               </node>
             </node>
             <node concept="2IPVmt" id="1P9g7h7qrZo" role="d498F">
@@ -5902,10 +5902,10 @@
             <node concept="d4bQV" id="1P9g7h7qrZG" role="d498I">
               <node concept="nE0YJ" id="1P9g7h7qs0f" role="d498Q">
                 <node concept="hx854" id="1P9g7h7qs1B" role="2H9Ial">
-                  <ref role="hx9HS" node="1P9g7h7qrMR" />
+                  <ref role="hx9HS" node="1P9g7h7qrMR" resolve="lanedistanceThreshold" />
                 </node>
                 <node concept="32Ogvo" id="1P9g7h7qs09" role="2H9Iav">
-                  <ref role="32Ogvr" node="2Q6_IeFkfLe" />
+                  <ref role="32Ogvr" node="2Q6_IeFkfLe" resolve="lane_distance_right" />
                 </node>
               </node>
               <node concept="2IPVmt" id="1P9g7h7qs1M" role="d498F">
@@ -5925,25 +5925,25 @@
                 <node concept="2HbMDt" id="1P9g7h7qsh2" role="2H9Iav">
                   <node concept="2HbLFT" id="1P9g7h7qsh3" role="2H9Iav">
                     <node concept="32Ogvo" id="1P9g7h7qs2H" role="2H9Iav">
-                      <ref role="32Ogvr" node="2Q6_IeFkfLl" />
+                      <ref role="32Ogvr" node="2Q6_IeFkfLl" resolve="lane_detected" />
                     </node>
                     <node concept="1yCjT0" id="1P9g7h7qs3i" role="2H9Ial" />
                   </node>
                   <node concept="32Ogvo" id="1P9g7h7qs4_" role="2H9Ial">
-                    <ref role="32Ogvr" node="4j8iycQYy0c" />
+                    <ref role="32Ogvr" node="4j8iycQYy0c" resolve="monitorchannel_alert" />
                   </node>
                 </node>
                 <node concept="32Ogvo" id="1P9g7h7qs5U" role="2H9Ial">
-                  <ref role="32Ogvr" node="4j8iycQYxZp" />
+                  <ref role="32Ogvr" node="4j8iycQYxZp" resolve="watchdog_alert" />
                 </node>
               </node>
               <node concept="32OYss" id="1P9g7h7qsh4" role="2H9Ial">
                 <node concept="2HbLFT" id="1P9g7h7qsh5" role="32OYtT">
                   <node concept="32Ogvo" id="1P9g7h7qs7d" role="2H9Iav">
-                    <ref role="32Ogvr" node="2Q6_IeFkfLh" />
+                    <ref role="32Ogvr" node="2Q6_IeFkfLh" resolve="state_image_processing" />
                   </node>
                   <node concept="2HeeqP" id="1P9g7h7qs7F" role="2H9Ial">
-                    <ref role="2HeeqO" node="2cE4ICdOt5U" />
+                    <ref role="2HeeqO" node="2cE4ICdOt5U" resolve="camera_fail" />
                   </node>
                 </node>
               </node>
@@ -5958,21 +5958,21 @@
             <node concept="2HbLFT" id="2cE4ICdOt_p" role="d498Q">
               <node concept="1yCjRe" id="2cE4ICdOtAl" role="2H9Ial" />
               <node concept="32Ogvo" id="2cE4ICdOt$R" role="2H9Iav">
-                <ref role="32Ogvr" node="2Q6_IeFkfLl" />
+                <ref role="32Ogvr" node="2Q6_IeFkfLl" resolve="lane_detected" />
               </node>
             </node>
             <node concept="2HeeqP" id="2cE4ICdOtAv" role="d498F">
-              <ref role="2HeeqO" node="2cE4ICdOt5W" />
+              <ref role="2HeeqO" node="2cE4ICdOt5W" resolve="ok" />
             </node>
             <node concept="2HeeqP" id="2cE4ICdOt_f" role="d498I">
-              <ref role="2HeeqO" node="2cE4ICdOt5X" />
+              <ref role="2HeeqO" node="2cE4ICdOt5X" resolve="lane_keeping_fail" />
             </node>
           </node>
         </node>
         <node concept="JlCpM" id="4j8iycQYxYA" role="32O2ov">
           <property role="TrG5h" value="stroke" />
           <node concept="32Ogvo" id="1P9g7h7qsin" role="1zoetD">
-            <ref role="32Ogvr" node="2Q6_IeFkfLq" />
+            <ref role="32Ogvr" node="2Q6_IeFkfLq" resolve="activated" />
           </node>
         </node>
       </node>
@@ -6004,10 +6004,10 @@
     <node concept="eml0t" id="2Q6_IeFkfMd" role="2HcuB8">
       <property role="TrG5h" value="LKAControlBox_Refinement" />
       <node concept="3Ug1AZ" id="2cE4ICdOswD" role="eml14">
-        <ref role="3Ug1AY" node="16Ng_xNT8lq" />
+        <ref role="3Ug1AY" node="16Ng_xNT8lq" resolve="LKA_Control_Box" />
       </node>
       <node concept="eml1q" id="2cE4ICdOswG" role="eml13">
-        <ref role="eml1l" node="2Q6_IeFkfKZ" />
+        <ref role="eml1l" node="2Q6_IeFkfKZ" resolve="LKAControlBox_Implementation" />
       </node>
     </node>
     <node concept="2SQmWS" id="4SubkoiB3kt" role="2HcuB8" />
@@ -6021,13 +6021,13 @@
         <node concept="JlCpM" id="4SubkoiB3mW" role="32O2ov">
           <property role="TrG5h" value="alert_signal" />
           <node concept="32Ogvo" id="2NJwv_HFK7A" role="1zoetD">
-            <ref role="32Ogvr" node="4SubkoiB3r0" />
+            <ref role="32Ogvr" node="4SubkoiB3r0" resolve="driver_takeover_request" />
           </node>
         </node>
         <node concept="JlCpM" id="4SubkoiB3nQ" role="32O2ov">
           <property role="TrG5h" value="state" />
           <node concept="32Ogvo" id="4SubkoiB85b" role="1zoetD">
-            <ref role="32Ogvr" node="4SubkoiB3ra" />
+            <ref role="32Ogvr" node="4SubkoiB3ra" resolve="state_LKA_control" />
           </node>
         </node>
       </node>
@@ -6041,10 +6041,10 @@
     <node concept="eml0t" id="4SubkoiB3wB" role="2HcuB8">
       <property role="TrG5h" value="comm_unit" />
       <node concept="3Ug1AZ" id="4SubkoiB3xC" role="eml14">
-        <ref role="3Ug1AY" node="16Ng_xNT8KQ" />
+        <ref role="3Ug1AY" node="16Ng_xNT8KQ" resolve="LKA_Communication_Control_Unit" />
       </node>
       <node concept="eml1q" id="4SubkoiB3xF" role="eml13">
-        <ref role="eml1l" node="4SubkoiB3lE" />
+        <ref role="eml1l" node="4SubkoiB3lE" resolve="LKA_Communication_Control_Unit_Impl" />
       </node>
     </node>
     <node concept="2SQmWS" id="2Q6_IeFkfKR" role="2HcuB8" />
@@ -6055,17 +6055,17 @@
           <property role="TrG5h" value="steeringWheel_motor" />
           <node concept="2H9Eef" id="1P9g7h7qr19" role="1zoetD">
             <node concept="32Ogvo" id="1P9g7h7qr20" role="2H9Ial">
-              <ref role="32Ogvr" node="1P9g7h7qr12" />
+              <ref role="32Ogvr" node="1P9g7h7qr12" resolve="steering_wheel_angle" />
             </node>
             <node concept="32Ogvo" id="1P9g7h7qqZ$" role="2H9Iav">
-              <ref role="32Ogvr" node="4j8iycQYocf" />
+              <ref role="32Ogvr" node="4j8iycQYocf" resolve="desired_steering_wheel_angle" />
             </node>
           </node>
         </node>
         <node concept="JlCpM" id="1P9g7h7qqY9" role="32O2ov">
           <property role="TrG5h" value="vibrate" />
           <node concept="32Ogvo" id="1P9g7h7qqYx" role="1zoetD">
-            <ref role="32Ogvr" node="4j8iycQYocc" />
+            <ref role="32Ogvr" node="4j8iycQYocc" resolve="vibrate_steering_wheel" />
           </node>
         </node>
       </node>
@@ -6082,10 +6082,10 @@
     <node concept="eml0t" id="4j8iycQYo2h" role="2HcuB8">
       <property role="TrG5h" value="steering_unit" />
       <node concept="3Ug1AZ" id="4j8iycQYo3k" role="eml14">
-        <ref role="3Ug1AY" node="16Ng_xNT8Hh" />
+        <ref role="3Ug1AY" node="16Ng_xNT8Hh" resolve="Steering_wheel_Control_Unit" />
       </node>
       <node concept="eml1q" id="4j8iycQYo3n" role="eml13">
-        <ref role="eml1l" node="4j8iycQYnY3" />
+        <ref role="eml1l" node="4j8iycQYnY3" resolve="Steering_Wheel_Control_Unit_Impl" />
       </node>
     </node>
     <node concept="2SQmWS" id="4j8iycQYo3q" role="2HcuB8" />
@@ -6103,7 +6103,7 @@
         <node concept="JlCpM" id="4j8iycQYob5" role="32O2ov">
           <property role="TrG5h" value="image" />
           <node concept="32Ogvo" id="1P9g7h7qrcB" role="1zoetD">
-            <ref role="32Ogvr" node="1P9g7h7qrc5" />
+            <ref role="32Ogvr" node="1P9g7h7qrc5" resolve="image_in" />
           </node>
         </node>
       </node>
@@ -6114,10 +6114,10 @@
     <node concept="eml0t" id="4j8iycQYo8Q" role="2HcuB8">
       <property role="TrG5h" value="camera_unit" />
       <node concept="3Ug1AZ" id="4j8iycQYolz" role="eml14">
-        <ref role="3Ug1AY" node="16Ng_xNT7ZF" />
+        <ref role="3Ug1AY" node="16Ng_xNT7ZF" resolve="Camera" />
       </node>
       <node concept="eml1q" id="4j8iycQYolA" role="eml13">
-        <ref role="eml1l" node="4j8iycQYo7s" />
+        <ref role="eml1l" node="4j8iycQYo7s" resolve="Camera_Impl" />
       </node>
     </node>
     <node concept="2SQmWS" id="4j8iycQYo6q" role="2HcuB8" />
@@ -6141,17 +6141,17 @@
           <node concept="d4bQV" id="1P9g7h7qrim" role="1zoetD">
             <node concept="2HbMbg" id="1P9g7h7qrj2" role="d498Q">
               <node concept="32Ogvo" id="1P9g7h7qrjx" role="2H9Ial">
-                <ref role="32Ogvr" node="4j8iycQYoLF" />
+                <ref role="32Ogvr" node="4j8iycQYoLF" resolve="operation" />
               </node>
               <node concept="32Ogvo" id="1P9g7h7qriR" role="2H9Iav">
-                <ref role="32Ogvr" node="4j8iycQYoLD" />
+                <ref role="32Ogvr" node="4j8iycQYoLD" resolve="connectivity" />
               </node>
             </node>
             <node concept="2HeeqP" id="1P9g7h7qrjA" role="d498F">
-              <ref role="2HeeqO" node="2cE4ICdOt5W" />
+              <ref role="2HeeqO" node="2cE4ICdOt5W" resolve="ok" />
             </node>
             <node concept="2HeeqP" id="1P9g7h7qrjU" role="d498I">
-              <ref role="2HeeqO" node="2cE4ICdOt5U" />
+              <ref role="2HeeqO" node="2cE4ICdOt5U" resolve="camera_fail" />
             </node>
           </node>
         </node>
@@ -6164,10 +6164,10 @@
           <node concept="d4bQV" id="1P9g7h7qrk3" role="1zoetD">
             <node concept="2HbMbg" id="1P9g7h7qrkF" role="d498Q">
               <node concept="32Ogvo" id="1P9g7h7qrl2" role="2H9Ial">
-                <ref role="32Ogvr" node="4j8iycQYoLF" />
+                <ref role="32Ogvr" node="4j8iycQYoLF" resolve="operation" />
               </node>
               <node concept="32Ogvo" id="1P9g7h7qrkw" role="2H9Iav">
-                <ref role="32Ogvr" node="4j8iycQYoLD" />
+                <ref role="32Ogvr" node="4j8iycQYoLD" resolve="connectivity" />
               </node>
             </node>
             <node concept="1yCjRe" id="1P9g7h7qrld" role="d498F" />
@@ -6191,10 +6191,10 @@
     <node concept="eml0t" id="4j8iycQYoPW" role="2HcuB8">
       <property role="TrG5h" value="imageProcessing_unit" />
       <node concept="3Ug1AZ" id="4j8iycQYoRt" role="eml14">
-        <ref role="3Ug1AY" node="16Ng_xNT87r" />
+        <ref role="3Ug1AY" node="16Ng_xNT87r" resolve="Image_Processing_Unit" />
       </node>
       <node concept="eml1q" id="4j8iycQYoRw" role="eml13">
-        <ref role="eml1l" node="4j8iycQYoKn" />
+        <ref role="eml1l" node="4j8iycQYoKn" resolve="ImageProcessing_Impl" />
       </node>
     </node>
     <node concept="2SQmWS" id="4j8iycQYoRz" role="2HcuB8" />
@@ -6204,7 +6204,7 @@
         <node concept="JlCpM" id="4j8iycQYoW4" role="32O2ov">
           <property role="TrG5h" value="activated" />
           <node concept="32Ogvo" id="1P9g7h7qrtn" role="1zoetD">
-            <ref role="32Ogvr" node="1P9g7h7qrt5" />
+            <ref role="32Ogvr" node="1P9g7h7qrt5" resolve="activate_in" />
           </node>
         </node>
       </node>
@@ -6215,10 +6215,10 @@
     <node concept="eml0t" id="4j8iycQYoZ0" role="2HcuB8">
       <property role="TrG5h" value="activationButton_unit" />
       <node concept="3Ug1AZ" id="4j8iycQYp0D" role="eml14">
-        <ref role="3Ug1AY" node="16Ng_xNT8tc" />
+        <ref role="3Ug1AY" node="16Ng_xNT8tc" resolve="LKA_Activation_Button" />
       </node>
       <node concept="eml1q" id="4j8iycQYp0G" role="eml13">
-        <ref role="eml1l" node="4j8iycQYoUu" />
+        <ref role="eml1l" node="4j8iycQYoUu" resolve="activationButton_Impl" />
       </node>
     </node>
     <node concept="2SQmWS" id="4j8iycQYp0J" role="2HcuB8" />
@@ -7090,16 +7090,16 @@
       </node>
     </node>
     <node concept="3VeUTF" id="H5BLscfyYV" role="2vhqc$">
-      <ref role="3VeSjP" node="H5BLscfyA4" />
-      <ref role="3VeSjQ" node="H5BLscfyVu" />
+      <ref role="3VeSjP" node="H5BLscfyA4" resolve="SG08" />
+      <ref role="3VeSjQ" node="H5BLscfyVu" resolve="S01" />
     </node>
     <node concept="3VeUTF" id="H5BLscfz1x" role="2vhqc$">
-      <ref role="3VeSjP" node="H5BLscfyVu" />
-      <ref role="3VeSjQ" node="H5BLscfydq" />
+      <ref role="3VeSjP" node="H5BLscfyVu" resolve="S01" />
+      <ref role="3VeSjQ" node="H5BLscfydq" resolve="SG02" />
     </node>
     <node concept="3VeUTF" id="H5BLscfz2E" role="2vhqc$">
-      <ref role="3VeSjP" node="H5BLscfyVu" />
-      <ref role="3VeSjQ" node="H5BLscfywP" />
+      <ref role="3VeSjP" node="H5BLscfyVu" resolve="S01" />
+      <ref role="3VeSjQ" node="H5BLscfywP" resolve="SG07" />
     </node>
     <node concept="2vmxSQ" id="H5BLscfzct" role="2vn1q5">
       <property role="TrG5h" value="C01" />
@@ -7110,8 +7110,8 @@
       </node>
     </node>
     <node concept="2vhqFZ" id="H5BLscfzgg" role="2vhqc$">
-      <ref role="3VeSjP" node="H5BLscfyA4" />
-      <ref role="3VeSjQ" node="H5BLscfzct" />
+      <ref role="3VeSjP" node="H5BLscfyA4" resolve="SG08" />
+      <ref role="3VeSjQ" node="H5BLscfzct" resolve="C01" />
     </node>
     <node concept="2vmhmH" id="H5BLscfzki" role="2vn1q5">
       <property role="TrG5h" value="SOL2" />
@@ -7150,12 +7150,12 @@
       </node>
     </node>
     <node concept="3VeUTF" id="H5BLscfzq9" role="2vhqc$">
-      <ref role="3VeSjP" node="H5BLscfywP" />
-      <ref role="3VeSjQ" node="H5BLscfzki" />
+      <ref role="3VeSjP" node="H5BLscfywP" resolve="SG07" />
+      <ref role="3VeSjQ" node="H5BLscfzki" resolve="SOL2" />
     </node>
     <node concept="3VeUTF" id="H5BLscfzsh" role="2vhqc$">
-      <ref role="3VeSjP" node="H5BLscfydq" />
-      <ref role="3VeSjQ" node="H5BLscfznc" />
+      <ref role="3VeSjP" node="H5BLscfydq" resolve="SG02" />
+      <ref role="3VeSjQ" node="H5BLscfznc" resolve="SOL1" />
     </node>
     <node concept="2vn7WC" id="H5BLscfz_s" role="2vn1q5">
       <property role="TrG5h" value="FSR01 &amp; FSR02" />
@@ -7198,16 +7198,16 @@
       </node>
     </node>
     <node concept="3VeUTF" id="H5BLscfzNG" role="2vhqc$">
-      <ref role="3VeSjP" node="H5BLscfyA4" />
-      <ref role="3VeSjQ" node="H5BLscfzAL" />
+      <ref role="3VeSjP" node="H5BLscfyA4" resolve="SG08" />
+      <ref role="3VeSjQ" node="H5BLscfzAL" resolve="S02" />
     </node>
     <node concept="3VeUTF" id="H5BLscfzR8" role="2vhqc$">
-      <ref role="3VeSjP" node="H5BLscfzAL" />
-      <ref role="3VeSjQ" node="H5BLscfz_s" />
+      <ref role="3VeSjP" node="H5BLscfzAL" resolve="S02" />
+      <ref role="3VeSjQ" node="H5BLscfz_s" resolve="FSR01 &amp; FSR02" />
     </node>
     <node concept="3VeUTF" id="H5BLscfzVF" role="2vhqc$">
-      <ref role="3VeSjP" node="H5BLscfz_s" />
-      <ref role="3VeSjQ" node="H5BLscfzKl" />
+      <ref role="3VeSjP" node="H5BLscfz_s" resolve="FSR01 &amp; FSR02" />
+      <ref role="3VeSjQ" node="H5BLscfzKl" resolve="SOL3" />
     </node>
   </node>
   <node concept="2vn7XN" id="2y2UUeJHhBH">
@@ -7967,24 +7967,24 @@
       </node>
     </node>
     <node concept="3VeUTF" id="qZx4SrVygL" role="2vhqc$">
-      <ref role="3VeSjP" node="2y2UUeJHhGn" />
-      <ref role="3VeSjQ" node="7QnunYgPYkn" />
+      <ref role="3VeSjP" node="2y2UUeJHhGn" resolve="G01" />
+      <ref role="3VeSjQ" node="7QnunYgPYkn" resolve="St02" />
     </node>
     <node concept="3VeUTF" id="qZx4SrVyhT" role="2vhqc$">
-      <ref role="3VeSjP" node="2y2UUeJHhGn" />
-      <ref role="3VeSjQ" node="2y2UUeJHhHs" />
+      <ref role="3VeSjP" node="2y2UUeJHhGn" resolve="G01" />
+      <ref role="3VeSjQ" node="2y2UUeJHhHs" resolve="St01" />
     </node>
     <node concept="2vhqFZ" id="qZx4SrVyls" role="2vhqc$">
-      <ref role="3VeSjP" node="2y2UUeJHhGn" />
-      <ref role="3VeSjQ" node="7QnunYgPXra" />
+      <ref role="3VeSjP" node="2y2UUeJHhGn" resolve="G01" />
+      <ref role="3VeSjQ" node="7QnunYgPXra" resolve="C01" />
     </node>
     <node concept="3VeUTF" id="qZx4SrVy$A" role="2vhqc$">
-      <ref role="3VeSjP" node="7QnunYgPYkn" />
-      <ref role="3VeSjQ" node="qZx4SrVybY" />
+      <ref role="3VeSjP" node="7QnunYgPYkn" resolve="St02" />
+      <ref role="3VeSjQ" node="qZx4SrVybY" resolve="S03" />
     </node>
     <node concept="3VeUTF" id="qZx4SrVyBH" role="2vhqc$">
-      <ref role="3VeSjP" node="2y2UUeJHhHs" />
-      <ref role="3VeSjQ" node="qZx4SrVy7g" />
+      <ref role="3VeSjP" node="2y2UUeJHhHs" resolve="St01" />
+      <ref role="3VeSjQ" node="qZx4SrVy7g" resolve="G02" />
     </node>
     <node concept="2vmxQI" id="7LcbFqtrjS6" role="2vn1q5">
       <property role="TrG5h" value="St03" />
@@ -7995,12 +7995,12 @@
       </node>
     </node>
     <node concept="2vhqFZ" id="7LcbFqtrk0w" role="2vhqc$">
-      <ref role="3VeSjP" node="2y2UUeJHhHs" />
-      <ref role="3VeSjQ" node="7QnunYgPXsk" />
+      <ref role="3VeSjP" node="2y2UUeJHhHs" resolve="St01" />
+      <ref role="3VeSjQ" node="7QnunYgPXsk" resolve="A01" />
     </node>
     <node concept="3VeUTF" id="7LcbFqtrkfq" role="2vhqc$">
-      <ref role="3VeSjP" node="qZx4SrVy7g" />
-      <ref role="3VeSjQ" node="7LcbFqtrjS6" />
+      <ref role="3VeSjP" node="qZx4SrVy7g" resolve="G02" />
+      <ref role="3VeSjQ" node="7LcbFqtrjS6" resolve="St03" />
     </node>
     <node concept="2vn7WC" id="3Ej8ZVMn_Yu" role="2vn1q5">
       <property role="TrG5h" value="G13" />
@@ -8063,48 +8063,48 @@
       </node>
     </node>
     <node concept="3VeUTF" id="2us2R$MJwvQ" role="2vhqc$">
-      <ref role="3VeSjP" node="qZx4SrVybY" />
-      <ref role="3VeSjQ" node="2us2R$MJvVj" />
+      <ref role="3VeSjP" node="qZx4SrVybY" resolve="S03" />
+      <ref role="3VeSjQ" node="2us2R$MJvVj" resolve="St04" />
     </node>
     <node concept="3VeUTF" id="2us2R$MJwEL" role="2vhqc$">
-      <ref role="3VeSjP" node="7LcbFqtrjS6" />
-      <ref role="3VeSjQ" node="2y2UUeJHhIB" />
+      <ref role="3VeSjP" node="7LcbFqtrjS6" resolve="St03" />
+      <ref role="3VeSjQ" node="2y2UUeJHhIB" resolve="G11" />
     </node>
     <node concept="3VeUTF" id="2us2R$MJwIN" role="2vhqc$">
-      <ref role="3VeSjP" node="7LcbFqtrjS6" />
-      <ref role="3VeSjQ" node="2y2UUeJHhJM" />
+      <ref role="3VeSjP" node="7LcbFqtrjS6" resolve="St03" />
+      <ref role="3VeSjQ" node="2y2UUeJHhJM" resolve="G12" />
     </node>
     <node concept="3VeUTF" id="2us2R$MJwSW" role="2vhqc$">
-      <ref role="3VeSjP" node="2us2R$MJvVj" />
-      <ref role="3VeSjQ" node="2us2R$MJv$9" />
+      <ref role="3VeSjP" node="2us2R$MJvVj" resolve="St04" />
+      <ref role="3VeSjQ" node="2us2R$MJv$9" resolve="G14" />
     </node>
     <node concept="3VeUTF" id="2us2R$MJx0c" role="2vhqc$">
-      <ref role="3VeSjP" node="7LcbFqtrjS6" />
-      <ref role="3VeSjQ" node="3Ej8ZVMn_Yu" />
+      <ref role="3VeSjP" node="7LcbFqtrjS6" resolve="St03" />
+      <ref role="3VeSjQ" node="3Ej8ZVMn_Yu" resolve="G13" />
     </node>
     <node concept="3VeUTF" id="2us2R$MJx5R" role="2vhqc$">
-      <ref role="3VeSjP" node="2us2R$MJvVj" />
-      <ref role="3VeSjQ" node="3Ej8ZVMn_Yu" />
+      <ref role="3VeSjP" node="2us2R$MJvVj" resolve="St04" />
+      <ref role="3VeSjQ" node="3Ej8ZVMn_Yu" resolve="G13" />
     </node>
     <node concept="3VeUTF" id="2us2R$MJySi" role="2vhqc$">
-      <ref role="3VeSjP" node="3Ej8ZVMn_Yu" />
-      <ref role="3VeSjQ" node="2y2UUeJHhMh" />
+      <ref role="3VeSjP" node="3Ej8ZVMn_Yu" resolve="G13" />
+      <ref role="3VeSjQ" node="2y2UUeJHhMh" resolve="Sl03" />
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     <node concept="3VeUTF" id="2us2R$MJyWZ" role="2vhqc$">
-      <ref role="3VeSjP" node="2y2UUeJHhJM" />
-      <ref role="3VeSjQ" node="2us2R$MJv_O" />
+      <ref role="3VeSjP" node="2y2UUeJHhJM" resolve="G12" />
+      <ref role="3VeSjQ" node="2us2R$MJv_O" resolve="Sl02" />
     </node>
     <node concept="3VeUTF" id="2us2R$MJz0N" role="2vhqc$">
-      <ref role="3VeSjP" node="2y2UUeJHhIB" />
-      <ref role="3VeSjQ" node="2y2UUeJHhL0" />
+      <ref role="3VeSjP" node="2y2UUeJHhIB" resolve="G11" />
+      <ref role="3VeSjQ" node="2y2UUeJHhL0" resolve=" Sl01" />
     </node>
     <node concept="2vhqFZ" id="2us2R$MJz$x" role="2vhqc$">
-      <ref role="3VeSjP" node="7QnunYgPYkn" />
-      <ref role="3VeSjQ" node="2us2R$MJw0b" />
+      <ref role="3VeSjP" node="7QnunYgPYkn" resolve="St02" />
+      <ref role="3VeSjQ" node="2us2R$MJw0b" resolve="A02" />
     </node>
     <node concept="3VeUTF" id="2us2R$MJzHH" role="2vhqc$">
-      <ref role="3VeSjP" node="2us2R$MJv$9" />
-      <ref role="3VeSjQ" node="2us2R$MJvCB" />
+      <ref role="3VeSjP" node="2us2R$MJv$9" resolve="G14" />
+      <ref role="3VeSjQ" node="2us2R$MJvCB" resolve="Sl04" />
     </node>
   </node>
   <node concept="3h3iLa" id="55oVyA0mUqw">
diff --git a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._020_adas_students_lab._020_safe_acc.mps b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._020_adas_students_lab._020_safe_acc.mps
index 6293d49c5..e58698bbb 100644
--- a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._020_adas_students_lab._020_safe_acc.mps
+++ b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._020_adas_students_lab._020_safe_acc.mps
@@ -674,23 +674,23 @@
       <property role="0lsPB" value="H01" />
       <property role="TrG5h" value="Ego vehicle does not maintain safe distance from leader vehicle" />
       <node concept="3Zv_sa" id="2vEFX4zmTrA" role="3Zv_sA">
-        <ref role="3Zv_sb" node="G$XGFsgYc9" />
+        <ref role="3Zv_sb" node="G$XGFsgYc9" resolve="Loss of life or injury to people" />
       </node>
       <node concept="3h3uym" id="55oVyA0mSPb" role="3h3uzw">
         <property role="3h3uzD" value="24PsEXFbNKU/S3" />
         <property role="3h3uzF" value="24PsEXFbNLt/C3" />
         <property role="3h3uzC" value="24PsEXFbNL9/E3" />
-        <ref role="3h3iM1" node="55oVyA0mSP5" />
+        <ref role="3h3iM1" node="55oVyA0mSP5" resolve="OS1_ACC" />
       </node>
     </node>
   </node>
   <node concept="1E0nO6" id="4GKPLBASuiH">
     <property role="TrG5h" value="_104_acc_stpa_unsafe_control_actions" />
-    <ref role="1E05RL" node="2fZol$t_0Lh" />
+    <ref role="1E05RL" node="2fZol$t_0Lh" resolve="_103_acc_stpa_control_structure" />
     <node concept="1E0nOG" id="4GKPLBASuiI" role="1E0n_e">
-      <ref role="1E0nOH" node="2fZol$t_0O3" />
+      <ref role="1E0nOH" node="2fZol$t_0O3" resolve="ACC Control Unit" />
       <node concept="1E0nOJ" id="4GKPLBASuiJ" role="1E0nOC">
-        <ref role="1E0n_N" node="4tgWazNvlRa" />
+        <ref role="1E0n_N" node="4tgWazNvlRa" resolve="control brake" />
         <node concept="3f6qtF" id="6vZMoXu3MiP" role="3f6qqO">
           <node concept="1E0uc6" id="4GKPLBASxTl" role="3f6qtG">
             <property role="TrG5h" value="UCA_ACC_12" />
@@ -710,7 +710,7 @@
               </node>
             </node>
             <node concept="DABN8" id="2vEFX4zn0Ba" role="2Dy4$W">
-              <ref role="DABNb" node="2vEFX4zmTr$" />
+              <ref role="DABNb" node="2vEFX4zmTr$" resolve="Ego vehicle does not maintain safe distance from leader vehicle" />
             </node>
           </node>
         </node>
@@ -736,7 +736,7 @@
         </node>
       </node>
       <node concept="1E0nOJ" id="cfX0AaFKN7" role="1E0nOC">
-        <ref role="1E0n_N" node="4tgWazNvlVr" />
+        <ref role="1E0n_N" node="4tgWazNvlVr" resolve="control acceleration" />
         <node concept="3f6qtF" id="6vZMoXu3MiW" role="3f6qqO">
           <node concept="1E0uc6" id="cfX0AaFL09" role="3f6qtG">
             <property role="TrG5h" value="UCA_ACC_22" />
@@ -779,7 +779,7 @@
         </node>
       </node>
       <node concept="1E0nOJ" id="cfX0AaFKNj" role="1E0nOC">
-        <ref role="1E0n_N" node="2fZol$t_1LI" />
+        <ref role="1E0n_N" node="2fZol$t_1LI" resolve="driver overtake request" />
         <node concept="3f6qtF" id="6vZMoXu3Mj0" role="3f6qqO">
           <node concept="1E0uc6" id="cfX0AaFL1B" role="3f6qtG">
             <property role="TrG5h" value="UCA_ACC_32" />
@@ -799,7 +799,7 @@
               </node>
             </node>
             <node concept="DABN8" id="2vEFX4zn0$h" role="2Dy4$W">
-              <ref role="DABNb" node="2vEFX4zmTr$" />
+              <ref role="DABNb" node="2vEFX4zmTr$" resolve="Ego vehicle does not maintain safe distance from leader vehicle" />
             </node>
           </node>
         </node>
@@ -812,7 +812,7 @@
               </node>
             </node>
             <node concept="DABN8" id="2vEFX4zn0$n" role="2Dy4$W">
-              <ref role="DABNb" node="2vEFX4zmTr$" />
+              <ref role="DABNb" node="2vEFX4zmTr$" resolve="Ego vehicle does not maintain safe distance from leader vehicle" />
             </node>
           </node>
         </node>
@@ -822,9 +822,9 @@
       </node>
     </node>
     <node concept="1E0nOG" id="4tgWazNvmWw" role="1E0n_e">
-      <ref role="1E0nOH" node="2fZol$t_0Rm" />
+      <ref role="1E0nOH" node="2fZol$t_0Rm" resolve="ACC User interface" />
       <node concept="1E0nOJ" id="4tgWazNvmWx" role="1E0nOC">
-        <ref role="1E0n_N" node="2fZol$t_1dX" />
+        <ref role="1E0n_N" node="2fZol$t_1dX" resolve="activate" />
         <node concept="3f6qtF" id="6vZMoXu3Mj4" role="3f6qqO">
           <node concept="3XErhT" id="cfX0AaFKXX" role="3f6qtG" />
         </node>
@@ -837,7 +837,7 @@
               </node>
             </node>
             <node concept="DABN8" id="2vEFX4zn0$E" role="2Dy4$W">
-              <ref role="DABNb" node="2vEFX4zmTr$" />
+              <ref role="DABNb" node="2vEFX4zmTr$" resolve="Ego vehicle does not maintain safe distance from leader vehicle" />
             </node>
           </node>
         </node>
@@ -850,7 +850,7 @@
               </node>
             </node>
             <node concept="DABN8" id="2vEFX4zn0$y" role="2Dy4$W">
-              <ref role="DABNb" node="2vEFX4zmTr$" />
+              <ref role="DABNb" node="2vEFX4zmTr$" resolve="Ego vehicle does not maintain safe distance from leader vehicle" />
             </node>
           </node>
         </node>
@@ -859,7 +859,7 @@
         </node>
       </node>
       <node concept="1E0nOJ" id="cfX0AaFKMQ" role="1E0nOC">
-        <ref role="1E0n_N" node="4tgWazNvmIz" />
+        <ref role="1E0n_N" node="4tgWazNvmIz" resolve="desired distance" />
         <node concept="3f6qtF" id="6vZMoXu3Mj8" role="3f6qqO">
           <node concept="3XErhT" id="cfX0AaFKYz" role="3f6qtG" />
         </node>
@@ -881,7 +881,7 @@
         </node>
       </node>
       <node concept="1E0nOJ" id="cfX0AaFKMT" role="1E0nOC">
-        <ref role="1E0n_N" node="4tgWazNvmOq" />
+        <ref role="1E0n_N" node="4tgWazNvmOq" resolve="desired speed" />
         <node concept="3f6qtF" id="6vZMoXu3Mjc" role="3f6qqO">
           <node concept="1E0uc6" id="cfX0AaFKYW" role="3f6qtG">
             <property role="TrG5h" value="UCA_ACC_62" />
@@ -911,9 +911,9 @@
       </node>
     </node>
     <node concept="1E0nOG" id="4tgWazNvmYf" role="1E0n_e">
-      <ref role="1E0nOH" node="2fZol$t_0Pf" />
+      <ref role="1E0nOH" node="2fZol$t_0Pf" resolve="Communication Control Unit" />
       <node concept="1E0nOJ" id="4tgWazNvmYg" role="1E0nOC">
-        <ref role="1E0n_N" node="1J1VyY6JMus" />
+        <ref role="1E0n_N" node="1J1VyY6JMus" resolve="activation signal" />
         <node concept="3f6qtF" id="6vZMoXu3Mjg" role="3f6qqO">
           <node concept="1E0uc6" id="cfX0AaFKTS" role="3f6qtG">
             <property role="TrG5h" value="UCA_ACC_72" />
@@ -935,7 +935,7 @@
         </node>
       </node>
       <node concept="1E0nOJ" id="cfX0AaFKMX" role="1E0nOC">
-        <ref role="1E0n_N" node="2fZol$t_17g" />
+        <ref role="1E0n_N" node="2fZol$t_17g" resolve="alarm signal display" />
         <node concept="3f6qtF" id="6vZMoXu3Mjk" role="3f6qqO">
           <node concept="1E0uc6" id="cfX0AaFKWs" role="3f6qtG">
             <property role="TrG5h" value="UCA_ACC_82" />
@@ -971,7 +971,7 @@
         </node>
       </node>
       <node concept="1E0nOJ" id="cfX0AaFKN0" role="1E0nOC">
-        <ref role="1E0n_N" node="2fZol$t_19m" />
+        <ref role="1E0n_N" node="2fZol$t_19m" resolve="alarm signal speaker" />
         <node concept="3f6qtF" id="6vZMoXu3Mjo" role="3f6qqO">
           <node concept="1E0uc6" id="cfX0AaFKWZ" role="3f6qtG">
             <property role="TrG5h" value="UCA_ACC_92" />
@@ -1001,7 +1001,7 @@
               </node>
             </node>
             <node concept="DABN8" id="2vEFX4zn0$b" role="2Dy4$W">
-              <ref role="DABNb" node="2vEFX4zmTr$" />
+              <ref role="DABNb" node="2vEFX4zmTr$" resolve="Ego vehicle does not maintain safe distance from leader vehicle" />
             </node>
           </node>
         </node>
@@ -1011,9 +1011,9 @@
       </node>
     </node>
     <node concept="1E0nOG" id="4tgWazNvmYD" role="1E0n_e">
-      <ref role="1E0nOH" node="4tgWazNvlJV" />
+      <ref role="1E0nOH" node="4tgWazNvlJV" resolve="Brake" />
       <node concept="1E0nOJ" id="4tgWazNvmYE" role="1E0nOC">
-        <ref role="1E0n_N" node="4tgWazNvmkl" />
+        <ref role="1E0n_N" node="4tgWazNvmkl" resolve="driver braking input " />
         <node concept="3f6qtF" id="6vZMoXu3Mjs" role="3f6qqO">
           <node concept="1E0uc6" id="cfX0AaFKT9" role="3f6qtG">
             <property role="TrG5h" value="UCA_ACC_102" />
@@ -1023,7 +1023,7 @@
               </node>
             </node>
             <node concept="DABN8" id="2vEFX4zn0$4" role="2Dy4$W">
-              <ref role="DABNb" node="2vEFX4zmTr$" />
+              <ref role="DABNb" node="2vEFX4zmTr$" resolve="Ego vehicle does not maintain safe distance from leader vehicle" />
             </node>
           </node>
         </node>
@@ -1036,7 +1036,7 @@
               </node>
             </node>
             <node concept="DABN8" id="2vEFX4zn0zZ" role="2Dy4$W">
-              <ref role="DABNb" node="2vEFX4zmTr$" />
+              <ref role="DABNb" node="2vEFX4zmTr$" resolve="Ego vehicle does not maintain safe distance from leader vehicle" />
             </node>
           </node>
         </node>
@@ -1049,7 +1049,7 @@
               </node>
             </node>
             <node concept="DABN8" id="2vEFX4zn0$6" role="2Dy4$W">
-              <ref role="DABNb" node="2vEFX4zmTr$" />
+              <ref role="DABNb" node="2vEFX4zmTr$" resolve="Ego vehicle does not maintain safe distance from leader vehicle" />
             </node>
           </node>
         </node>
@@ -1059,9 +1059,9 @@
       </node>
     </node>
     <node concept="1E0nOG" id="4tgWazNvmZ5" role="1E0n_e">
-      <ref role="1E0nOH" node="4tgWazNvlKb" />
+      <ref role="1E0nOH" node="4tgWazNvlKb" resolve="Gas pedal" />
       <node concept="1E0nOJ" id="4tgWazNvmZ6" role="1E0nOC">
-        <ref role="1E0n_N" node="4tgWazNvmf1" />
+        <ref role="1E0n_N" node="4tgWazNvmf1" resolve="driver acceleration input" />
         <node concept="3f6qtF" id="6vZMoXu3Mjw" role="3f6qqO">
           <node concept="1E0uc6" id="cfX0AaFKSc" role="3f6qtG">
             <property role="TrG5h" value="UCA_ACC_112" />
@@ -1071,7 +1071,7 @@
               </node>
             </node>
             <node concept="DABN8" id="2vEFX4zn0zV" role="2Dy4$W">
-              <ref role="DABNb" node="2vEFX4zmTr$" />
+              <ref role="DABNb" node="2vEFX4zmTr$" resolve="Ego vehicle does not maintain safe distance from leader vehicle" />
             </node>
           </node>
         </node>
@@ -1087,7 +1087,7 @@
               </node>
             </node>
             <node concept="DABN8" id="2vEFX4zn0zT" role="2Dy4$W">
-              <ref role="DABNb" node="2vEFX4zmTr$" />
+              <ref role="DABNb" node="2vEFX4zmTr$" resolve="Ego vehicle does not maintain safe distance from leader vehicle" />
             </node>
           </node>
         </node>
@@ -1100,7 +1100,7 @@
               </node>
             </node>
             <node concept="DABN8" id="2vEFX4zn0zR" role="2Dy4$W">
-              <ref role="DABNb" node="2vEFX4zmTr$" />
+              <ref role="DABNb" node="2vEFX4zmTr$" resolve="Ego vehicle does not maintain safe distance from leader vehicle" />
             </node>
           </node>
         </node>
@@ -1126,7 +1126,7 @@
       <property role="0ke_I" value="Team" />
       <node concept="2iDXIW" id="4WLVkAsg3p2" role="0nOlf">
         <node concept="DABN8" id="2vEFX4zmTrD" role="DABNk">
-          <ref role="DABNb" node="2vEFX4zmTr$" />
+          <ref role="DABNb" node="2vEFX4zmTr$" resolve="Ego vehicle does not maintain safe distance from leader vehicle" />
         </node>
       </node>
       <node concept="19SGf9" id="4WLVkAsg3oV" role="1QQeG9">
@@ -2135,15 +2135,15 @@
     <node concept="1XyJaU" id="2fZol$t_0LI" role="1X_0GB">
       <property role="TrG5h" value="Environment&#10;" />
       <node concept="Sq$B_" id="2fZol$t_1B9" role="2I3o71">
-        <ref role="SrP08" node="2fZol$t_0LI" />
-        <ref role="SrP07" node="2fZol$t_0Mp" />
+        <ref role="SrP08" node="2fZol$t_0LI" resolve="Environment&#10;" />
+        <ref role="SrP07" node="2fZol$t_0Mp" resolve="Ultrasound Sensor" />
         <node concept="Sqzvu" id="2fZol$t_1Ba" role="Sq$B$">
           <property role="TrG5h" value="observation" />
         </node>
       </node>
       <node concept="Sq$B_" id="4tgWazNvmpN" role="2I3o71">
-        <ref role="SrP08" node="2fZol$t_0LI" />
-        <ref role="SrP07" node="4tgWazNvlAH" />
+        <ref role="SrP08" node="2fZol$t_0LI" resolve="Environment&#10;" />
+        <ref role="SrP07" node="4tgWazNvlAH" resolve="Laser Sensor" />
         <node concept="Sqzvu" id="4tgWazNvmpO" role="Sq$B$">
           <property role="TrG5h" value="observation" />
         </node>
@@ -2152,8 +2152,8 @@
     <node concept="1XyJaU" id="2fZol$t_0Mp" role="1X_0GB">
       <property role="TrG5h" value="Ultrasound Sensor" />
       <node concept="Sq$B_" id="2fZol$t_1EL" role="2I3o71">
-        <ref role="SrP08" node="2fZol$t_0Mp" />
-        <ref role="SrP07" node="2fZol$t_0O3" />
+        <ref role="SrP08" node="2fZol$t_0Mp" resolve="Ultrasound Sensor" />
+        <ref role="SrP07" node="2fZol$t_0O3" resolve="ACC Control Unit" />
         <node concept="Sqzvu" id="2fZol$t_1EM" role="Sq$B$">
           <property role="TrG5h" value="ultrasound input" />
         </node>
@@ -2162,22 +2162,22 @@
     <node concept="1XyJaU" id="2fZol$t_0MX" role="1X_0GB">
       <property role="TrG5h" value="Driver" />
       <node concept="1XypPU" id="2fZol$t_1bv" role="2I3o71">
-        <ref role="SrP07" node="2fZol$t_0Rm" />
-        <ref role="SrP08" node="2fZol$t_0MX" />
+        <ref role="SrP07" node="2fZol$t_0Rm" resolve="ACC User interface" />
+        <ref role="SrP08" node="2fZol$t_0MX" resolve="Driver" />
         <node concept="Sqzvu" id="2fZol$t_1bw" role="Sq$B$">
           <property role="TrG5h" value="driver control" />
         </node>
       </node>
       <node concept="1XypPU" id="4tgWazNvlZO" role="2I3o71">
-        <ref role="SrP08" node="2fZol$t_0MX" />
-        <ref role="SrP07" node="4tgWazNvlJV" />
+        <ref role="SrP08" node="2fZol$t_0MX" resolve="Driver" />
+        <ref role="SrP07" node="4tgWazNvlJV" resolve="Brake" />
         <node concept="Sqzvu" id="4tgWazNvlZP" role="Sq$B$">
           <property role="TrG5h" value="push brake " />
         </node>
       </node>
       <node concept="1XypPU" id="4tgWazNvm4l" role="2I3o71">
-        <ref role="SrP08" node="2fZol$t_0MX" />
-        <ref role="SrP07" node="4tgWazNvlKb" />
+        <ref role="SrP08" node="2fZol$t_0MX" resolve="Driver" />
+        <ref role="SrP07" node="4tgWazNvlKb" resolve="Gas pedal" />
         <node concept="Sqzvu" id="4tgWazNvm4m" role="Sq$B$">
           <property role="TrG5h" value="push acceleration " />
         </node>
@@ -2186,22 +2186,22 @@
     <node concept="1XyJaU" id="2fZol$t_0O3" role="1X_0GB">
       <property role="TrG5h" value="ACC Control Unit" />
       <node concept="1XypPU" id="2fZol$t_1LH" role="2I3o71">
-        <ref role="SrP08" node="2fZol$t_0O3" />
-        <ref role="SrP07" node="2fZol$t_0Pf" />
+        <ref role="SrP08" node="2fZol$t_0O3" resolve="ACC Control Unit" />
+        <ref role="SrP07" node="2fZol$t_0Pf" resolve="Communication Control Unit" />
         <node concept="Sqzvu" id="2fZol$t_1LI" role="Sq$B$">
           <property role="TrG5h" value="driver overtake request" />
         </node>
       </node>
       <node concept="1XypPU" id="4tgWazNvlR9" role="2I3o71">
-        <ref role="SrP08" node="2fZol$t_0O3" />
-        <ref role="SrP07" node="4tgWazNvlJV" />
+        <ref role="SrP08" node="2fZol$t_0O3" resolve="ACC Control Unit" />
+        <ref role="SrP07" node="4tgWazNvlJV" resolve="Brake" />
         <node concept="Sqzvu" id="4tgWazNvlRa" role="Sq$B$">
           <property role="TrG5h" value="control brake" />
         </node>
       </node>
       <node concept="1XypPU" id="4tgWazNvlVq" role="2I3o71">
-        <ref role="SrP08" node="2fZol$t_0O3" />
-        <ref role="SrP07" node="4tgWazNvlKb" />
+        <ref role="SrP08" node="2fZol$t_0O3" resolve="ACC Control Unit" />
+        <ref role="SrP07" node="4tgWazNvlKb" resolve="Gas pedal" />
         <node concept="Sqzvu" id="4tgWazNvlVr" role="Sq$B$">
           <property role="TrG5h" value="control acceleration" />
         </node>
@@ -2210,8 +2210,8 @@
     <node concept="1XyJaU" id="2fZol$t_0OJ" role="1X_0GB">
       <property role="TrG5h" value="Display" />
       <node concept="Sq$B_" id="2fZol$t_1UY" role="2I3o71">
-        <ref role="SrP07" node="2fZol$t_0MX" />
-        <ref role="SrP08" node="2fZol$t_0OJ" />
+        <ref role="SrP07" node="2fZol$t_0MX" resolve="Driver" />
+        <ref role="SrP08" node="2fZol$t_0OJ" resolve="Display" />
         <node concept="Sqzvu" id="2fZol$t_1UZ" role="Sq$B$">
           <property role="TrG5h" value="alarm light" />
         </node>
@@ -2223,8 +2223,8 @@
     <node concept="1XyJaU" id="2fZol$t_0Pf" role="1X_0GB">
       <property role="TrG5h" value="Communication Control Unit" />
       <node concept="1XypPU" id="2fZol$t_17f" role="2I3o71">
-        <ref role="SrP08" node="2fZol$t_0Pf" />
-        <ref role="SrP07" node="2fZol$t_0OJ" />
+        <ref role="SrP08" node="2fZol$t_0Pf" resolve="Communication Control Unit" />
+        <ref role="SrP07" node="2fZol$t_0OJ" resolve="Display" />
         <node concept="Sqzvu" id="2fZol$t_17g" role="Sq$B$">
           <property role="TrG5h" value="alarm signal display" />
         </node>
@@ -2233,8 +2233,8 @@
         </node>
       </node>
       <node concept="1XypPU" id="2fZol$t_19l" role="2I3o71">
-        <ref role="SrP07" node="2fZol$t_0PV" />
-        <ref role="SrP08" node="2fZol$t_0Pf" />
+        <ref role="SrP07" node="2fZol$t_0PV" resolve="Speaker" />
+        <ref role="SrP08" node="2fZol$t_0Pf" resolve="Communication Control Unit" />
         <node concept="Sqzvu" id="2fZol$t_19m" role="Sq$B$">
           <property role="TrG5h" value="alarm signal speaker" />
         </node>
@@ -2243,8 +2243,8 @@
     <node concept="1XyJaU" id="2fZol$t_0PV" role="1X_0GB">
       <property role="TrG5h" value="Speaker" />
       <node concept="Sq$B_" id="2fZol$t_1Zm" role="2I3o71">
-        <ref role="SrP07" node="2fZol$t_0MX" />
-        <ref role="SrP08" node="2fZol$t_0PV" />
+        <ref role="SrP07" node="2fZol$t_0MX" resolve="Driver" />
+        <ref role="SrP08" node="2fZol$t_0PV" resolve="Speaker" />
         <node concept="Sqzvu" id="2fZol$t_1Zn" role="Sq$B$">
           <property role="TrG5h" value="alarm tone" />
         </node>
@@ -2253,22 +2253,22 @@
     <node concept="1XyJaU" id="2fZol$t_0Rm" role="1X_0GB">
       <property role="TrG5h" value="ACC User interface" />
       <node concept="1XypPU" id="2fZol$t_1dW" role="2I3o71">
-        <ref role="SrP07" node="2fZol$t_0O3" />
-        <ref role="SrP08" node="2fZol$t_0Rm" />
+        <ref role="SrP07" node="2fZol$t_0O3" resolve="ACC Control Unit" />
+        <ref role="SrP08" node="2fZol$t_0Rm" resolve="ACC User interface" />
         <node concept="Sqzvu" id="2fZol$t_1dX" role="Sq$B$">
           <property role="TrG5h" value="activate" />
         </node>
       </node>
       <node concept="1XypPU" id="4tgWazNvmIy" role="2I3o71">
-        <ref role="SrP08" node="2fZol$t_0Rm" />
-        <ref role="SrP07" node="2fZol$t_0O3" />
+        <ref role="SrP08" node="2fZol$t_0Rm" resolve="ACC User interface" />
+        <ref role="SrP07" node="2fZol$t_0O3" resolve="ACC Control Unit" />
         <node concept="Sqzvu" id="4tgWazNvmIz" role="Sq$B$">
           <property role="TrG5h" value="desired distance" />
         </node>
       </node>
       <node concept="1XypPU" id="4tgWazNvmOp" role="2I3o71">
-        <ref role="SrP08" node="2fZol$t_0Rm" />
-        <ref role="SrP07" node="2fZol$t_0O3" />
+        <ref role="SrP08" node="2fZol$t_0Rm" resolve="ACC User interface" />
+        <ref role="SrP07" node="2fZol$t_0O3" resolve="ACC Control Unit" />
         <node concept="Sqzvu" id="4tgWazNvmOq" role="Sq$B$">
           <property role="TrG5h" value="desired speed" />
         </node>
@@ -2277,8 +2277,8 @@
     <node concept="1XyJaU" id="4tgWazNvlAH" role="1X_0GB">
       <property role="TrG5h" value="Laser Sensor" />
       <node concept="Sq$B_" id="4tgWazNvmuN" role="2I3o71">
-        <ref role="SrP08" node="4tgWazNvlAH" />
-        <ref role="SrP07" node="2fZol$t_0O3" />
+        <ref role="SrP08" node="4tgWazNvlAH" resolve="Laser Sensor" />
+        <ref role="SrP07" node="2fZol$t_0O3" resolve="ACC Control Unit" />
         <node concept="Sqzvu" id="4tgWazNvmuO" role="Sq$B$">
           <property role="TrG5h" value="laser input" />
         </node>
@@ -2287,8 +2287,8 @@
     <node concept="1XyJaU" id="4tgWazNvlJV" role="1X_0GB">
       <property role="TrG5h" value="Brake" />
       <node concept="Sq$B_" id="4tgWazNvmkk" role="2I3o71">
-        <ref role="SrP08" node="4tgWazNvlJV" />
-        <ref role="SrP07" node="2fZol$t_0O3" />
+        <ref role="SrP08" node="4tgWazNvlJV" resolve="Brake" />
+        <ref role="SrP07" node="2fZol$t_0O3" resolve="ACC Control Unit" />
         <node concept="Sqzvu" id="4tgWazNvmkl" role="Sq$B$">
           <property role="TrG5h" value="driver braking input " />
         </node>
@@ -2297,8 +2297,8 @@
     <node concept="1XyJaU" id="4tgWazNvlKb" role="1X_0GB">
       <property role="TrG5h" value="Gas pedal" />
       <node concept="Sq$B_" id="4tgWazNvmf0" role="2I3o71">
-        <ref role="SrP08" node="4tgWazNvlKb" />
-        <ref role="SrP07" node="2fZol$t_0O3" />
+        <ref role="SrP08" node="4tgWazNvlKb" resolve="Gas pedal" />
+        <ref role="SrP07" node="2fZol$t_0O3" resolve="ACC Control Unit" />
         <node concept="Sqzvu" id="4tgWazNvmf1" role="Sq$B$">
           <property role="TrG5h" value="driver acceleration input" />
         </node>
@@ -2307,8 +2307,8 @@
     <node concept="1XyJaU" id="4tgWazNvm$v" role="1X_0GB">
       <property role="TrG5h" value="Speed Sensor" />
       <node concept="Sq$B_" id="4tgWazNvmD2" role="2I3o71">
-        <ref role="SrP08" node="4tgWazNvm$v" />
-        <ref role="SrP07" node="2fZol$t_0O3" />
+        <ref role="SrP08" node="4tgWazNvm$v" resolve="Speed Sensor" />
+        <ref role="SrP07" node="2fZol$t_0O3" resolve="ACC Control Unit" />
         <node concept="Sqzvu" id="4tgWazNvmD3" role="Sq$B$">
           <property role="TrG5h" value="current speed" />
         </node>
@@ -2375,7 +2375,7 @@
       </node>
       <node concept="2iDXIW" id="4tgWazNvn9L" role="0nOlf">
         <node concept="DABN8" id="2vEFX4zmTFh" role="DABNk">
-          <ref role="DABNb" node="2vEFX4zmTr$" />
+          <ref role="DABNb" node="2vEFX4zmTr$" resolve="Ego vehicle does not maintain safe distance from leader vehicle" />
         </node>
       </node>
     </node>
@@ -2422,7 +2422,7 @@
       </node>
       <node concept="2iDXIW" id="4tgWazNvn8l" role="0nOlf">
         <node concept="DABN8" id="2vEFX4zmTFb" role="DABNk">
-          <ref role="DABNb" node="2vEFX4zmTr$" />
+          <ref role="DABNb" node="2vEFX4zmTr$" resolve="Ego vehicle does not maintain safe distance from leader vehicle" />
         </node>
       </node>
       <node concept="0Sh09" id="2vEFX4zmZkk" role="lGtFl">
@@ -2789,7 +2789,7 @@
       <node concept="3Ug1AV" id="4tgWazNvrDw" role="3UgYNK">
         <property role="TrG5h" value="ACC_Control_Unit" />
         <node concept="3Ug1AZ" id="4tgWazNvrDx" role="3Ug1A_">
-          <ref role="3Ug1AY" node="4tgWazNvqpn" />
+          <ref role="3Ug1AY" node="4tgWazNvqpn" resolve="ACC_Control_Unit" />
         </node>
       </node>
       <node concept="37mRI7" id="4tgWazNvrD_" role="lGtFl">
@@ -4469,250 +4469,250 @@
       <node concept="3Ug1AV" id="4tgWazNvrDW" role="3UgYNK">
         <property role="TrG5h" value="Sensor_Voter" />
         <node concept="3Ug1AZ" id="4tgWazNvrDX" role="3Ug1A_">
-          <ref role="3Ug1AY" node="4tgWazNvrrE" />
+          <ref role="3Ug1AY" node="4tgWazNvrrE" resolve="Sensor_Voter" />
         </node>
       </node>
       <node concept="3Ug1AV" id="4tgWazNvrEb" role="3UgYNK">
         <property role="TrG5h" value="Ultrasound_Sensor_1" />
         <node concept="3Ug1AZ" id="4tgWazNvrEc" role="3Ug1A_">
-          <ref role="3Ug1AY" node="4tgWazNvqSt" />
+          <ref role="3Ug1AY" node="4tgWazNvqSt" resolve="Ultrasound_Sensor" />
         </node>
       </node>
       <node concept="3Ug1AV" id="4tgWazNvrEl" role="3UgYNK">
         <property role="TrG5h" value="Ultrasound_Sensor_2" />
         <node concept="3Ug1AZ" id="4tgWazNvrEm" role="3Ug1A_">
-          <ref role="3Ug1AY" node="4tgWazNvqSt" />
+          <ref role="3Ug1AY" node="4tgWazNvqSt" resolve="Ultrasound_Sensor" />
         </node>
       </node>
       <node concept="3Ug1AV" id="4tgWazNvrEP" role="3UgYNK">
         <property role="TrG5h" value="Laser1" />
         <node concept="3Ug1AZ" id="4tgWazNvrEQ" role="3Ug1A_">
-          <ref role="3Ug1AY" node="4tgWazNvqWb" />
+          <ref role="3Ug1AY" node="4tgWazNvqWb" resolve="Laser_Sensor" />
         </node>
       </node>
       <node concept="3Ug1AV" id="4tgWazNvrFg" role="3UgYNK">
         <property role="TrG5h" value="Gas_Pedal" />
         <node concept="3Ug1AZ" id="4tgWazNvrFh" role="3Ug1A_">
-          <ref role="3Ug1AY" node="4tgWazNvrj2" />
+          <ref role="3Ug1AY" node="4tgWazNvrj2" resolve="Gas_Pedal" />
         </node>
       </node>
       <node concept="3Ug1AV" id="4tgWazNvrFJ" role="3UgYNK">
         <property role="TrG5h" value="Brake" />
         <node concept="3Ug1AZ" id="4tgWazNvrFK" role="3Ug1A_">
-          <ref role="3Ug1AY" node="4tgWazNvrdx" />
+          <ref role="3Ug1AY" node="4tgWazNvrdx" resolve="Brake" />
         </node>
       </node>
       <node concept="3Ug1AV" id="4tgWazNvrGi" role="3UgYNK">
         <property role="TrG5h" value="ACC_Communication_Unit" />
         <node concept="3Ug1AZ" id="4tgWazNvrGj" role="3Ug1A_">
-          <ref role="3Ug1AY" node="16Ng_xNT8KQ" />
+          <ref role="3Ug1AY" node="16Ng_xNT8KQ" resolve="ACC_Communication_Control_Unit" />
         </node>
       </node>
       <node concept="3Ug1AV" id="4tgWazNvrGT" role="3UgYNK">
         <property role="TrG5h" value="ACC_User_Interface" />
         <node concept="3Ug1AZ" id="4tgWazNvrGU" role="3Ug1A_">
-          <ref role="3Ug1AY" node="16Ng_xNT8tc" />
+          <ref role="3Ug1AY" node="16Ng_xNT8tc" resolve="ACC_User_Interface" />
         </node>
       </node>
       <node concept="3Ug1$w" id="4tgWazNvrH$" role="3UgYNK">
         <node concept="3Ug1GC" id="4tgWazNvrH_" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4tgWazNvqWg" />
+          <ref role="3Ug1Ha" node="4tgWazNvqWg" resolve="distance" />
           <node concept="3Ug1GJ" id="4tgWazNvrHA" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrEP" />
+            <ref role="3Ug1GI" node="4tgWazNvrEP" resolve="Laser1" />
           </node>
         </node>
         <node concept="3Ug1GC" id="4tgWazNvrHB" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4tgWazNvrtx" />
+          <ref role="3Ug1Ha" node="4tgWazNvrtx" resolve="laser1" />
           <node concept="3Ug1GJ" id="4tgWazNvrHC" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrDW" />
+            <ref role="3Ug1GI" node="4tgWazNvrDW" resolve="Sensor_Voter" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4tgWazNvrI0" role="3UgYNK">
         <node concept="3Ug1GC" id="4tgWazNvrI1" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4tgWazNvqTx" />
+          <ref role="3Ug1Ha" node="4tgWazNvqTx" resolve="distance" />
           <node concept="3Ug1GJ" id="4tgWazNvrI2" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrEb" />
+            <ref role="3Ug1GI" node="4tgWazNvrEb" resolve="Ultrasound_Sensor_1" />
           </node>
         </node>
         <node concept="3Ug1GC" id="4tgWazNvrI3" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4tgWazNvrtW" />
+          <ref role="3Ug1Ha" node="4tgWazNvrtW" resolve="ultrasound1" />
           <node concept="3Ug1GJ" id="4tgWazNvrI4" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrDW" />
+            <ref role="3Ug1GI" node="4tgWazNvrDW" resolve="Sensor_Voter" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4tgWazNvrIx" role="3UgYNK">
         <node concept="3Ug1GC" id="4tgWazNvrIy" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4tgWazNvqTx" />
+          <ref role="3Ug1Ha" node="4tgWazNvqTx" resolve="distance" />
           <node concept="3Ug1GJ" id="4tgWazNvrIz" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrEl" />
+            <ref role="3Ug1GI" node="4tgWazNvrEl" resolve="Ultrasound_Sensor_2" />
           </node>
         </node>
         <node concept="3Ug1GC" id="4tgWazNvrI$" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4tgWazNvrup" />
+          <ref role="3Ug1Ha" node="4tgWazNvrup" resolve="ultrasound2" />
           <node concept="3Ug1GJ" id="4tgWazNvrI_" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrDW" />
+            <ref role="3Ug1GI" node="4tgWazNvrDW" resolve="Sensor_Voter" />
           </node>
         </node>
       </node>
       <node concept="3Ug1AV" id="4tgWazNvrJ7" role="3UgYNK">
         <property role="TrG5h" value="Speed_Sensor" />
         <node concept="3Ug1AZ" id="4tgWazNvrJ8" role="3Ug1A_">
-          <ref role="3Ug1AY" node="4tgWazNvr83" />
+          <ref role="3Ug1AY" node="4tgWazNvr83" resolve="Speed_Sensor" />
         </node>
       </node>
       <node concept="3Ug1$w" id="4tgWazNvrK5" role="3UgYNK">
         <node concept="3Ug1GC" id="4tgWazNvrK6" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4tgWazNvr88" />
+          <ref role="3Ug1Ha" node="4tgWazNvr88" resolve="current_speed" />
           <node concept="3Ug1GJ" id="4tgWazNvrK7" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrJ7" />
+            <ref role="3Ug1GI" node="4tgWazNvrJ7" resolve="Speed_Sensor" />
           </node>
         </node>
         <node concept="3Ug1GC" id="4tgWazNvrK8" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4tgWazNvrn7" />
+          <ref role="3Ug1Ha" node="4tgWazNvrn7" resolve="current_speed" />
           <node concept="3Ug1GJ" id="4tgWazNvrK9" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrDw" />
+            <ref role="3Ug1GI" node="4tgWazNvrDw" resolve="ACC_Control_Unit" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4tgWazNvrKM" role="3UgYNK">
         <node concept="3Ug1GC" id="4tgWazNvrKN" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4tgWazNvrvj" />
+          <ref role="3Ug1Ha" node="4tgWazNvrvj" resolve="distance_front" />
           <node concept="3Ug1GJ" id="4tgWazNvrKO" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrDW" />
+            <ref role="3Ug1GI" node="4tgWazNvrDW" resolve="Sensor_Voter" />
           </node>
         </node>
         <node concept="3Ug1GC" id="4tgWazNvrKP" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4tgWazNvrnG" />
+          <ref role="3Ug1Ha" node="4tgWazNvrnG" resolve="distance_front" />
           <node concept="3Ug1GJ" id="4tgWazNvrKQ" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrDw" />
+            <ref role="3Ug1GI" node="4tgWazNvrDw" resolve="ACC_Control_Unit" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4tgWazNvrL$" role="3UgYNK">
         <node concept="3Ug1GC" id="4tgWazNvrL_" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4tgWazNvrx3" />
+          <ref role="3Ug1Ha" node="4tgWazNvrx3" resolve="reference_velocity" />
           <node concept="3Ug1GJ" id="4tgWazNvrLA" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrDW" />
+            <ref role="3Ug1GI" node="4tgWazNvrDW" resolve="Sensor_Voter" />
           </node>
         </node>
         <node concept="3Ug1GC" id="4tgWazNvrLB" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4tgWazNvryb" />
+          <ref role="3Ug1Ha" node="4tgWazNvryb" resolve="reference_velocity" />
           <node concept="3Ug1GJ" id="4tgWazNvrLC" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrDw" />
+            <ref role="3Ug1GI" node="4tgWazNvrDw" resolve="ACC_Control_Unit" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4tgWazNvrMr" role="3UgYNK">
         <node concept="3Ug1GC" id="4tgWazNvrMs" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4tgWazNvrvB" />
+          <ref role="3Ug1Ha" node="4tgWazNvrvB" resolve="alert" />
           <node concept="3Ug1GJ" id="4tgWazNvrMt" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrDW" />
+            <ref role="3Ug1GI" node="4tgWazNvrDW" resolve="Sensor_Voter" />
           </node>
         </node>
         <node concept="3Ug1GC" id="4tgWazNvrMu" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4tgWazNvryR" />
+          <ref role="3Ug1Ha" node="4tgWazNvryR" resolve="alert" />
           <node concept="3Ug1GJ" id="4tgWazNvrMv" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrDw" />
+            <ref role="3Ug1GI" node="4tgWazNvrDw" resolve="ACC_Control_Unit" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4tgWazNvrNn" role="3UgYNK">
         <node concept="3Ug1GC" id="4tgWazNvrNo" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4tgWazNvrj5" />
+          <ref role="3Ug1Ha" node="4tgWazNvrj5" resolve="accelerating" />
           <node concept="3Ug1GJ" id="4tgWazNvrNp" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrFg" />
+            <ref role="3Ug1GI" node="4tgWazNvrFg" resolve="Gas_Pedal" />
           </node>
         </node>
         <node concept="3Ug1GC" id="4tgWazNvrNq" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4tgWazNvrm$" />
+          <ref role="3Ug1Ha" node="4tgWazNvrm$" resolve="accelerating" />
           <node concept="3Ug1GJ" id="4tgWazNvrNr" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrDw" />
+            <ref role="3Ug1GI" node="4tgWazNvrDw" resolve="ACC_Control_Unit" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4tgWazNvrOo" role="3UgYNK">
         <node concept="3Ug1GC" id="4tgWazNvrOp" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4tgWazNvrfM" />
+          <ref role="3Ug1Ha" node="4tgWazNvrfM" resolve="braking" />
           <node concept="3Ug1GJ" id="4tgWazNvrOq" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrFJ" />
+            <ref role="3Ug1GI" node="4tgWazNvrFJ" resolve="Brake" />
           </node>
         </node>
         <node concept="3Ug1GC" id="4tgWazNvrOr" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4tgWazNvrm3" />
+          <ref role="3Ug1Ha" node="4tgWazNvrm3" resolve="braking" />
           <node concept="3Ug1GJ" id="4tgWazNvrOs" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrDw" />
+            <ref role="3Ug1GI" node="4tgWazNvrDw" resolve="ACC_Control_Unit" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4tgWazNvrPu" role="3UgYNK">
         <node concept="3Ug1GC" id="4tgWazNvrPv" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="16Ng_xNT8uo" />
+          <ref role="3Ug1Ha" node="16Ng_xNT8uo" resolve="activate" />
           <node concept="3Ug1GJ" id="4tgWazNvrPw" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrGT" />
+            <ref role="3Ug1GI" node="4tgWazNvrGT" resolve="ACC_User_Interface" />
           </node>
         </node>
         <node concept="3Ug1GC" id="4tgWazNvrPx" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4tgWazNvrkS" />
+          <ref role="3Ug1Ha" node="4tgWazNvrkS" resolve="activate" />
           <node concept="3Ug1GJ" id="4tgWazNvrPy" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrDw" />
+            <ref role="3Ug1GI" node="4tgWazNvrDw" resolve="ACC_Control_Unit" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4tgWazNvrQD" role="3UgYNK">
         <node concept="3Ug1GC" id="4tgWazNvrQE" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4tgWazNvr2n" />
+          <ref role="3Ug1Ha" node="4tgWazNvr2n" resolve="desired_speed" />
           <node concept="3Ug1GJ" id="4tgWazNvrQF" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrGT" />
+            <ref role="3Ug1GI" node="4tgWazNvrGT" resolve="ACC_User_Interface" />
           </node>
         </node>
         <node concept="3Ug1GC" id="4tgWazNvrQG" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4tgWazNvrln" />
+          <ref role="3Ug1Ha" node="4tgWazNvrln" resolve="desired_speed" />
           <node concept="3Ug1GJ" id="4tgWazNvrQH" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrDw" />
+            <ref role="3Ug1GI" node="4tgWazNvrDw" resolve="ACC_Control_Unit" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4tgWazNvrRT" role="3UgYNK">
         <node concept="3Ug1GC" id="4tgWazNvrRU" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4tgWazNvr2P" />
+          <ref role="3Ug1Ha" node="4tgWazNvr2P" resolve="desired_distance" />
           <node concept="3Ug1GJ" id="4tgWazNvrRV" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrGT" />
+            <ref role="3Ug1GI" node="4tgWazNvrGT" resolve="ACC_User_Interface" />
           </node>
         </node>
         <node concept="3Ug1GC" id="4tgWazNvrRW" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4tgWazNvrlI" />
+          <ref role="3Ug1Ha" node="4tgWazNvrlI" resolve="desired_distance" />
           <node concept="3Ug1GJ" id="4tgWazNvrRX" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrDw" />
+            <ref role="3Ug1GI" node="4tgWazNvrDw" resolve="ACC_Control_Unit" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4tgWazNvsj4" role="3UgYNK">
         <node concept="3Ug1GC" id="4tgWazNvsj5" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="16Ng_xNT8ss" />
+          <ref role="3Ug1Ha" node="16Ng_xNT8ss" resolve="driver_takeover_request" />
           <node concept="3Ug1GJ" id="4tgWazNvsj6" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrDw" />
+            <ref role="3Ug1GI" node="4tgWazNvrDw" resolve="ACC_Control_Unit" />
           </node>
         </node>
         <node concept="3Ug1GC" id="4tgWazNvsj7" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="16Ng_xNT8Mt" />
+          <ref role="3Ug1Ha" node="16Ng_xNT8Mt" resolve="driver_takeover_request" />
           <node concept="3Ug1GJ" id="4tgWazNvsj8" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrGi" />
+            <ref role="3Ug1GI" node="4tgWazNvrGi" resolve="ACC_Communication_Unit" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4tgWazNvsmX" role="3UgYNK">
         <node concept="3Ug1GC" id="4tgWazNvsmY" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4tgWazNvslX" />
+          <ref role="3Ug1Ha" node="4tgWazNvslX" resolve="accelerate" />
           <node concept="3Ug1GJ" id="4tgWazNvsmZ" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrDw" />
+            <ref role="3Ug1GI" node="4tgWazNvrDw" resolve="ACC_Control_Unit" />
           </node>
         </node>
         <node concept="3Ug1GC" id="4tgWazNvsn0" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4tgWazNvrj3" />
+          <ref role="3Ug1Ha" node="4tgWazNvrj3" resolve="push" />
           <node concept="3Ug1GJ" id="4tgWazNvsn1" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrFg" />
+            <ref role="3Ug1GI" node="4tgWazNvrFg" resolve="Gas_Pedal" />
           </node>
         </node>
       </node>
@@ -4727,257 +4727,257 @@
       <node concept="3UnI9n" id="2l0tHRMMeqm" role="3UnI90">
         <property role="TrG5h" value="state_OUT" />
         <node concept="2XJXdx" id="2l0tHRMMeqE" role="3UnI80">
-          <ref role="2XJXdw" node="2Q6_IeFkaVR" />
+          <ref role="2XJXdw" node="2Q6_IeFkaVR" resolve="enum_state_acc" />
         </node>
       </node>
       <node concept="3UnI9n" id="1P9g7h7qnfN" role="3UnI90">
         <property role="TrG5h" value="brake_out" />
         <node concept="2XEmfi" id="SQH6SzHG9O" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHC8S" />
+          <ref role="2XEmfl" node="SQH6SzHC8S" resolve="brake_t" />
         </node>
       </node>
       <node concept="3UnI9n" id="1P9g7h7qnSd" role="3UnI90">
         <property role="TrG5h" value="throttle_out" />
         <node concept="2XEmfi" id="SQH6SzHGas" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHCMa" />
+          <ref role="2XEmfl" node="SQH6SzHCMa" resolve="throttle_t" />
         </node>
       </node>
       <node concept="3Ug1AV" id="7qgRsCGUpQo" role="3UgYNK">
         <property role="TrG5h" value="Acceleration_Monitor" />
         <node concept="3Ug1AZ" id="7qgRsCGUpQp" role="3Ug1A_">
-          <ref role="3Ug1AY" node="7qgRsCGQBfo" />
+          <ref role="3Ug1AY" node="7qgRsCGQBfo" resolve="Acceleration_Monitor" />
         </node>
       </node>
       <node concept="3Ug1AV" id="7qgRsCGUpSR" role="3UgYNK">
         <property role="TrG5h" value="Brake_Monitor" />
         <node concept="3Ug1AZ" id="7qgRsCGUpSS" role="3Ug1A_">
-          <ref role="3Ug1AY" node="7qgRsCGQBta" />
+          <ref role="3Ug1AY" node="7qgRsCGQBta" resolve="Brake_Monitor" />
         </node>
       </node>
       <node concept="3Ug1AV" id="7qgRsCGUpUM" role="3UgYNK">
         <property role="TrG5h" value="Velocity_Monitor" />
         <node concept="3Ug1AZ" id="7qgRsCGUpUN" role="3Ug1A_">
-          <ref role="3Ug1AY" node="7qgRsCGQBF0" />
+          <ref role="3Ug1AY" node="7qgRsCGQBF0" resolve="Velocity_Monitor" />
         </node>
       </node>
       <node concept="3Ug1AV" id="7qgRsCGUpXk" role="3UgYNK">
         <property role="TrG5h" value="Laser2" />
         <node concept="3Ug1AZ" id="7qgRsCGUpXl" role="3Ug1A_">
-          <ref role="3Ug1AY" node="4tgWazNvqWb" />
+          <ref role="3Ug1AY" node="4tgWazNvqWb" resolve="Laser_Sensor" />
         </node>
       </node>
       <node concept="3Ug1$w" id="7qgRsCGUq0J" role="3UgYNK">
         <node concept="3Ug1GC" id="7qgRsCGUq0K" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4tgWazNvqWg" />
+          <ref role="3Ug1Ha" node="4tgWazNvqWg" resolve="distance" />
           <node concept="3Ug1GJ" id="7qgRsCGUq0L" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="7qgRsCGUpXk" />
+            <ref role="3Ug1GI" node="7qgRsCGUpXk" resolve="Laser2" />
           </node>
         </node>
         <node concept="3Ug1GC" id="7qgRsCGUq0M" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="7qgRsCGQDaI" />
+          <ref role="3Ug1Ha" node="7qgRsCGQDaI" resolve="laser2" />
           <node concept="3Ug1GJ" id="7qgRsCGUq0N" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrDW" />
+            <ref role="3Ug1GI" node="4tgWazNvrDW" resolve="Sensor_Voter" />
           </node>
         </node>
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         <node concept="3Ug1GC" id="7qgRsCGUq4Z" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4tgWazNvsms" />
+          <ref role="3Ug1Ha" node="4tgWazNvsms" resolve="brake" />
           <node concept="3Ug1GJ" id="7qgRsCGUq50" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrDw" />
+            <ref role="3Ug1GI" node="4tgWazNvrDw" resolve="ACC_Control_Unit" />
           </node>
         </node>
         <node concept="3Ug1GC" id="7qgRsCGUq51" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4tgWazNvreR" />
+          <ref role="3Ug1Ha" node="4tgWazNvreR" resolve="push" />
           <node concept="3Ug1GJ" id="7qgRsCGUq52" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrFJ" />
+            <ref role="3Ug1GI" node="4tgWazNvrFJ" resolve="Brake" />
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         <node concept="3Ug1GC" id="7qgRsCGUq9n" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4tgWazNvr88" />
+          <ref role="3Ug1Ha" node="4tgWazNvr88" resolve="current_speed" />
           <node concept="3Ug1GJ" id="7qgRsCGUq9o" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrJ7" />
+            <ref role="3Ug1GI" node="4tgWazNvrJ7" resolve="Speed_Sensor" />
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         <node concept="3Ug1GC" id="7qgRsCGUq9p" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="7qgRsCGQCfH" />
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           <node concept="3Ug1GJ" id="7qgRsCGUq9q" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="7qgRsCGUpUM" />
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-          <ref role="3Ug1Ha" node="7qgRsCGQCh4" />
+          <ref role="3Ug1Ha" node="7qgRsCGQCh4" resolve="alert" />
           <node concept="3Ug1GJ" id="7qgRsCGUqnX" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="7qgRsCGUpSR" />
+            <ref role="3Ug1GI" node="7qgRsCGUpSR" resolve="Brake_Monitor" />
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         </node>
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           <node concept="3Ug1GJ" id="7qgRsCGUqnZ" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrDw" />
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         <node concept="3Ug1GC" id="7qgRsCGUqqD" role="3Ug1$A">
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-            <ref role="3Ug1GI" node="7qgRsCGUpQo" />
+            <ref role="3Ug1GI" node="7qgRsCGUpQo" resolve="Acceleration_Monitor" />
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         </node>
         <node concept="3Ug1GC" id="7qgRsCGUqqF" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4tgWazNvryR" />
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-            <ref role="3Ug1GI" node="4tgWazNvrDw" />
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-            <ref role="3Ug1GI" node="7qgRsCGUpUM" />
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       <node concept="3Ug1AV" id="7qgRsCGUqAe" role="3UgYNK">
         <property role="TrG5h" value="ACC_Monitor" />
         <node concept="3Ug1AZ" id="7qgRsCGUqAf" role="3Ug1A_">
-          <ref role="3Ug1AY" node="7qgRsCGQBSW" />
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         <node concept="3Ug1GC" id="7qgRsCGUqQW" role="3Ug1_r">
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-            <ref role="3Ug1GI" node="4tgWazNvrDw" />
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         <node concept="3Ug1GC" id="7qgRsCGUqWf" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="7qgRsCGQCEW" />
+          <ref role="3Ug1Ha" node="7qgRsCGQCEW" resolve="old_velocity" />
           <node concept="3Ug1GJ" id="7qgRsCGUqWg" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="7qgRsCGUpUM" />
+            <ref role="3Ug1GI" node="7qgRsCGUpUM" resolve="Velocity_Monitor" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="7qgRsCGUqZH" role="3UgYNK">
         <node concept="3Ug1GC" id="7qgRsCGUqZI" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="7qgRsCGUqUB" />
+          <ref role="3Ug1Ha" node="7qgRsCGUqUB" resolve="activated" />
           <node concept="3Ug1GJ" id="7qgRsCGUqZJ" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrDw" />
+            <ref role="3Ug1GI" node="4tgWazNvrDw" resolve="ACC_Control_Unit" />
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         </node>
         <node concept="3Ug1GC" id="7qgRsCGUqZK" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="7qgRsCGQCiE" />
+          <ref role="3Ug1Ha" node="7qgRsCGQCiE" resolve="acc_activated" />
           <node concept="3Ug1GJ" id="7qgRsCGUqZL" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="7qgRsCGUpUM" />
+            <ref role="3Ug1GI" node="7qgRsCGUpUM" resolve="Velocity_Monitor" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="7qgRsCGUr3j" role="3UgYNK">
         <node concept="3Ug1GC" id="7qgRsCGUr3k" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="7qgRsCGUqVa" />
+          <ref role="3Ug1Ha" node="7qgRsCGUqVa" resolve="following_front_car" />
           <node concept="3Ug1GJ" id="7qgRsCGUr3l" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrDw" />
+            <ref role="3Ug1GI" node="4tgWazNvrDw" resolve="ACC_Control_Unit" />
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         </node>
         <node concept="3Ug1GC" id="7qgRsCGUr3m" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="7qgRsCGQCjb" />
+          <ref role="3Ug1Ha" node="7qgRsCGQCjb" resolve="acc_following" />
           <node concept="3Ug1GJ" id="7qgRsCGUr3n" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="7qgRsCGUpUM" />
+            <ref role="3Ug1GI" node="7qgRsCGUpUM" resolve="Velocity_Monitor" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="7qgRsCGUr6Y" role="3UgYNK">
         <node concept="3Ug1GC" id="7qgRsCGUr6Z" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="7qgRsCGUqUB" />
+          <ref role="3Ug1Ha" node="7qgRsCGUqUB" resolve="activated" />
           <node concept="3Ug1GJ" id="7qgRsCGUr70" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrDw" />
+            <ref role="3Ug1GI" node="4tgWazNvrDw" resolve="ACC_Control_Unit" />
           </node>
         </node>
         <node concept="3Ug1GC" id="7qgRsCGUr71" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="7qgRsCGQClf" />
+          <ref role="3Ug1Ha" node="7qgRsCGQClf" resolve="acc_activated" />
           <node concept="3Ug1GJ" id="7qgRsCGUr72" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="7qgRsCGUqAe" />
+            <ref role="3Ug1GI" node="7qgRsCGUqAe" resolve="ACC_Monitor" />
           </node>
         </node>
       </node>
       <node concept="3UnI81" id="1P9g7h7oCvV" role="3UnI9m">
         <property role="TrG5h" value="distance" />
         <node concept="2XEmfi" id="SQH6SzHG5k" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzH_nu" />
+          <ref role="2XEmfl" node="SQH6SzH_nu" resolve="distance_t" />
         </node>
       </node>
       <node concept="3UnI81" id="1P9g7h7oCwu" role="3UnI9m">
         <property role="TrG5h" value="velocity" />
         <node concept="2XEmfi" id="SQH6SzHG6G" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHBvC" />
+          <ref role="2XEmfl" node="SQH6SzHBvC" resolve="velocity_t" />
         </node>
       </node>
       <node concept="3UnI81" id="1P9g7h7qjfe" role="3UnI9m">
@@ -4987,343 +4987,343 @@
       <node concept="3UnI81" id="1P9g7h7qjfH" role="3UnI9m">
         <property role="TrG5h" value="desired_speed_in" />
         <node concept="2XEmfi" id="SQH6SzHG7k" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHBvC" />
+          <ref role="2XEmfl" node="SQH6SzHBvC" resolve="velocity_t" />
         </node>
       </node>
       <node concept="3UnI81" id="1P9g7h7qjgk" role="3UnI9m">
         <property role="TrG5h" value="desired_distance_in" />
         <node concept="2XEmfi" id="SQH6SzHG7W" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzH_nu" />
+          <ref role="2XEmfl" node="SQH6SzH_nu" resolve="distance_t" />
         </node>
       </node>
       <node concept="3UnI81" id="1P9g7h7qoxd" role="3UnI9m">
         <property role="TrG5h" value="brake_in" />
         <node concept="2XEmfi" id="SQH6SzHG8$" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHC8S" />
+          <ref role="2XEmfl" node="SQH6SzHC8S" resolve="brake_t" />
         </node>
       </node>
       <node concept="3UnI81" id="1P9g7h7qoxU" role="3UnI9m">
         <property role="TrG5h" value="throttle_in" />
         <node concept="2XEmfi" id="SQH6SzHG9c" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHCMa" />
+          <ref role="2XEmfl" node="SQH6SzHCMa" resolve="throttle_t" />
         </node>
       </node>
       <node concept="3Ug1$w" id="1P9g7h7qjwV" role="3UgYNK">
         <node concept="3Ug1Ap" id="1P9g7h7qjwW" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="1P9g7h7qjfe" />
+          <ref role="3Ug1Ao" node="1P9g7h7qjfe" resolve="activate_in" />
         </node>
         <node concept="3Ug1GC" id="1P9g7h7qjwX" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="1P9g7h7qjgT" />
+          <ref role="3Ug1Ha" node="1P9g7h7qjgT" resolve="activate_in" />
           <node concept="3Ug1GJ" id="1P9g7h7qjwY" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrGT" />
+            <ref role="3Ug1GI" node="4tgWazNvrGT" resolve="ACC_User_Interface" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="SQH6SzHHMQ" role="3UgYNK">
         <node concept="3Ug1GC" id="SQH6SzHHMR" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4tgWazNvr88" />
+          <ref role="3Ug1Ha" node="4tgWazNvr88" resolve="current_speed" />
           <node concept="3Ug1GJ" id="SQH6SzHHMS" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrJ7" />
+            <ref role="3Ug1GI" node="4tgWazNvrJ7" resolve="Speed_Sensor" />
           </node>
         </node>
         <node concept="3Ug1GC" id="SQH6SzHHMT" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="7qgRsCGQC8C" />
+          <ref role="3Ug1Ha" node="7qgRsCGQC8C" resolve="velocity" />
           <node concept="3Ug1GJ" id="SQH6SzHHMU" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="7qgRsCGUpQo" />
+            <ref role="3Ug1GI" node="7qgRsCGUpQo" resolve="Acceleration_Monitor" />
           </node>
         </node>
       </node>
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         <node concept="3Ug1Ap" id="SQH6SzHI4F" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="1P9g7h7qjfH" />
+          <ref role="3Ug1Ao" node="1P9g7h7qjfH" resolve="desired_speed_in" />
         </node>
         <node concept="3Ug1GC" id="SQH6SzHI4G" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="1P9g7h7qjhk" />
+          <ref role="3Ug1Ha" node="1P9g7h7qjhk" resolve="desired_speed_in" />
           <node concept="3Ug1GJ" id="SQH6SzHI4H" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrGT" />
+            <ref role="3Ug1GI" node="4tgWazNvrGT" resolve="ACC_User_Interface" />
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         <node concept="3Ug1Ap" id="SQH6SzHIfS" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="1P9g7h7oCwu" />
+          <ref role="3Ug1Ao" node="1P9g7h7oCwu" resolve="velocity" />
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         <node concept="3Ug1GC" id="SQH6SzHIfT" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="1P9g7h7oCQJ" />
+          <ref role="3Ug1Ha" node="1P9g7h7oCQJ" resolve="speed_in" />
           <node concept="3Ug1GJ" id="SQH6SzHIfU" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrJ7" />
+            <ref role="3Ug1GI" node="4tgWazNvrJ7" resolve="Speed_Sensor" />
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         <node concept="3Ug1Ap" id="SQH6SzHIqJ" role="3Ug1$A">
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         <node concept="3Ug1GC" id="SQH6SzHIqK" role="3Ug1_r">
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-            <ref role="3Ug1GI" node="7qgRsCGUpXk" />
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         <node concept="3Ug1GC" id="SQH6SzHJ6c" role="3Ug1_r">
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         <node concept="3Ug1GC" id="SQH6SzHJbH" role="3Ug1_r">
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+            <ref role="3Ug1GI" node="4tgWazNvrGi" resolve="ACC_Communication_Unit" />
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         <node concept="3Ug1Ap" id="SQH6SzHK$g" role="3Ug1_r">
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+          <ref role="3Ug1Ao" node="2l0tHRMMenx" resolve="alert_OUT" />
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         <node concept="3Ug1Ap" id="SQH6SzHKD9" role="3Ug1_r">
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+            <ref role="3Ug1GI" node="4tgWazNvrJ7" resolve="Speed_Sensor" />
           </node>
         </node>
         <node concept="3Ug1GC" id="SQH6SzHL7e" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="7qgRsCGQC9d" />
+          <ref role="3Ug1Ha" node="7qgRsCGQC9d" resolve="old_velocity" />
           <node concept="3Ug1GJ" id="SQH6SzHL7f" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="7qgRsCGUpSR" />
+            <ref role="3Ug1GI" node="7qgRsCGUpSR" resolve="Brake_Monitor" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="SQH6SzHLcu" role="3UgYNK">
         <node concept="3Ug1GC" id="SQH6SzHLcv" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="7qgRsCGUqVJ" />
+          <ref role="3Ug1Ha" node="7qgRsCGUqVJ" resolve="old_speed" />
           <node concept="3Ug1GJ" id="SQH6SzHLcw" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrJ7" />
+            <ref role="3Ug1GI" node="4tgWazNvrJ7" resolve="Speed_Sensor" />
           </node>
         </node>
         <node concept="3Ug1GC" id="SQH6SzHLcx" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="7qgRsCGQC85" />
+          <ref role="3Ug1Ha" node="7qgRsCGQC85" resolve="old_velocity" />
           <node concept="3Ug1GJ" id="SQH6SzHLcy" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="7qgRsCGUpQo" />
+            <ref role="3Ug1GI" node="7qgRsCGUpQo" resolve="Acceleration_Monitor" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="SQH6SzHLw4" role="3UgYNK">
         <node concept="3Ug1GC" id="SQH6SzHLw5" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4tgWazNvrx3" />
+          <ref role="3Ug1Ha" node="4tgWazNvrx3" resolve="reference_velocity" />
           <node concept="3Ug1GJ" id="SQH6SzHLw6" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrDW" />
+            <ref role="3Ug1GI" node="4tgWazNvrDW" resolve="Sensor_Voter" />
           </node>
         </node>
         <node concept="3Ug1GC" id="SQH6SzHLw7" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="7qgRsCGQCjI" />
+          <ref role="3Ug1Ha" node="7qgRsCGQCjI" resolve="reference_velocity" />
           <node concept="3Ug1GJ" id="SQH6SzHLw8" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="7qgRsCGUpUM" />
+            <ref role="3Ug1GI" node="7qgRsCGUpUM" resolve="Velocity_Monitor" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="SQH6SzHMFt" role="3UgYNK">
         <node concept="3Ug1GC" id="SQH6SzHMFu" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4tgWazNvslX" />
+          <ref role="3Ug1Ha" node="4tgWazNvslX" resolve="accelerate" />
           <node concept="3Ug1GJ" id="SQH6SzHMFv" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrDw" />
+            <ref role="3Ug1GI" node="4tgWazNvrDw" resolve="ACC_Control_Unit" />
           </node>
         </node>
         <node concept="3Ug1GC" id="SQH6SzHMFw" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="7qgRsCGQCem" />
+          <ref role="3Ug1Ha" node="7qgRsCGQCem" resolve="acc_accelerate" />
           <node concept="3Ug1GJ" id="SQH6SzHMFx" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="7qgRsCGUqAe" />
+            <ref role="3Ug1GI" node="7qgRsCGUqAe" resolve="ACC_Monitor" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="SQH6SzHN0c" role="3UgYNK">
         <node concept="3Ug1GC" id="SQH6SzHN0d" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4tgWazNvsms" />
+          <ref role="3Ug1Ha" node="4tgWazNvsms" resolve="brake" />
           <node concept="3Ug1GJ" id="SQH6SzHN0e" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrDw" />
+            <ref role="3Ug1GI" node="4tgWazNvrDw" resolve="ACC_Control_Unit" />
           </node>
         </node>
         <node concept="3Ug1GC" id="SQH6SzHN0f" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="7qgRsCGQCkB" />
+          <ref role="3Ug1Ha" node="7qgRsCGQCkB" resolve="acc_brake" />
           <node concept="3Ug1GJ" id="SQH6SzHN0g" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="7qgRsCGUqAe" />
+            <ref role="3Ug1GI" node="7qgRsCGUqAe" resolve="ACC_Monitor" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="SQH6SzHO4Z" role="3UgYNK">
         <node concept="3Ug1GC" id="SQH6SzHO50" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4tgWazNvsms" />
+          <ref role="3Ug1Ha" node="4tgWazNvsms" resolve="brake" />
           <node concept="3Ug1GJ" id="SQH6SzHO51" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrDw" />
+            <ref role="3Ug1GI" node="4tgWazNvrDw" resolve="ACC_Control_Unit" />
           </node>
         </node>
         <node concept="3Ug1GC" id="SQH6SzHO52" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="7qgRsCGQCeU" />
+          <ref role="3Ug1Ha" node="7qgRsCGQCeU" resolve="acc_brake" />
           <node concept="3Ug1GJ" id="SQH6SzHO53" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="7qgRsCGUpSR" />
+            <ref role="3Ug1GI" node="7qgRsCGUpSR" resolve="Brake_Monitor" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="SQH6SzHOht" role="3UgYNK">
         <node concept="3Ug1GC" id="SQH6SzHOhu" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4tgWazNvslX" />
+          <ref role="3Ug1Ha" node="4tgWazNvslX" resolve="accelerate" />
           <node concept="3Ug1GJ" id="SQH6SzHOhv" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrDw" />
+            <ref role="3Ug1GI" node="4tgWazNvrDw" resolve="ACC_Control_Unit" />
           </node>
         </node>
         <node concept="3Ug1GC" id="SQH6SzHOhw" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="7qgRsCGQChv" />
+          <ref role="3Ug1Ha" node="7qgRsCGQChv" resolve="acc_accelerate" />
           <node concept="3Ug1GJ" id="SQH6SzHOhx" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="7qgRsCGUpQo" />
+            <ref role="3Ug1GI" node="7qgRsCGUpQo" resolve="Acceleration_Monitor" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="SQH6SzHO$S" role="3UgYNK">
         <node concept="3Ug1GC" id="SQH6SzHO$T" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4tgWazNvrTe" />
+          <ref role="3Ug1Ha" node="4tgWazNvrTe" resolve="state" />
           <node concept="3Ug1GJ" id="SQH6SzHO$U" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrDw" />
+            <ref role="3Ug1GI" node="4tgWazNvrDw" resolve="ACC_Control_Unit" />
           </node>
         </node>
         <node concept="3Ug1GC" id="SQH6SzHO$V" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="16Ng_xNT8ME" />
+          <ref role="3Ug1Ha" node="16Ng_xNT8ME" resolve="state_in" />
           <node concept="3Ug1GJ" id="SQH6SzHO$W" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrGi" />
+            <ref role="3Ug1GI" node="4tgWazNvrGi" resolve="ACC_Communication_Unit" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="SQH6SzHORR" role="3UgYNK">
         <node concept="3Ug1GC" id="SQH6SzHORS" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4tgWazNvrfM" />
+          <ref role="3Ug1Ha" node="4tgWazNvrfM" resolve="braking" />
           <node concept="3Ug1GJ" id="SQH6SzHORT" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrFJ" />
+            <ref role="3Ug1GI" node="4tgWazNvrFJ" resolve="Brake" />
           </node>
         </node>
         <node concept="3Ug1GC" id="SQH6SzHORU" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="7qgRsCGQChY" />
+          <ref role="3Ug1Ha" node="7qgRsCGQChY" resolve="braking" />
           <node concept="3Ug1GJ" id="SQH6SzHORV" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="7qgRsCGUpUM" />
+            <ref role="3Ug1GI" node="7qgRsCGUpUM" resolve="Velocity_Monitor" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="SQH6SzHPbi" role="3UgYNK">
         <node concept="3Ug1GC" id="SQH6SzHPbj" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4tgWazNvrj5" />
+          <ref role="3Ug1Ha" node="4tgWazNvrj5" resolve="accelerating" />
           <node concept="3Ug1GJ" id="SQH6SzHPbk" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4tgWazNvrFg" />
+            <ref role="3Ug1GI" node="4tgWazNvrFg" resolve="Gas_Pedal" />
           </node>
         </node>
         <node concept="3Ug1GC" id="SQH6SzHPbl" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="7qgRsCGQCef" />
+          <ref role="3Ug1Ha" node="7qgRsCGQCef" resolve="accelerating" />
           <node concept="3Ug1GJ" id="SQH6SzHPbm" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="7qgRsCGUpUM" />
+            <ref role="3Ug1GI" node="7qgRsCGUpUM" resolve="Velocity_Monitor" />
           </node>
         </node>
       </node>
@@ -5338,43 +5338,43 @@
       <node concept="3UnI81" id="4tgWazNvrln" role="3UnI9m">
         <property role="TrG5h" value="desired_speed" />
         <node concept="2XEmfi" id="SQH6SzHGb4" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHBvC" />
+          <ref role="2XEmfl" node="SQH6SzHBvC" resolve="velocity_t" />
         </node>
       </node>
       <node concept="3UnI81" id="4tgWazNvrlI" role="3UnI9m">
         <property role="TrG5h" value="desired_distance" />
         <node concept="2XEmfi" id="SQH6SzHGbW" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzH_nu" />
+          <ref role="2XEmfl" node="SQH6SzH_nu" resolve="distance_t" />
         </node>
       </node>
       <node concept="3UnI81" id="4tgWazNvrm3" role="3UnI9m">
         <property role="TrG5h" value="braking" />
         <node concept="2XEmfi" id="SQH6SzHGP_" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHC8S" />
+          <ref role="2XEmfl" node="SQH6SzHC8S" resolve="brake_t" />
         </node>
       </node>
       <node concept="3UnI81" id="4tgWazNvrm$" role="3UnI9m">
         <property role="TrG5h" value="accelerating" />
         <node concept="2XEmfi" id="SQH6SzHD7D" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHCMa" />
+          <ref role="2XEmfl" node="SQH6SzHCMa" resolve="throttle_t" />
         </node>
       </node>
       <node concept="3UnI81" id="4tgWazNvrn7" role="3UnI9m">
         <property role="TrG5h" value="current_speed" />
         <node concept="2XEmfi" id="SQH6SzHGcO" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHBvC" />
+          <ref role="2XEmfl" node="SQH6SzHBvC" resolve="velocity_t" />
         </node>
       </node>
       <node concept="3UnI81" id="4tgWazNvrnG" role="3UnI9m">
         <property role="TrG5h" value="distance_front" />
         <node concept="2XEmfi" id="SQH6SzHGdG" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzH_nu" />
+          <ref role="2XEmfl" node="SQH6SzH_nu" resolve="distance_t" />
         </node>
       </node>
       <node concept="3UnI81" id="4tgWazNvryb" role="3UnI9m">
         <property role="TrG5h" value="reference_velocity" />
         <node concept="2XEmfi" id="SQH6SzHGe$" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHBvC" />
+          <ref role="2XEmfl" node="SQH6SzHBvC" resolve="velocity_t" />
         </node>
       </node>
       <node concept="3UnI81" id="4tgWazNvryR" role="3UnI9m">
@@ -5392,7 +5392,7 @@
       <node concept="3UnI9n" id="4tgWazNvrTe" role="3UnI90">
         <property role="TrG5h" value="state" />
         <node concept="2XJXdx" id="4tgWazNvsiC" role="3UnI80">
-          <ref role="2XJXdw" node="2Q6_IeFkaVR" />
+          <ref role="2XJXdw" node="2Q6_IeFkaVR" resolve="enum_state_acc" />
         </node>
       </node>
       <node concept="3UnI9n" id="16Ng_xNT8ss" role="3UnI90">
@@ -5402,13 +5402,13 @@
       <node concept="3UnI9n" id="4tgWazNvslX" role="3UnI90">
         <property role="TrG5h" value="accelerate" />
         <node concept="2XEmfi" id="SQH6SzHGgs" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHCMa" />
+          <ref role="2XEmfl" node="SQH6SzHCMa" resolve="throttle_t" />
         </node>
       </node>
       <node concept="3UnI9n" id="4tgWazNvsms" role="3UnI90">
         <property role="TrG5h" value="brake" />
         <node concept="2XEmfi" id="SQH6SzHGfc" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHC8S" />
+          <ref role="2XEmfl" node="SQH6SzHC8S" resolve="brake_t" />
         </node>
       </node>
       <node concept="3UTh7Y" id="7qgRsCGUmvP" role="3UnIb_">
@@ -5419,24 +5419,24 @@
               <node concept="32OYss" id="7qgRsCGUnXW" role="2H9Iav">
                 <node concept="2HbMbg" id="7qgRsCGUnXX" role="32OYtT">
                   <node concept="3Ug1Ap" id="7qgRsCGUmwd" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="4tgWazNvrkS" />
+                    <ref role="3Ug1Ao" node="4tgWazNvrkS" resolve="activate" />
                   </node>
                   <node concept="32OYss" id="7qgRsCGUnXY" role="2H9Ial">
                     <node concept="2HbMDt" id="7qgRsCGUnXZ" role="32OYtT">
                       <node concept="nE0YL" id="7qgRsCGUnY0" role="2H9Iav">
                         <node concept="3Ug1Ap" id="7qgRsCGUmwI" role="2H9Iav">
-                          <ref role="3Ug1Ao" node="4tgWazNvrn7" />
+                          <ref role="3Ug1Ao" node="4tgWazNvrn7" resolve="current_speed" />
                         </node>
                         <node concept="3Ug1Ap" id="7qgRsCGUmxo" role="2H9Ial">
-                          <ref role="3Ug1Ao" node="4tgWazNvrln" />
+                          <ref role="3Ug1Ao" node="4tgWazNvrln" resolve="desired_speed" />
                         </node>
                       </node>
                       <node concept="nE0YL" id="7qgRsCGUnY1" role="2H9Ial">
                         <node concept="3Ug1Ap" id="7qgRsCGUny5" role="2H9Iav">
-                          <ref role="3Ug1Ao" node="4tgWazNvrlI" />
+                          <ref role="3Ug1Ao" node="4tgWazNvrlI" resolve="desired_distance" />
                         </node>
                         <node concept="3Ug1Ap" id="7qgRsCGUnHN" role="2H9Ial">
-                          <ref role="3Ug1Ao" node="4tgWazNvrnG" />
+                          <ref role="3Ug1Ao" node="4tgWazNvrnG" resolve="distance_front" />
                         </node>
                       </node>
                     </node>
@@ -5448,7 +5448,7 @@
                   <property role="2IPVms" value="0" />
                 </node>
                 <node concept="3Ug1Ap" id="7qgRsCGUmAu" role="2H9Iav">
-                  <ref role="3Ug1Ao" node="4tgWazNvslX" />
+                  <ref role="3Ug1Ao" node="4tgWazNvslX" resolve="accelerate" />
                 </node>
               </node>
             </node>
@@ -5463,24 +5463,24 @@
               <node concept="32OYss" id="7qgRsCGUooM" role="2H9Iav">
                 <node concept="2HbMbg" id="7qgRsCGUooN" role="32OYtT">
                   <node concept="3Ug1Ap" id="7qgRsCGUmFv" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="4tgWazNvrkS" />
+                    <ref role="3Ug1Ao" node="4tgWazNvrkS" resolve="activate" />
                   </node>
                   <node concept="32OYss" id="7qgRsCGUooO" role="2H9Ial">
                     <node concept="2HbMDt" id="7qgRsCGUooP" role="32OYtT">
                       <node concept="nE0YJ" id="7qgRsCGUooQ" role="2H9Iav">
                         <node concept="3Ug1Ap" id="7qgRsCGUmGv" role="2H9Iav">
-                          <ref role="3Ug1Ao" node="4tgWazNvrn7" />
+                          <ref role="3Ug1Ao" node="4tgWazNvrn7" resolve="current_speed" />
                         </node>
                         <node concept="3Ug1Ap" id="7qgRsCGUmHK" role="2H9Ial">
-                          <ref role="3Ug1Ao" node="4tgWazNvrln" />
+                          <ref role="3Ug1Ao" node="4tgWazNvrln" resolve="desired_speed" />
                         </node>
                       </node>
                       <node concept="nE0YJ" id="7qgRsCGUopy" role="2H9Ial">
                         <node concept="3Ug1Ap" id="7qgRsCGUoDK" role="2H9Ial">
-                          <ref role="3Ug1Ao" node="4tgWazNvrnG" />
+                          <ref role="3Ug1Ao" node="4tgWazNvrnG" resolve="distance_front" />
                         </node>
                         <node concept="3Ug1Ap" id="7qgRsCGUopt" role="2H9Iav">
-                          <ref role="3Ug1Ao" node="4tgWazNvrlI" />
+                          <ref role="3Ug1Ao" node="4tgWazNvrlI" resolve="desired_distance" />
                         </node>
                       </node>
                     </node>
@@ -5492,7 +5492,7 @@
                   <property role="2IPVms" value="0" />
                 </node>
                 <node concept="3Ug1Ap" id="7qgRsCGUmKs" role="2H9Iav">
-                  <ref role="3Ug1Ao" node="4tgWazNvsms" />
+                  <ref role="3Ug1Ao" node="4tgWazNvsms" resolve="brake" />
                 </node>
               </node>
             </node>
@@ -5505,7 +5505,7 @@
           <node concept="2SafMM" id="7qgRsCGUoFm" role="2H9Iav">
             <node concept="2HbLFT" id="7qgRsCGUoFn" role="1yBIc4">
               <node concept="3Ug1Ap" id="7qgRsCGUoEF" role="2H9Iav">
-                <ref role="3Ug1Ao" node="4tgWazNvryR" />
+                <ref role="3Ug1Ao" node="4tgWazNvryR" resolve="alert" />
               </node>
               <node concept="1yCjRe" id="7qgRsCGUoF5" role="2H9Ial" />
             </node>
@@ -5513,7 +5513,7 @@
           <node concept="2HbLFT" id="7qgRsCGUoFK" role="2H9Ial">
             <node concept="1yCjRe" id="7qgRsCGUoG6" role="2H9Ial" />
             <node concept="3Ug1Ap" id="7qgRsCGUoFF" role="2H9Iav">
-              <ref role="3Ug1Ao" node="16Ng_xNT8ss" />
+              <ref role="3Ug1Ao" node="16Ng_xNT8ss" resolve="driver_takeover_request" />
             </node>
           </node>
         </node>
@@ -5528,37 +5528,37 @@
       <node concept="3UnI81" id="4tgWazNvrtx" role="3UnI9m">
         <property role="TrG5h" value="laser1" />
         <node concept="2XEmfi" id="SQH6SzHGjO" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzH_nu" />
+          <ref role="2XEmfl" node="SQH6SzH_nu" resolve="distance_t" />
         </node>
       </node>
       <node concept="3UnI81" id="7qgRsCGQDaI" role="3UnI9m">
         <property role="TrG5h" value="laser2" />
         <node concept="2XEmfi" id="SQH6SzHGhG" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzH_nu" />
+          <ref role="2XEmfl" node="SQH6SzH_nu" resolve="distance_t" />
         </node>
       </node>
       <node concept="3UnI81" id="4tgWazNvrtW" role="3UnI9m">
         <property role="TrG5h" value="ultrasound1" />
         <node concept="2XEmfi" id="SQH6SzHGjS" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzH_nu" />
+          <ref role="2XEmfl" node="SQH6SzH_nu" resolve="distance_t" />
         </node>
       </node>
       <node concept="3UnI81" id="4tgWazNvrup" role="3UnI9m">
         <property role="TrG5h" value="ultrasound2" />
         <node concept="2XEmfi" id="SQH6SzHGo4" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzH_nu" />
+          <ref role="2XEmfl" node="SQH6SzH_nu" resolve="distance_t" />
         </node>
       </node>
       <node concept="3UnI9n" id="4tgWazNvrvj" role="3UnI90">
         <property role="TrG5h" value="distance_front" />
         <node concept="2XEmfi" id="SQH6SzHGpK" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzH_nu" />
+          <ref role="2XEmfl" node="SQH6SzH_nu" resolve="distance_t" />
         </node>
       </node>
       <node concept="3UnI9n" id="4tgWazNvrx3" role="3UnI90">
         <property role="TrG5h" value="reference_velocity" />
         <node concept="2XEmfi" id="SQH6SzHGqZ" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHBvC" />
+          <ref role="2XEmfl" node="SQH6SzHBvC" resolve="velocity_t" />
         </node>
       </node>
       <node concept="3UnI9n" id="4tgWazNvrvB" role="3UnI90">
@@ -5582,7 +5582,7 @@
                       <node concept="32OYss" id="6i8f1VRYMU4" role="2H9Iav">
                         <node concept="2HbLFT" id="6i8f1VRYMU5" role="32OYtT">
                           <node concept="3Ug1Ap" id="7qgRsCGQDbF" role="2H9Iav">
-                            <ref role="3Ug1Ao" node="4tgWazNvrtx" />
+                            <ref role="3Ug1Ao" node="4tgWazNvrtx" resolve="laser1" />
                           </node>
                           <node concept="2IPVmt" id="6i8f1VRYMU6" role="2H9Ial">
                             <property role="2IPVms" value="0" />
@@ -5592,7 +5592,7 @@
                       <node concept="32OYss" id="6i8f1VRYMU7" role="2H9Ial">
                         <node concept="2HbLFT" id="6i8f1VRYMU8" role="32OYtT">
                           <node concept="3Ug1Ap" id="7qgRsCGQDet" role="2H9Iav">
-                            <ref role="3Ug1Ao" node="7qgRsCGQDaI" />
+                            <ref role="3Ug1Ao" node="7qgRsCGQDaI" resolve="laser2" />
                           </node>
                           <node concept="2IPVmt" id="6i8f1VRYMU9" role="2H9Ial">
                             <property role="2IPVms" value="0" />
@@ -5603,7 +5603,7 @@
                     <node concept="32OYss" id="6i8f1VRYMUa" role="2H9Ial">
                       <node concept="2HbLFT" id="6i8f1VRYMUb" role="32OYtT">
                         <node concept="3Ug1Ap" id="5h_trByftOu" role="2H9Iav">
-                          <ref role="3Ug1Ao" node="4tgWazNvrtW" />
+                          <ref role="3Ug1Ao" node="4tgWazNvrtW" resolve="ultrasound1" />
                         </node>
                         <node concept="2IPVmt" id="6i8f1VRYMUc" role="2H9Ial">
                           <property role="2IPVms" value="0" />
@@ -5614,7 +5614,7 @@
                   <node concept="32OYss" id="6i8f1VRYMUd" role="2H9Ial">
                     <node concept="2HbLFT" id="6i8f1VRYMUe" role="32OYtT">
                       <node concept="3Ug1Ap" id="5h_trByfuPp" role="2H9Iav">
-                        <ref role="3Ug1Ao" node="4tgWazNvrup" />
+                        <ref role="3Ug1Ao" node="4tgWazNvrup" resolve="ultrasound2" />
                       </node>
                       <node concept="2IPVmt" id="6i8f1VRYMUf" role="2H9Ial">
                         <property role="2IPVms" value="0" />
@@ -5627,7 +5627,7 @@
                 <node concept="2HbLFT" id="6i8f1VRYRbA" role="1yBIc4">
                   <node concept="1yCjRe" id="6i8f1VRYSY2" role="2H9Ial" />
                   <node concept="3Ug1Ap" id="6i8f1VRYe5b" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="4tgWazNvrvB" />
+                    <ref role="3Ug1Ao" node="4tgWazNvrvB" resolve="alert" />
                   </node>
                 </node>
               </node>
@@ -5647,7 +5647,7 @@
                       <node concept="2HbMbg" id="5h_trByfwmz" role="2H9Iav">
                         <node concept="dheZm" id="5h_trByfwm$" role="2H9Iav">
                           <node concept="3Ug1Ap" id="5h_trByfvIp" role="2H9Iav">
-                            <ref role="3Ug1Ao" node="4tgWazNvrtx" />
+                            <ref role="3Ug1Ao" node="4tgWazNvrtx" resolve="laser1" />
                           </node>
                           <node concept="2IPVmt" id="5h_trByfwm_" role="2H9Ial">
                             <property role="2IPVms" value="0" />
@@ -5655,7 +5655,7 @@
                         </node>
                         <node concept="2HbLFT" id="5h_trByfwmA" role="2H9Ial">
                           <node concept="3Ug1Ap" id="5h_trByfvIs" role="2H9Iav">
-                            <ref role="3Ug1Ao" node="7qgRsCGQDaI" />
+                            <ref role="3Ug1Ao" node="7qgRsCGQDaI" resolve="laser2" />
                           </node>
                           <node concept="2IPVmt" id="5h_trByfwmB" role="2H9Ial">
                             <property role="2IPVms" value="0" />
@@ -5664,7 +5664,7 @@
                       </node>
                       <node concept="2HbLFT" id="5h_trByfwmC" role="2H9Ial">
                         <node concept="3Ug1Ap" id="5h_trByfvIv" role="2H9Iav">
-                          <ref role="3Ug1Ao" node="4tgWazNvrtW" />
+                          <ref role="3Ug1Ao" node="4tgWazNvrtW" resolve="ultrasound1" />
                         </node>
                         <node concept="2IPVmt" id="5h_trByfwmD" role="2H9Ial">
                           <property role="2IPVms" value="0" />
@@ -5673,7 +5673,7 @@
                     </node>
                     <node concept="2HbLFT" id="5h_trByfwmE" role="2H9Ial">
                       <node concept="3Ug1Ap" id="5h_trByfvIz" role="2H9Iav">
-                        <ref role="3Ug1Ao" node="4tgWazNvrup" />
+                        <ref role="3Ug1Ao" node="4tgWazNvrup" resolve="ultrasound2" />
                       </node>
                       <node concept="2IPVmt" id="5h_trByfwmF" role="2H9Ial">
                         <property role="2IPVms" value="0" />
@@ -5685,7 +5685,7 @@
                       <node concept="2HbMbg" id="5h_trByfwnN" role="2H9Iav">
                         <node concept="2HbLFT" id="5h_trByfwnO" role="2H9Iav">
                           <node concept="3Ug1Ap" id="5h_trByfwnP" role="2H9Iav">
-                            <ref role="3Ug1Ao" node="4tgWazNvrtx" />
+                            <ref role="3Ug1Ao" node="4tgWazNvrtx" resolve="laser1" />
                           </node>
                           <node concept="2IPVmt" id="5h_trByfwnQ" role="2H9Ial">
                             <property role="2IPVms" value="0" />
@@ -5693,7 +5693,7 @@
                         </node>
                         <node concept="dheZm" id="5h_trByfHkV" role="2H9Ial">
                           <node concept="3Ug1Ap" id="5h_trByfwnS" role="2H9Iav">
-                            <ref role="3Ug1Ao" node="7qgRsCGQDaI" />
+                            <ref role="3Ug1Ao" node="7qgRsCGQDaI" resolve="laser2" />
                           </node>
                           <node concept="2IPVmt" id="5h_trByfwnT" role="2H9Ial">
                             <property role="2IPVms" value="0" />
@@ -5702,7 +5702,7 @@
                       </node>
                       <node concept="2HbLFT" id="5h_trByfwnU" role="2H9Ial">
                         <node concept="3Ug1Ap" id="5h_trByfwnV" role="2H9Iav">
-                          <ref role="3Ug1Ao" node="4tgWazNvrtW" />
+                          <ref role="3Ug1Ao" node="4tgWazNvrtW" resolve="ultrasound1" />
                         </node>
                         <node concept="2IPVmt" id="5h_trByfwnW" role="2H9Ial">
                           <property role="2IPVms" value="0" />
@@ -5719,7 +5719,7 @@
                             <node concept="2HbMbg" id="5h_trByfCZj" role="2H9Iav">
                               <node concept="2HbLFT" id="5h_trByfCZk" role="2H9Iav">
                                 <node concept="3Ug1Ap" id="5h_trByfCZl" role="2H9Iav">
-                                  <ref role="3Ug1Ao" node="4tgWazNvrtx" />
+                                  <ref role="3Ug1Ao" node="4tgWazNvrtx" resolve="laser1" />
                                 </node>
                                 <node concept="2IPVmt" id="5h_trByfCZm" role="2H9Ial">
                                   <property role="2IPVms" value="0" />
@@ -5727,7 +5727,7 @@
                               </node>
                               <node concept="2HbLFT" id="5h_trByfCZn" role="2H9Ial">
                                 <node concept="3Ug1Ap" id="5h_trByfCZo" role="2H9Iav">
-                                  <ref role="3Ug1Ao" node="7qgRsCGQDaI" />
+                                  <ref role="3Ug1Ao" node="7qgRsCGQDaI" resolve="laser2" />
                                 </node>
                                 <node concept="2IPVmt" id="5h_trByfCZp" role="2H9Ial">
                                   <property role="2IPVms" value="0" />
@@ -5736,7 +5736,7 @@
                             </node>
                             <node concept="dheZm" id="5h_trByfLBM" role="2H9Ial">
                               <node concept="3Ug1Ap" id="5h_trByfCZr" role="2H9Iav">
-                                <ref role="3Ug1Ao" node="4tgWazNvrtW" />
+                                <ref role="3Ug1Ao" node="4tgWazNvrtW" resolve="ultrasound1" />
                               </node>
                               <node concept="2IPVmt" id="5h_trByfCZs" role="2H9Ial">
                                 <property role="2IPVms" value="0" />
@@ -5753,7 +5753,7 @@
                                   <node concept="2HbMbg" id="5h_trByfHjD" role="2H9Iav">
                                     <node concept="2HbLFT" id="5h_trByfHjE" role="2H9Iav">
                                       <node concept="3Ug1Ap" id="5h_trByfHjF" role="2H9Iav">
-                                        <ref role="3Ug1Ao" node="4tgWazNvrtx" />
+                                        <ref role="3Ug1Ao" node="4tgWazNvrtx" resolve="laser1" />
                                       </node>
                                       <node concept="2IPVmt" id="5h_trByfHjG" role="2H9Ial">
                                         <property role="2IPVms" value="0" />
@@ -5761,7 +5761,7 @@
                                     </node>
                                     <node concept="2HbLFT" id="5h_trByfHjH" role="2H9Ial">
                                       <node concept="3Ug1Ap" id="5h_trByfHjI" role="2H9Iav">
-                                        <ref role="3Ug1Ao" node="7qgRsCGQDaI" />
+                                        <ref role="3Ug1Ao" node="7qgRsCGQDaI" resolve="laser2" />
                                       </node>
                                       <node concept="2IPVmt" id="5h_trByfHjJ" role="2H9Ial">
                                         <property role="2IPVms" value="0" />
@@ -5770,7 +5770,7 @@
                                   </node>
                                   <node concept="2HbLFT" id="5h_trByfHjK" role="2H9Ial">
                                     <node concept="3Ug1Ap" id="5h_trByfHjL" role="2H9Iav">
-                                      <ref role="3Ug1Ao" node="4tgWazNvrtW" />
+                                      <ref role="3Ug1Ao" node="4tgWazNvrtW" resolve="ultrasound1" />
                                     </node>
                                     <node concept="2IPVmt" id="5h_trByfHjM" role="2H9Ial">
                                       <property role="2IPVms" value="0" />
@@ -5779,7 +5779,7 @@
                                 </node>
                                 <node concept="dheZm" id="5h_trByfPUD" role="2H9Ial">
                                   <node concept="3Ug1Ap" id="5h_trByfHjP" role="2H9Iav">
-                                    <ref role="3Ug1Ao" node="4tgWazNvrup" />
+                                    <ref role="3Ug1Ao" node="4tgWazNvrup" resolve="ultrasound2" />
                                   </node>
                                   <node concept="2IPVmt" id="5h_trByfHjO" role="2H9Ial">
                                     <property role="2IPVms" value="0" />
@@ -5788,13 +5788,13 @@
                               </node>
                             </node>
                             <node concept="3Ug1Ap" id="5h_trByfCZv" role="2H9Iav">
-                              <ref role="3Ug1Ao" node="4tgWazNvrup" />
+                              <ref role="3Ug1Ao" node="4tgWazNvrup" resolve="ultrasound2" />
                             </node>
                           </node>
                         </node>
                       </node>
                       <node concept="3Ug1Ap" id="5h_trByfwnZ" role="2H9Iav">
-                        <ref role="3Ug1Ao" node="4tgWazNvrup" />
+                        <ref role="3Ug1Ao" node="4tgWazNvrup" resolve="ultrasound2" />
                       </node>
                     </node>
                   </node>
@@ -5806,7 +5806,7 @@
                     <property role="2IPVms" value="2" />
                   </node>
                   <node concept="3Ug1Ap" id="5h_trBygSE_" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="4tgWazNvrvj" />
+                    <ref role="3Ug1Ao" node="4tgWazNvrvj" resolve="distance_front" />
                   </node>
                 </node>
               </node>
@@ -5822,14 +5822,14 @@
               <node concept="2HbLFT" id="5h_trByhu9d" role="2H9Ial">
                 <node concept="1yCjRe" id="5h_trByhugy" role="2H9Ial" />
                 <node concept="3Ug1Ap" id="5h_trByhu98" role="2H9Iav">
-                  <ref role="3Ug1Ao" node="4tgWazNvrvB" />
+                  <ref role="3Ug1Ao" node="4tgWazNvrvB" resolve="alert" />
                 </node>
               </node>
               <node concept="32OYss" id="5h_trByhu2p" role="2H9Iav">
                 <node concept="2HbMbg" id="5h_trByhu2q" role="32OYtT">
                   <node concept="nE0YJ" id="5h_trByhu2r" role="2H9Iav">
                     <node concept="3Ug1Ap" id="5h_trByhtMt" role="2H9Iav">
-                      <ref role="3Ug1Ao" node="4tgWazNvrx3" />
+                      <ref role="3Ug1Ao" node="4tgWazNvrx3" resolve="reference_velocity" />
                     </node>
                     <node concept="2IPVmt" id="5h_trByhu2s" role="2H9Ial">
                       <property role="2IPVms" value="0" />
@@ -5837,7 +5837,7 @@
                   </node>
                   <node concept="nE0YK" id="5h_trByhu2t" role="2H9Ial">
                     <node concept="3Ug1Ap" id="5h_trByhtOD" role="2H9Iav">
-                      <ref role="3Ug1Ao" node="4tgWazNvrvj" />
+                      <ref role="3Ug1Ao" node="4tgWazNvrvj" resolve="distance_front" />
                     </node>
                     <node concept="2IPVmt" id="5h_trByhu2u" role="2H9Ial">
                       <property role="2IPVms" value="1" />
@@ -5856,7 +5856,7 @@
       <node concept="3UnI9n" id="4tgWazNvqTx" role="3UnI90">
         <property role="TrG5h" value="distance" />
         <node concept="2XEmfi" id="SQH6SzHGtx" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzH_nu" />
+          <ref role="2XEmfl" node="SQH6SzH_nu" resolve="distance_t" />
         </node>
       </node>
       <node concept="3UTh7Y" id="6MaWlu$kzH6" role="3UnIb_">
@@ -5867,20 +5867,20 @@
               <node concept="32OYss" id="7hUqFOkxrPY" role="2H9Iav">
                 <node concept="nE0YJ" id="7hUqFOkxrPZ" role="32OYtT">
                   <node concept="3Ug1Ap" id="4pSWRNV3tJn" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="1P9g7h7oCwJ" />
+                    <ref role="3Ug1Ao" node="1P9g7h7oCwJ" resolve="distance_in" />
                   </node>
                   <node concept="hx854" id="1P9g7h7oCO6" role="2H9Ial">
-                    <ref role="hx9HS" node="6MaWlu$k$iO" />
+                    <ref role="hx9HS" node="6MaWlu$k$iO" resolve="MAX_ULTRA" />
                   </node>
                 </node>
               </node>
               <node concept="32OYss" id="7hUqFOkxrQ0" role="2H9Ial">
                 <node concept="2HbLFT" id="7hUqFOkxrQ1" role="32OYtT">
                   <node concept="3Ug1Ap" id="7hUqFOkxrGu" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="4tgWazNvqTx" />
+                    <ref role="3Ug1Ao" node="4tgWazNvqTx" resolve="distance" />
                   </node>
                   <node concept="hx854" id="1P9g7h7oCOa" role="2H9Ial">
-                    <ref role="hx9HS" node="6MaWlu$k$iO" />
+                    <ref role="hx9HS" node="6MaWlu$k$iO" resolve="MAX_ULTRA" />
                   </node>
                 </node>
               </node>
@@ -5896,7 +5896,7 @@
               <property role="2IPVms" value="0" />
             </node>
             <node concept="3Ug1Ap" id="7hUqFOkxrRf" role="2H9Iav">
-              <ref role="3Ug1Ao" node="1P9g7h7oCwJ" />
+              <ref role="3Ug1Ao" node="1P9g7h7oCwJ" resolve="distance_in" />
             </node>
           </node>
         </node>
@@ -5909,7 +5909,7 @@
               <node concept="32OYss" id="7hUqFOkxs9E" role="2H9Iav">
                 <node concept="nE0YL" id="7hUqFOkxs9F" role="32OYtT">
                   <node concept="3Ug1Ap" id="4pSWRNV3tJy" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="1P9g7h7oCwJ" />
+                    <ref role="3Ug1Ao" node="1P9g7h7oCwJ" resolve="distance_in" />
                   </node>
                   <node concept="2IPVmt" id="7hUqFOkxs9G" role="2H9Ial">
                     <property role="2IPVms" value="0" />
@@ -5919,7 +5919,7 @@
               <node concept="32OYss" id="7hUqFOkxs9H" role="2H9Ial">
                 <node concept="2HbLFT" id="7hUqFOkxs9I" role="32OYtT">
                   <node concept="3Ug1Ap" id="7hUqFOkxrUm" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="4tgWazNvqTx" />
+                    <ref role="3Ug1Ao" node="4tgWazNvqTx" resolve="distance" />
                   </node>
                   <node concept="2IPVmt" id="7hUqFOkxs9J" role="2H9Ial">
                     <property role="2IPVms" value="0" />
@@ -5933,7 +5933,7 @@
       <node concept="3UnI81" id="1P9g7h7oCwJ" role="3UnI9m">
         <property role="TrG5h" value="distance_in" />
         <node concept="2XEmfi" id="SQH6SzHGs5" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzH_nu" />
+          <ref role="2XEmfl" node="SQH6SzH_nu" resolve="distance_t" />
         </node>
       </node>
     </node>
@@ -5943,7 +5943,7 @@
       <node concept="3UnI9n" id="4tgWazNvqWg" role="3UnI90">
         <property role="TrG5h" value="distance" />
         <node concept="2XEmfi" id="SQH6SzHGv3" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzH_nu" />
+          <ref role="2XEmfl" node="SQH6SzH_nu" resolve="distance_t" />
         </node>
       </node>
       <node concept="3UTh7Y" id="4pSWRNV3tHI" role="3UnIb_">
@@ -5954,20 +5954,20 @@
               <node concept="32OYss" id="4pSWRNV3tHM" role="2H9Iav">
                 <node concept="nE0YJ" id="4pSWRNV3tHN" role="32OYtT">
                   <node concept="3Ug1Ap" id="4pSWRNV3tJH" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="1P9g7h7oCOI" />
+                    <ref role="3Ug1Ao" node="1P9g7h7oCOI" resolve="distance_in" />
                   </node>
                   <node concept="hx854" id="1P9g7h7oCQ$" role="2H9Ial">
-                    <ref role="hx9HS" node="6MaWlu$kzVw" />
+                    <ref role="hx9HS" node="6MaWlu$kzVw" resolve="MAX_LASER" />
                   </node>
                 </node>
               </node>
               <node concept="32OYss" id="4pSWRNV3tHQ" role="2H9Ial">
                 <node concept="2HbLFT" id="4pSWRNV3tHR" role="32OYtT">
                   <node concept="3Ug1Ap" id="4pSWRNV3tHS" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="4tgWazNvqWg" />
+                    <ref role="3Ug1Ao" node="4tgWazNvqWg" resolve="distance" />
                   </node>
                   <node concept="hx854" id="1P9g7h7oCQC" role="2H9Ial">
-                    <ref role="hx9HS" node="6MaWlu$kzVw" />
+                    <ref role="hx9HS" node="6MaWlu$kzVw" resolve="MAX_LASER" />
                   </node>
                 </node>
               </node>
@@ -5983,7 +5983,7 @@
               <property role="2IPVms" value="0" />
             </node>
             <node concept="3Ug1Ap" id="4pSWRNV3tHY" role="2H9Iav">
-              <ref role="3Ug1Ao" node="1P9g7h7oCOI" />
+              <ref role="3Ug1Ao" node="1P9g7h7oCOI" resolve="distance_in" />
             </node>
           </node>
         </node>
@@ -5996,7 +5996,7 @@
               <node concept="32OYss" id="4pSWRNV3tI3" role="2H9Iav">
                 <node concept="nE0YL" id="4pSWRNV3tI4" role="32OYtT">
                   <node concept="3Ug1Ap" id="4pSWRNV3tK4" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="1P9g7h7oCOI" />
+                    <ref role="3Ug1Ao" node="1P9g7h7oCOI" resolve="distance_in" />
                   </node>
                   <node concept="2IPVmt" id="4pSWRNV3tI6" role="2H9Ial">
                     <property role="2IPVms" value="0" />
@@ -6006,7 +6006,7 @@
               <node concept="32OYss" id="4pSWRNV3tI7" role="2H9Ial">
                 <node concept="2HbLFT" id="4pSWRNV3tI8" role="32OYtT">
                   <node concept="3Ug1Ap" id="4pSWRNV3tI9" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="4tgWazNvqWg" />
+                    <ref role="3Ug1Ao" node="4tgWazNvqWg" resolve="distance" />
                   </node>
                   <node concept="2IPVmt" id="4pSWRNV3tIa" role="2H9Ial">
                     <property role="2IPVms" value="0" />
@@ -6020,7 +6020,7 @@
       <node concept="3UnI81" id="1P9g7h7oCOI" role="3UnI9m">
         <property role="TrG5h" value="distance_in" />
         <node concept="2XEmfi" id="SQH6SzHGw_" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzH_nu" />
+          <ref role="2XEmfl" node="SQH6SzH_nu" resolve="distance_t" />
         </node>
       </node>
     </node>
@@ -6035,20 +6035,20 @@
               <node concept="32OYss" id="4pSWRNV3QDp" role="2H9Iav">
                 <node concept="nE0YJ" id="4pSWRNV3QDq" role="32OYtT">
                   <node concept="3Ug1Ap" id="4pSWRNV3QoH" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="1P9g7h7oCQJ" />
+                    <ref role="3Ug1Ao" node="1P9g7h7oCQJ" resolve="speed_in" />
                   </node>
                   <node concept="hx854" id="1P9g7h7oDaH" role="2H9Ial">
-                    <ref role="hx9HS" node="4pSWRNV3PC4" />
+                    <ref role="hx9HS" node="4pSWRNV3PC4" resolve="MAX_SPEED" />
                   </node>
                 </node>
               </node>
               <node concept="32OYss" id="4pSWRNV3QDr" role="2H9Ial">
                 <node concept="2HbLFT" id="4pSWRNV3QDs" role="32OYtT">
                   <node concept="3Ug1Ap" id="4pSWRNV3QpI" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="4tgWazNvr88" />
+                    <ref role="3Ug1Ao" node="4tgWazNvr88" resolve="current_speed" />
                   </node>
                   <node concept="hx854" id="1P9g7h7oDaL" role="2H9Ial">
-                    <ref role="hx9HS" node="4pSWRNV3PC4" />
+                    <ref role="hx9HS" node="4pSWRNV3PC4" resolve="MAX_SPEED" />
                   </node>
                 </node>
               </node>
@@ -6064,20 +6064,20 @@
               <node concept="32OYss" id="4pSWRNV3QQ8" role="2H9Iav">
                 <node concept="nE0YL" id="4pSWRNV3QQ9" role="32OYtT">
                   <node concept="3Ug1Ap" id="4pSWRNV3Qri" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="1P9g7h7oCQJ" />
+                    <ref role="3Ug1Ao" node="1P9g7h7oCQJ" resolve="speed_in" />
                   </node>
                   <node concept="hx854" id="1P9g7h7oDb1" role="2H9Ial">
-                    <ref role="hx9HS" node="4pSWRNV3Q7f" />
+                    <ref role="hx9HS" node="4pSWRNV3Q7f" resolve="MIN_SPEED" />
                   </node>
                 </node>
               </node>
               <node concept="32OYss" id="4pSWRNV3QQa" role="2H9Ial">
                 <node concept="2HbLFT" id="4pSWRNV3QQb" role="32OYtT">
                   <node concept="3Ug1Ap" id="4pSWRNV3Qsj" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="4tgWazNvr88" />
+                    <ref role="3Ug1Ao" node="4tgWazNvr88" resolve="current_speed" />
                   </node>
                   <node concept="hx854" id="1P9g7h7oDaT" role="2H9Ial">
-                    <ref role="hx9HS" node="4pSWRNV3Q7f" />
+                    <ref role="hx9HS" node="4pSWRNV3Q7f" resolve="MIN_SPEED" />
                   </node>
                 </node>
               </node>
@@ -6091,10 +6091,10 @@
           <node concept="2Sa8AP" id="4pSWRNV3QR$" role="1yBIc4">
             <node concept="2HbLFT" id="4pSWRNV3QRX" role="1yBIc4">
               <node concept="3Ug1Ap" id="4pSWRNV3QSA" role="2H9Ial">
-                <ref role="3Ug1Ao" node="4tgWazNvr88" />
+                <ref role="3Ug1Ao" node="4tgWazNvr88" resolve="current_speed" />
               </node>
               <node concept="3Ug1Ap" id="4pSWRNV3QRT" role="2H9Iav">
-                <ref role="3Ug1Ao" node="7qgRsCGUqVJ" />
+                <ref role="3Ug1Ao" node="7qgRsCGUqVJ" resolve="old_speed" />
               </node>
             </node>
           </node>
@@ -6103,19 +6103,19 @@
       <node concept="3UnI9n" id="4tgWazNvr88" role="3UnI90">
         <property role="TrG5h" value="current_speed" />
         <node concept="2XEmfi" id="SQH6SzHG$n" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHBvC" />
+          <ref role="2XEmfl" node="SQH6SzHBvC" resolve="velocity_t" />
         </node>
       </node>
       <node concept="3UnI9n" id="7qgRsCGUqVJ" role="3UnI90">
         <property role="TrG5h" value="old_speed" />
         <node concept="2XEmfi" id="SQH6SzHGyZ" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHBvC" />
+          <ref role="2XEmfl" node="SQH6SzHBvC" resolve="velocity_t" />
         </node>
       </node>
       <node concept="3UnI81" id="1P9g7h7oCQJ" role="3UnI9m">
         <property role="TrG5h" value="speed_in" />
         <node concept="2XEmfi" id="SQH6SzHGy1" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHBvC" />
+          <ref role="2XEmfl" node="SQH6SzHBvC" resolve="velocity_t" />
         </node>
       </node>
     </node>
@@ -6125,19 +6125,19 @@
       <node concept="3UnI81" id="7qgRsCGQC85" role="3UnI9m">
         <property role="TrG5h" value="old_velocity" />
         <node concept="2XEmfi" id="SQH6SzHGAF" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHBvC" />
+          <ref role="2XEmfl" node="SQH6SzHBvC" resolve="velocity_t" />
         </node>
       </node>
       <node concept="3UnI81" id="7qgRsCGQC8C" role="3UnI9m">
         <property role="TrG5h" value="velocity" />
         <node concept="2XEmfi" id="SQH6SzHGBx" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHBvC" />
+          <ref role="2XEmfl" node="SQH6SzHBvC" resolve="velocity_t" />
         </node>
       </node>
       <node concept="3UnI81" id="7qgRsCGQChv" role="3UnI9m">
         <property role="TrG5h" value="acc_accelerate" />
         <node concept="2XEmfi" id="SQH6SzHNQI" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHCMa" />
+          <ref role="2XEmfl" node="SQH6SzHCMa" resolve="throttle_t" />
         </node>
       </node>
       <node concept="3UnI9n" id="7qgRsCGQC7x" role="3UnI90">
@@ -6157,15 +6157,15 @@
               <node concept="32OYss" id="3p1$yKVliSb" role="2H9Iav">
                 <node concept="2HbMbg" id="3p1$yKVliSc" role="32OYtT">
                   <node concept="3Ug1Ap" id="7qgRsCGUpcf" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="7qgRsCGQChv" />
+                    <ref role="3Ug1Ao" node="7qgRsCGQChv" resolve="acc_accelerate" />
                   </node>
                   <node concept="32OYss" id="3p1$yKVliSd" role="2H9Ial">
                     <node concept="nE0YI" id="1P9g7h7qaAB" role="32OYtT">
                       <node concept="3Ug1Ap" id="7qgRsCGUpd6" role="2H9Iav">
-                        <ref role="3Ug1Ao" node="7qgRsCGQC85" />
+                        <ref role="3Ug1Ao" node="7qgRsCGQC85" resolve="old_velocity" />
                       </node>
                       <node concept="3Ug1Ap" id="3p1$yKVliNm" role="2H9Ial">
-                        <ref role="3Ug1Ao" node="7qgRsCGQC8C" />
+                        <ref role="3Ug1Ao" node="7qgRsCGQC8C" resolve="velocity" />
                       </node>
                     </node>
                   </node>
@@ -6173,7 +6173,7 @@
               </node>
               <node concept="2HbLFT" id="3p1$yKVliSf" role="2H9Ial">
                 <node concept="3Ug1Ap" id="7qgRsCGUpgX" role="2H9Iav">
-                  <ref role="3Ug1Ao" node="7qgRsCGQC7x" />
+                  <ref role="3Ug1Ao" node="7qgRsCGQC7x" resolve="alert" />
                 </node>
                 <node concept="1yCjRe" id="7qgRsCGUpj_" role="2H9Ial" />
               </node>
@@ -6188,19 +6188,19 @@
       <node concept="3UnI81" id="7qgRsCGQC9d" role="3UnI9m">
         <property role="TrG5h" value="old_velocity" />
         <node concept="2XEmfi" id="SQH6SzHGCn" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHBvC" />
+          <ref role="2XEmfl" node="SQH6SzHBvC" resolve="velocity_t" />
         </node>
       </node>
       <node concept="3UnI81" id="7qgRsCGQCet" role="3UnI9m">
         <property role="TrG5h" value="velocity" />
         <node concept="2XEmfi" id="SQH6SzHGCr" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHBvC" />
+          <ref role="2XEmfl" node="SQH6SzHBvC" resolve="velocity_t" />
         </node>
       </node>
       <node concept="3UnI81" id="7qgRsCGQCeU" role="3UnI9m">
         <property role="TrG5h" value="acc_brake" />
         <node concept="2XEmfi" id="SQH6SzHNP_" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHC8S" />
+          <ref role="2XEmfl" node="SQH6SzHC8S" resolve="brake_t" />
         </node>
       </node>
       <node concept="3UnI9n" id="7qgRsCGQCh4" role="3UnI90">
@@ -6221,15 +6221,15 @@
                 <node concept="32OYss" id="3p1$yKVlifs" role="2H9Iav">
                   <node concept="2HbMbg" id="3p1$yKVlift" role="32OYtT">
                     <node concept="3Ug1Ap" id="7qgRsCGUpk5" role="2H9Iav">
-                      <ref role="3Ug1Ao" node="7qgRsCGQCeU" />
+                      <ref role="3Ug1Ao" node="7qgRsCGQCeU" resolve="acc_brake" />
                     </node>
                     <node concept="32OYss" id="3p1$yKVlifu" role="2H9Ial">
                       <node concept="nE0YK" id="3p1$yKVlifv" role="32OYtT">
                         <node concept="3Ug1Ap" id="7qgRsCGUpkM" role="2H9Iav">
-                          <ref role="3Ug1Ao" node="7qgRsCGQC9d" />
+                          <ref role="3Ug1Ao" node="7qgRsCGQC9d" resolve="old_velocity" />
                         </node>
                         <node concept="3Ug1Ap" id="3p1$yKVlhQw" role="2H9Ial">
-                          <ref role="3Ug1Ao" node="7qgRsCGQCet" />
+                          <ref role="3Ug1Ao" node="7qgRsCGQCet" resolve="velocity" />
                         </node>
                       </node>
                     </node>
@@ -6237,7 +6237,7 @@
                 </node>
                 <node concept="2HbLFT" id="3p1$yKVlifw" role="2H9Ial">
                   <node concept="3Ug1Ap" id="7qgRsCGUpoF" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="7qgRsCGQCh4" />
+                    <ref role="3Ug1Ao" node="7qgRsCGQCh4" resolve="alert" />
                   </node>
                   <node concept="1yCjRe" id="7qgRsCGUprj" role="2H9Ial" />
                 </node>
@@ -6258,16 +6258,16 @@
               <node concept="2HbLFT" id="7qgRsCGUp1q" role="2H9Ial">
                 <node concept="1yCjRe" id="7qgRsCGUp3A" role="2H9Ial" />
                 <node concept="3Ug1Ap" id="7qgRsCGUp1j" role="2H9Iav">
-                  <ref role="3Ug1Ao" node="7qgRsCGQCgD" />
+                  <ref role="3Ug1Ao" node="7qgRsCGQCgD" resolve="alert" />
                 </node>
               </node>
               <node concept="32OYss" id="7qgRsCGUoZx" role="2H9Iav">
                 <node concept="2HbMbg" id="7qgRsCGUoZy" role="32OYtT">
                   <node concept="3Ug1Ap" id="7qgRsCGUoWF" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="7qgRsCGQCef" />
+                    <ref role="3Ug1Ao" node="7qgRsCGQCef" resolve="accelerating" />
                   </node>
                   <node concept="3Ug1Ap" id="7qgRsCGUoXg" role="2H9Ial">
-                    <ref role="3Ug1Ao" node="7qgRsCGQChY" />
+                    <ref role="3Ug1Ao" node="7qgRsCGQChY" resolve="braking" />
                   </node>
                 </node>
               </node>
@@ -6278,25 +6278,25 @@
       <node concept="3UnI81" id="7qgRsCGQCef" role="3UnI9m">
         <property role="TrG5h" value="accelerating" />
         <node concept="2XEmfi" id="SQH6SzHHCP" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHCMa" />
+          <ref role="2XEmfl" node="SQH6SzHCMa" resolve="throttle_t" />
         </node>
       </node>
       <node concept="3UnI81" id="7qgRsCGQChY" role="3UnI9m">
         <property role="TrG5h" value="braking" />
         <node concept="2XEmfi" id="SQH6SzHHE3" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHC8S" />
+          <ref role="2XEmfl" node="SQH6SzHC8S" resolve="brake_t" />
         </node>
       </node>
       <node concept="3UnI81" id="7qgRsCGQCEW" role="3UnI9m">
         <property role="TrG5h" value="old_velocity" />
         <node concept="2XEmfi" id="SQH6SzHGF2" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHBvC" />
+          <ref role="2XEmfl" node="SQH6SzHBvC" resolve="velocity_t" />
         </node>
       </node>
       <node concept="3UnI81" id="7qgRsCGQCfH" role="3UnI9m">
         <property role="TrG5h" value="current_velocity" />
         <node concept="2XEmfi" id="SQH6SzHGE3" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHBvC" />
+          <ref role="2XEmfl" node="SQH6SzHBvC" resolve="velocity_t" />
         </node>
       </node>
       <node concept="3UnI81" id="7qgRsCGQCiE" role="3UnI9m">
@@ -6310,7 +6310,7 @@
       <node concept="3UnI81" id="7qgRsCGQCjI" role="3UnI9m">
         <property role="TrG5h" value="reference_velocity" />
         <node concept="2XEmfi" id="SQH6SzHGG0" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHBvC" />
+          <ref role="2XEmfl" node="SQH6SzHBvC" resolve="velocity_t" />
         </node>
       </node>
       <node concept="3UnI9n" id="7qgRsCGQCgD" role="3UnI90">
@@ -6328,14 +6328,14 @@
           <node concept="32OYss" id="7qgRsCGUptF" role="1yBIc4">
             <node concept="1yyYsf" id="7qgRsCGUptG" role="32OYtT">
               <node concept="3Ug1Ap" id="7qgRsCGQCBj" role="2H9Iav">
-                <ref role="3Ug1Ao" node="7qgRsCGQCef" />
+                <ref role="3Ug1Ao" node="7qgRsCGQCef" resolve="accelerating" />
               </node>
               <node concept="nE0YL" id="7qgRsCGUptH" role="2H9Ial">
                 <node concept="3Ug1Ap" id="7qgRsCGQCFD" role="2H9Iav">
-                  <ref role="3Ug1Ao" node="7qgRsCGQCEW" />
+                  <ref role="3Ug1Ao" node="7qgRsCGQCEW" resolve="old_velocity" />
                 </node>
                 <node concept="3Ug1Ap" id="7qgRsCGQCG1" role="2H9Ial">
-                  <ref role="3Ug1Ao" node="7qgRsCGQCfH" />
+                  <ref role="3Ug1Ao" node="7qgRsCGQCfH" resolve="current_velocity" />
                 </node>
               </node>
             </node>
@@ -6348,14 +6348,14 @@
           <node concept="32OYss" id="7qgRsCGUpt0" role="1yBIc4">
             <node concept="1yyYsf" id="7qgRsCGUpt1" role="32OYtT">
               <node concept="3Ug1Ap" id="7qgRsCGUprS" role="2H9Iav">
-                <ref role="3Ug1Ao" node="7qgRsCGQChY" />
+                <ref role="3Ug1Ao" node="7qgRsCGQChY" resolve="braking" />
               </node>
               <node concept="nE0YJ" id="7qgRsCGUpt2" role="2H9Ial">
                 <node concept="3Ug1Ap" id="7qgRsCGQCIt" role="2H9Iav">
-                  <ref role="3Ug1Ao" node="7qgRsCGQCEW" />
+                  <ref role="3Ug1Ao" node="7qgRsCGQCEW" resolve="old_velocity" />
                 </node>
                 <node concept="3Ug1Ap" id="7qgRsCGQCJ9" role="2H9Ial">
-                  <ref role="3Ug1Ao" node="7qgRsCGQCfH" />
+                  <ref role="3Ug1Ao" node="7qgRsCGQCfH" resolve="current_velocity" />
                 </node>
               </node>
             </node>
@@ -6371,25 +6371,25 @@
                 <node concept="2HbMbg" id="7qgRsCGUpPY" role="32OYtT">
                   <node concept="2HbMbg" id="7qgRsCGUpPZ" role="2H9Iav">
                     <node concept="3Ug1Ap" id="7qgRsCGQCKo" role="2H9Iav">
-                      <ref role="3Ug1Ao" node="7qgRsCGQCiE" />
+                      <ref role="3Ug1Ao" node="7qgRsCGQCiE" resolve="acc_activated" />
                     </node>
                     <node concept="3Ug1Ap" id="7qgRsCGQCKX" role="2H9Ial">
-                      <ref role="3Ug1Ao" node="7qgRsCGQCjb" />
+                      <ref role="3Ug1Ao" node="7qgRsCGQCjb" resolve="acc_following" />
                     </node>
                   </node>
                   <node concept="nE0YJ" id="7qgRsCGUpQ0" role="2H9Ial">
                     <node concept="hx854" id="7qgRsCGQD6O" role="2H9Ial">
-                      <ref role="hx9HS" node="7qgRsCGQCUB" />
+                      <ref role="hx9HS" node="7qgRsCGQCUB" resolve="VELOCITY_THRESHOLD" />
                     </node>
                     <node concept="3Ug1Ap" id="7qgRsCGUrfc" role="2H9Iav">
-                      <ref role="3Ug1Ao" node="7qgRsCGQCjI" />
+                      <ref role="3Ug1Ao" node="7qgRsCGQCjI" resolve="reference_velocity" />
                     </node>
                   </node>
                 </node>
               </node>
               <node concept="2HbLFT" id="7qgRsCGUpQ1" role="2H9Ial">
                 <node concept="3Ug1Ap" id="7qgRsCGQD41" role="2H9Iav">
-                  <ref role="3Ug1Ao" node="7qgRsCGQCgD" />
+                  <ref role="3Ug1Ao" node="7qgRsCGQCgD" resolve="alert" />
                 </node>
                 <node concept="1yCjRe" id="7qgRsCGQDaA" role="2H9Ial" />
               </node>
@@ -6408,25 +6408,25 @@
       <node concept="3UnI81" id="7qgRsCGQCem" role="3UnI9m">
         <property role="TrG5h" value="acc_accelerate" />
         <node concept="2XEmfi" id="SQH6SzHLJr" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHCMa" />
+          <ref role="2XEmfl" node="SQH6SzHCMa" resolve="throttle_t" />
         </node>
       </node>
       <node concept="3UnI81" id="7qgRsCGQCkB" role="3UnI9m">
         <property role="TrG5h" value="acc_brake" />
         <node concept="2XEmfi" id="SQH6SzHLIi" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHC8S" />
+          <ref role="2XEmfl" node="SQH6SzHC8S" resolve="brake_t" />
         </node>
       </node>
       <node concept="3UnI81" id="7qgRsCGQCl4" role="3UnI9m">
         <property role="TrG5h" value="distance_front" />
         <node concept="2XEmfi" id="SQH6SzHGGQ" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzH_nu" />
+          <ref role="2XEmfl" node="SQH6SzH_nu" resolve="distance_t" />
         </node>
       </node>
       <node concept="3UnI81" id="7qgRsCGUlXD" role="3UnI9m">
         <property role="TrG5h" value="current_velocity" />
         <node concept="2XEmfi" id="SQH6SzHGHO" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHBvC" />
+          <ref role="2XEmfl" node="SQH6SzHBvC" resolve="velocity_t" />
         </node>
       </node>
       <node concept="3UnI9n" id="7qgRsCGQCmr" role="3UnI90">
@@ -6446,13 +6446,13 @@
               <node concept="2HbLFT" id="7qgRsCGUl2z" role="2H9Ial">
                 <node concept="1yCjRe" id="7qgRsCGUlSn" role="2H9Ial" />
                 <node concept="3Ug1Ap" id="7qgRsCGUl2u" role="2H9Iav">
-                  <ref role="3Ug1Ao" node="7qgRsCGQCmr" />
+                  <ref role="3Ug1Ao" node="7qgRsCGQCmr" resolve="alert" />
                 </node>
               </node>
               <node concept="32OYss" id="7qgRsCGUkiT" role="2H9Iav">
                 <node concept="2HbMbg" id="7qgRsCGUkiU" role="32OYtT">
                   <node concept="3Ug1Ap" id="7qgRsCGUiF9" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="7qgRsCGQClf" />
+                    <ref role="3Ug1Ao" node="7qgRsCGQClf" resolve="acc_activated" />
                   </node>
                   <node concept="1yA0yd" id="7qgRsCGUkiV" role="2H9Ial">
                     <node concept="32OYss" id="7qgRsCGUkiW" role="32OYtT">
@@ -6460,7 +6460,7 @@
                         <node concept="2HbMbg" id="7qgRsCGUkiY" role="2H9Iav">
                           <node concept="nE0YI" id="7qgRsCGUkiZ" role="2H9Iav">
                             <node concept="3Ug1Ap" id="7qgRsCGUgO4" role="2H9Iav">
-                              <ref role="3Ug1Ao" node="7qgRsCGQCem" />
+                              <ref role="3Ug1Ao" node="7qgRsCGQCem" resolve="acc_accelerate" />
                             </node>
                             <node concept="2IPVmt" id="7qgRsCGUkj0" role="2H9Ial">
                               <property role="2IPVms" value="0" />
@@ -6468,7 +6468,7 @@
                           </node>
                           <node concept="nE0YI" id="7qgRsCGUkj1" role="2H9Ial">
                             <node concept="3Ug1Ap" id="7qgRsCGUgRb" role="2H9Iav">
-                              <ref role="3Ug1Ao" node="7qgRsCGQCkB" />
+                              <ref role="3Ug1Ao" node="7qgRsCGQCkB" resolve="acc_brake" />
                             </node>
                             <node concept="2IPVmt" id="7qgRsCGUkj2" role="2H9Ial">
                               <property role="2IPVms" value="0" />
@@ -6477,7 +6477,7 @@
                         </node>
                         <node concept="nE0YI" id="7qgRsCGUkj3" role="2H9Ial">
                           <node concept="3Ug1Ap" id="7qgRsCGUh0a" role="2H9Iav">
-                            <ref role="3Ug1Ao" node="7qgRsCGQCl4" />
+                            <ref role="3Ug1Ao" node="7qgRsCGQCl4" resolve="distance_front" />
                           </node>
                           <node concept="2IPVmt" id="7qgRsCGUkj4" role="2H9Ial">
                             <property role="2IPVms" value="0" />
@@ -6500,24 +6500,24 @@
               <node concept="2HbLFT" id="7qgRsCGUmqm" role="2H9Ial">
                 <node concept="1yCjRe" id="7qgRsCGUmvH" role="2H9Ial" />
                 <node concept="3Ug1Ap" id="7qgRsCGUmqh" role="2H9Iav">
-                  <ref role="3Ug1Ao" node="7qgRsCGQCmr" />
+                  <ref role="3Ug1Ao" node="7qgRsCGQCmr" resolve="alert" />
                 </node>
               </node>
               <node concept="32OYss" id="7qgRsCGUmlS" role="2H9Iav">
                 <node concept="2HbMbg" id="7qgRsCGUmlT" role="32OYtT">
                   <node concept="3Ug1Ap" id="7qgRsCGUlXi" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="7qgRsCGQClf" />
+                    <ref role="3Ug1Ao" node="7qgRsCGQClf" resolve="acc_activated" />
                   </node>
                   <node concept="nE0YK" id="7qgRsCGUmlU" role="2H9Ial">
                     <node concept="3Ug1Ap" id="7qgRsCGUlYm" role="2H9Iav">
-                      <ref role="3Ug1Ao" node="7qgRsCGQCl4" />
+                      <ref role="3Ug1Ao" node="7qgRsCGQCl4" resolve="distance_front" />
                     </node>
                     <node concept="2H9Ewv" id="7qgRsCGUmlV" role="2H9Ial">
                       <node concept="3Ug1Ap" id="7qgRsCGUlZ$" role="2H9Iav">
-                        <ref role="3Ug1Ao" node="7qgRsCGUlXD" />
+                        <ref role="3Ug1Ao" node="7qgRsCGUlXD" resolve="current_velocity" />
                       </node>
                       <node concept="hx854" id="7qgRsCGUmgW" role="2H9Ial">
-                        <ref role="hx9HS" node="7qgRsCGUm9l" />
+                        <ref role="hx9HS" node="7qgRsCGUm9l" resolve="SAFE_DISTANCE_FACTOR" />
                       </node>
                     </node>
                   </node>
@@ -6538,7 +6538,7 @@
       <node concept="3UnI81" id="16Ng_xNT8ME" role="3UnI9m">
         <property role="TrG5h" value="state_in" />
         <node concept="2XJXdx" id="SQH6SzHKSW" role="3UnI80">
-          <ref role="2XJXdw" node="2Q6_IeFkaVR" />
+          <ref role="2XJXdw" node="2Q6_IeFkaVR" resolve="enum_state_acc" />
         </node>
       </node>
       <node concept="3UnI9n" id="16Ng_xNT8RK" role="3UnI90">
@@ -6552,7 +6552,7 @@
       <node concept="3UnI9n" id="16Ng_xNT8RX" role="3UnI90">
         <property role="TrG5h" value="state" />
         <node concept="2XJXdx" id="SQH6SzHKSy" role="3UnI80">
-          <ref role="2XJXdw" node="2Q6_IeFkaVR" />
+          <ref role="2XJXdw" node="2Q6_IeFkaVR" resolve="enum_state_acc" />
         </node>
       </node>
       <node concept="3UTh7Y" id="2cE4ICdOu8O" role="3UnIb_">
@@ -6563,7 +6563,7 @@
               <node concept="32OYss" id="7LZOTnQWE7h" role="2H9Iav">
                 <node concept="2HbLFT" id="7LZOTnQWE7i" role="32OYtT">
                   <node concept="3Ug1Ap" id="2cE4ICdOu99" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="16Ng_xNT8Mt" />
+                    <ref role="3Ug1Ao" node="16Ng_xNT8Mt" resolve="driver_takeover_request" />
                   </node>
                   <node concept="1yCjRe" id="2cE4ICdOu9z" role="2H9Ial" />
                 </node>
@@ -6572,7 +6572,7 @@
                 <node concept="32OYss" id="7LZOTnQWE7k" role="1yBIc4">
                   <node concept="2HbLFT" id="7LZOTnQWE7l" role="32OYtT">
                     <node concept="3Ug1Ap" id="2cE4ICdOueI" role="2H9Iav">
-                      <ref role="3Ug1Ao" node="16Ng_xNT8RK" />
+                      <ref role="3Ug1Ao" node="16Ng_xNT8RK" resolve="alert_signal" />
                     </node>
                     <node concept="1yCjRe" id="2cE4ICdOuf8" role="2H9Ial" />
                   </node>
@@ -6590,7 +6590,7 @@
               <node concept="32OYss" id="7LZOTnQWEt8" role="2H9Iav">
                 <node concept="2HbLFT" id="7LZOTnQWEt9" role="32OYtT">
                   <node concept="3Ug1Ap" id="2cE4ICdOubm" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="16Ng_xNT8Mt" />
+                    <ref role="3Ug1Ao" node="16Ng_xNT8Mt" resolve="driver_takeover_request" />
                   </node>
                   <node concept="1yCjT0" id="2cE4ICdOubM" role="2H9Ial" />
                 </node>
@@ -6599,7 +6599,7 @@
                 <node concept="32OYss" id="7LZOTnQWEtb" role="1yBIc4">
                   <node concept="2HbLFT" id="7LZOTnQWEtc" role="32OYtT">
                     <node concept="3Ug1Ap" id="2cE4ICdOuda" role="2H9Iav">
-                      <ref role="3Ug1Ao" node="16Ng_xNT8RK" />
+                      <ref role="3Ug1Ao" node="16Ng_xNT8RK" resolve="alert_signal" />
                     </node>
                     <node concept="1yCjT0" id="2cE4ICdOuek" role="2H9Ial" />
                   </node>
@@ -6615,10 +6615,10 @@
           <node concept="32OYss" id="7LZOTnQWDob" role="1yBIc4">
             <node concept="2HbLFT" id="7LZOTnQWDoc" role="32OYtT">
               <node concept="3Ug1Ap" id="4SubkoiB3jZ" role="2H9Iav">
-                <ref role="3Ug1Ao" node="16Ng_xNT8ME" />
+                <ref role="3Ug1Ao" node="16Ng_xNT8ME" resolve="state_in" />
               </node>
               <node concept="3Ug1Ap" id="4SubkoiB3km" role="2H9Ial">
-                <ref role="3Ug1Ao" node="16Ng_xNT8RX" />
+                <ref role="3Ug1Ao" node="16Ng_xNT8RX" resolve="state" />
               </node>
             </node>
           </node>
@@ -6640,13 +6640,13 @@
       <node concept="3UnI9n" id="4tgWazNvr2n" role="3UnI90">
         <property role="TrG5h" value="desired_speed" />
         <node concept="2XEmfi" id="SQH6SzHHAL" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHBvC" />
+          <ref role="2XEmfl" node="SQH6SzHBvC" resolve="velocity_t" />
         </node>
       </node>
       <node concept="3UnI9n" id="4tgWazNvr2P" role="3UnI90">
         <property role="TrG5h" value="desired_distance" />
         <node concept="2XEmfi" id="SQH6SzHHBM" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzH_nu" />
+          <ref role="2XEmfl" node="SQH6SzH_nu" resolve="distance_t" />
         </node>
       </node>
       <node concept="0Sh09" id="4j8iycQYmwz" role="lGtFl">
@@ -6661,13 +6661,13 @@
       <node concept="3UnI81" id="1P9g7h7qjhk" role="3UnI9m">
         <property role="TrG5h" value="desired_speed_in" />
         <node concept="2XEmfi" id="SQH6SzHGIE" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHBvC" />
+          <ref role="2XEmfl" node="SQH6SzHBvC" resolve="velocity_t" />
         </node>
       </node>
       <node concept="3UnI81" id="1P9g7h7qjhB" role="3UnI9m">
         <property role="TrG5h" value="desired_distance_in" />
         <node concept="2XEmfi" id="SQH6SzHGJo" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzH_nu" />
+          <ref role="2XEmfl" node="SQH6SzH_nu" resolve="distance_t" />
         </node>
       </node>
     </node>
@@ -6677,25 +6677,25 @@
       <node concept="3UnI81" id="4tgWazNvreR" role="3UnI9m">
         <property role="TrG5h" value="push" />
         <node concept="2XEmfi" id="SQH6SzHGKO" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHC8S" />
+          <ref role="2XEmfl" node="SQH6SzHC8S" resolve="brake_t" />
         </node>
       </node>
       <node concept="3UnI81" id="1P9g7h7qoX8" role="3UnI9m">
         <property role="TrG5h" value="brake_in" />
         <node concept="2XEmfi" id="SQH6SzHGLy" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHC8S" />
+          <ref role="2XEmfl" node="SQH6SzHC8S" resolve="brake_t" />
         </node>
       </node>
       <node concept="3UnI9n" id="4tgWazNvrfM" role="3UnI90">
         <property role="TrG5h" value="braking" />
         <node concept="2XEmfi" id="SQH6SzHH_w" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHC8S" />
+          <ref role="2XEmfl" node="SQH6SzHC8S" resolve="brake_t" />
         </node>
       </node>
       <node concept="3UnI9n" id="1P9g7h7qoX_" role="3UnI90">
         <property role="TrG5h" value="brake_out" />
         <node concept="2XEmfi" id="SQH6SzHGK6" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHC8S" />
+          <ref role="2XEmfl" node="SQH6SzHC8S" resolve="brake_t" />
         </node>
       </node>
     </node>
@@ -6705,25 +6705,25 @@
       <node concept="3UnI81" id="4tgWazNvrj3" role="3UnI9m">
         <property role="TrG5h" value="push" />
         <node concept="2XEmfi" id="SQH6SzHGMg" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHCMa" />
+          <ref role="2XEmfl" node="SQH6SzHCMa" resolve="throttle_t" />
         </node>
       </node>
       <node concept="3UnI81" id="1P9g7h7qozW" role="3UnI9m">
         <property role="TrG5h" value="throttle_in" />
         <node concept="2XEmfi" id="SQH6SzHGMY" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHCMa" />
+          <ref role="2XEmfl" node="SQH6SzHCMa" resolve="throttle_t" />
         </node>
       </node>
       <node concept="3UnI9n" id="4tgWazNvrj5" role="3UnI90">
         <property role="TrG5h" value="accelerating" />
         <node concept="2XEmfi" id="SQH6SzHGNG" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHCMa" />
+          <ref role="2XEmfl" node="SQH6SzHCMa" resolve="throttle_t" />
         </node>
       </node>
       <node concept="3UnI9n" id="1P9g7h7qo$_" role="3UnI90">
         <property role="TrG5h" value="throttle_out" />
         <node concept="2XEmfi" id="SQH6SzHGOE" role="3UnI80">
-          <ref role="2XEmfl" node="SQH6SzHCMa" />
+          <ref role="2XEmfl" node="SQH6SzHCMa" resolve="throttle_t" />
         </node>
       </node>
     </node>
@@ -6761,7 +6761,7 @@
         <node concept="JlCpM" id="4lqXlWx1Z5k" role="32O2ov">
           <property role="TrG5h" value="activated" />
           <node concept="32Ogvo" id="1P9g7h7qpc9" role="1zoetD">
-            <ref role="32Ogvr" node="4lqXlWx1Z40" />
+            <ref role="32Ogvr" node="4lqXlWx1Z40" resolve="activate" />
           </node>
         </node>
         <node concept="JlCpM" id="1P9g7h7qpBi" role="32O2ov">
@@ -6772,12 +6772,12 @@
             <node concept="32OYss" id="1P9g7h7qpBj" role="d498Q">
               <node concept="2HbMbg" id="1P9g7h7qpBk" role="32OYtT">
                 <node concept="1J1L9T" id="1P9g7h7qpy5" role="2H9Iav">
-                  <ref role="1J1L9S" node="4lqXlWx1Z5k" />
+                  <ref role="1J1L9S" node="4lqXlWx1Z5k" resolve="activated" />
                 </node>
                 <node concept="32OYss" id="1P9g7h7qpBl" role="2H9Ial">
                   <node concept="nE0YL" id="1P9g7h7qpBm" role="32OYtT">
                     <node concept="32Ogvo" id="1P9g7h7qpz9" role="2H9Iav">
-                      <ref role="32Ogvr" node="4lqXlWx1Z4r" />
+                      <ref role="32Ogvr" node="4lqXlWx1Z4r" resolve="distance_front" />
                     </node>
                     <node concept="2IPVmt" id="1P9g7h7qpBn" role="2H9Ial">
                       <property role="2IPVms" value="3" />
@@ -6791,7 +6791,7 @@
         <node concept="JlCpM" id="4lqXlWx1Z7g" role="32O2ov">
           <property role="TrG5h" value="driver_takeover_request" />
           <node concept="32Ogvo" id="1P9g7h7qpcs" role="1zoetD">
-            <ref role="32Ogvr" node="4lqXlWx1Z4G" />
+            <ref role="32Ogvr" node="4lqXlWx1Z4G" resolve="alert" />
           </node>
         </node>
         <node concept="JlCpM" id="1P9g7h7qpso" role="32O2ov">
@@ -6807,24 +6807,24 @@
               <node concept="32OYss" id="1P9g7h7qpsq" role="32OYtT">
                 <node concept="2HbMbg" id="1P9g7h7qpsr" role="32OYtT">
                   <node concept="32Ogvo" id="1P9g7h7qpqZ" role="2H9Iav">
-                    <ref role="32Ogvr" node="4lqXlWx1Z40" />
+                    <ref role="32Ogvr" node="4lqXlWx1Z40" resolve="activate" />
                   </node>
                   <node concept="32OYss" id="1P9g7h7qpss" role="2H9Ial">
                     <node concept="2HbMDt" id="1P9g7h7qpst" role="32OYtT">
                       <node concept="nE0YL" id="1P9g7h7qpsu" role="2H9Iav">
                         <node concept="32Ogvo" id="1P9g7h7qpr3" role="2H9Iav">
-                          <ref role="32Ogvr" node="4lqXlWx1Z4k" />
+                          <ref role="32Ogvr" node="4lqXlWx1Z4k" resolve="current_speed" />
                         </node>
                         <node concept="32Ogvo" id="1P9g7h7qprb" role="2H9Ial">
-                          <ref role="32Ogvr" node="4lqXlWx1Z45" />
+                          <ref role="32Ogvr" node="4lqXlWx1Z45" resolve="desired_distance" />
                         </node>
                       </node>
                       <node concept="nE0YL" id="1P9g7h7qpsv" role="2H9Ial">
                         <node concept="32Ogvo" id="1P9g7h7qprf" role="2H9Iav">
-                          <ref role="32Ogvr" node="4lqXlWx1Z45" />
+                          <ref role="32Ogvr" node="4lqXlWx1Z45" resolve="desired_distance" />
                         </node>
                         <node concept="32Ogvo" id="1P9g7h7qprj" role="2H9Ial">
-                          <ref role="32Ogvr" node="4lqXlWx1Z4r" />
+                          <ref role="32Ogvr" node="4lqXlWx1Z4r" resolve="distance_front" />
                         </node>
                       </node>
                     </node>
@@ -6847,24 +6847,24 @@
               <node concept="32OYss" id="1P9g7h7qpjH" role="32OYtT">
                 <node concept="2HbMbg" id="1P9g7h7qpjI" role="32OYtT">
                   <node concept="32Ogvo" id="1P9g7h7qpm$" role="2H9Iav">
-                    <ref role="32Ogvr" node="4lqXlWx1Z40" />
+                    <ref role="32Ogvr" node="4lqXlWx1Z40" resolve="activate" />
                   </node>
                   <node concept="32OYss" id="1P9g7h7qpjJ" role="2H9Ial">
                     <node concept="2HbMDt" id="1P9g7h7qpjK" role="32OYtT">
                       <node concept="nE0YJ" id="1P9g7h7qpjL" role="2H9Iav">
                         <node concept="32Ogvo" id="1P9g7h7qpmC" role="2H9Iav">
-                          <ref role="32Ogvr" node="4lqXlWx1Z4k" />
+                          <ref role="32Ogvr" node="4lqXlWx1Z4k" resolve="current_speed" />
                         </node>
                         <node concept="32Ogvo" id="1P9g7h7qpmG" role="2H9Ial">
-                          <ref role="32Ogvr" node="4lqXlWx1Z42" />
+                          <ref role="32Ogvr" node="4lqXlWx1Z42" resolve="desired_speed" />
                         </node>
                       </node>
                       <node concept="nE0YJ" id="1P9g7h7qpjM" role="2H9Ial">
                         <node concept="32Ogvo" id="1P9g7h7qpmK" role="2H9Iav">
-                          <ref role="32Ogvr" node="4lqXlWx1Z45" />
+                          <ref role="32Ogvr" node="4lqXlWx1Z45" resolve="desired_distance" />
                         </node>
                         <node concept="32Ogvo" id="1P9g7h7qpmO" role="2H9Ial">
-                          <ref role="32Ogvr" node="4lqXlWx1Z4r" />
+                          <ref role="32Ogvr" node="4lqXlWx1Z4r" resolve="distance_front" />
                         </node>
                       </node>
                     </node>
@@ -6877,13 +6877,13 @@
         <node concept="JlCpM" id="4lqXlWx1ZoA" role="32O2ov">
           <property role="TrG5h" value="alert_signal" />
           <node concept="32Ogvo" id="1P9g7h7qpx9" role="1zoetD">
-            <ref role="32Ogvr" node="4lqXlWx1Z4G" />
+            <ref role="32Ogvr" node="4lqXlWx1Z4G" resolve="alert" />
           </node>
         </node>
         <node concept="JlCpM" id="4lqXlWx1ZrV" role="32O2ov">
           <property role="TrG5h" value="state" />
           <node concept="32Ogvo" id="1P9g7h7qpxE" role="1zoetD">
-            <ref role="32Ogvr" node="4lqXlWx1ZnS" />
+            <ref role="32Ogvr" node="4lqXlWx1ZnS" resolve="state_in" />
           </node>
         </node>
         <node concept="JlCpM" id="4lqXlWx1Zt3" role="32O2ov">
@@ -6900,11 +6900,11 @@
                 <property role="2IPVms" value="2" />
               </node>
               <node concept="1J1L9T" id="1P9g7h7qpFR" role="d498Q">
-                <ref role="1J1L9S" node="4lqXlWx1Z5k" />
+                <ref role="1J1L9S" node="4lqXlWx1Z5k" resolve="activated" />
               </node>
             </node>
             <node concept="32Ogvo" id="1P9g7h7qpEL" role="d498Q">
-              <ref role="32Ogvr" node="4lqXlWx1Z4G" />
+              <ref role="32Ogvr" node="4lqXlWx1Z4G" resolve="alert" />
             </node>
           </node>
         </node>
@@ -6946,10 +6946,10 @@
     <node concept="eml0t" id="4lqXlWx1Zcz" role="2HcuB8">
       <property role="TrG5h" value="ACC_Control_Unit_Refinement" />
       <node concept="3Ug1AZ" id="6i8f1VRY0Aw" role="eml14">
-        <ref role="3Ug1AY" node="4tgWazNvqpn" />
+        <ref role="3Ug1AY" node="4tgWazNvqpn" resolve="ACC_Control_Unit" />
       </node>
       <node concept="eml1q" id="4lqXlWx1Zdo" role="eml13">
-        <ref role="eml1l" node="4lqXlWx1Z3D" />
+        <ref role="eml1l" node="4lqXlWx1Z3D" resolve="ACC_Control_Unit_Implementation" />
       </node>
     </node>
     <node concept="2SQmWS" id="4j8iycQYp2k" role="2HcuB8" />
@@ -6962,18 +6962,18 @@
             <node concept="2HbMDt" id="4pSWRNV3xdd" role="2H9Iav">
               <node concept="2HbMDt" id="4pSWRNV3xde" role="2H9Iav">
                 <node concept="32Ogvo" id="4pSWRNV3xbn" role="2H9Iav">
-                  <ref role="32Ogvr" node="4lqXlWx1Zxg" />
+                  <ref role="32Ogvr" node="4lqXlWx1Zxg" resolve="laser1" />
                 </node>
                 <node concept="32Ogvo" id="4pSWRNV3xbZ" role="2H9Ial">
-                  <ref role="32Ogvr" node="4lqXlWx1Zz6" />
+                  <ref role="32Ogvr" node="4lqXlWx1Zz6" resolve="laser2" />
                 </node>
               </node>
               <node concept="32Ogvo" id="4pSWRNV3xcU" role="2H9Ial">
-                <ref role="32Ogvr" node="4lqXlWx1Zzd" />
+                <ref role="32Ogvr" node="4lqXlWx1Zzd" resolve="ultrasound1" />
               </node>
             </node>
             <node concept="32Ogvo" id="4pSWRNV3xdQ" role="2H9Ial">
-              <ref role="32Ogvr" node="4lqXlWx1Zzi" />
+              <ref role="32Ogvr" node="4lqXlWx1Zzi" resolve="ultrasound2" />
             </node>
           </node>
         </node>
@@ -6986,7 +6986,7 @@
         <node concept="JlCpM" id="1P9g7h7qpa3" role="32O2ov">
           <property role="TrG5h" value="alert" />
           <node concept="2He$iJ" id="4pSWRNV3xQb" role="1zoetD">
-            <ref role="2He$iI" node="4pSWRNV3xeQ" />
+            <ref role="2He$iI" node="4pSWRNV3xeQ" resolve="my_alert" />
           </node>
         </node>
       </node>
@@ -7000,13 +7000,13 @@
       <node concept="2Hfkzp" id="4pSWRNV3xfV" role="2HcbjO">
         <node concept="2HfkAV" id="4pSWRNV3xgk" role="2HfkAP">
           <node concept="2He$iJ" id="4pSWRNV3xgM" role="2He$ia">
-            <ref role="2He$iI" node="4pSWRNV3xeQ" />
+            <ref role="2He$iI" node="4pSWRNV3xeQ" resolve="my_alert" />
           </node>
           <node concept="1yCjT0" id="4pSWRNV3xh3" role="2He$i0" />
         </node>
         <node concept="2HevG6" id="4pSWRNV3xho" role="2HfkAP">
           <node concept="2He$iJ" id="4pSWRNV3xhU" role="2He$ia">
-            <ref role="2He$iI" node="4pSWRNV3xeQ" />
+            <ref role="2He$iI" node="4pSWRNV3xeQ" resolve="my_alert" />
           </node>
           <node concept="d4bQV" id="6i8f1VRYv5B" role="2He$i0">
             <node concept="1yCjRe" id="6i8f1VRYv7i" role="d498F" />
@@ -7017,7 +7017,7 @@
                   <node concept="32OYss" id="6i8f1VRYqXx" role="2H9Iav">
                     <node concept="2HbLFT" id="6i8f1VRYqXy" role="32OYtT">
                       <node concept="32Ogvo" id="6i8f1VRY8VT" role="2H9Iav">
-                        <ref role="32Ogvr" node="4lqXlWx1Zxg" />
+                        <ref role="32Ogvr" node="4lqXlWx1Zxg" resolve="laser1" />
                       </node>
                       <node concept="2IPVmt" id="6i8f1VRYqXz" role="2H9Ial">
                         <property role="2IPVms" value="0" />
@@ -7027,7 +7027,7 @@
                   <node concept="32OYss" id="6i8f1VRYqX$" role="2H9Ial">
                     <node concept="2HbLFT" id="6i8f1VRYqX_" role="32OYtT">
                       <node concept="32Ogvo" id="6i8f1VRY9$B" role="2H9Iav">
-                        <ref role="32Ogvr" node="4lqXlWx1Zz6" />
+                        <ref role="32Ogvr" node="4lqXlWx1Zz6" resolve="laser2" />
                       </node>
                       <node concept="2IPVmt" id="6i8f1VRYqXA" role="2H9Ial">
                         <property role="2IPVms" value="0" />
@@ -7038,7 +7038,7 @@
                 <node concept="32OYss" id="6i8f1VRYqXB" role="2H9Ial">
                   <node concept="2HbLFT" id="6i8f1VRYqXC" role="32OYtT">
                     <node concept="32Ogvo" id="6i8f1VRY9Gv" role="2H9Iav">
-                      <ref role="32Ogvr" node="4lqXlWx1Zzd" />
+                      <ref role="32Ogvr" node="4lqXlWx1Zzd" resolve="ultrasound1" />
                     </node>
                     <node concept="2IPVmt" id="6i8f1VRYqXD" role="2H9Ial">
                       <property role="2IPVms" value="0" />
@@ -7049,7 +7049,7 @@
               <node concept="32OYss" id="6i8f1VRYqXE" role="2H9Ial">
                 <node concept="2HbLFT" id="6i8f1VRYqXF" role="32OYtT">
                   <node concept="32Ogvo" id="6i8f1VRY9OS" role="2H9Iav">
-                    <ref role="32Ogvr" node="4lqXlWx1Zzi" />
+                    <ref role="32Ogvr" node="4lqXlWx1Zzi" resolve="ultrasound2" />
                   </node>
                   <node concept="2IPVmt" id="6i8f1VRYqXG" role="2H9Ial">
                     <property role="2IPVms" value="0" />
@@ -7080,10 +7080,10 @@
     <node concept="eml0t" id="4lqXlWx1Zy6" role="2HcuB8">
       <property role="TrG5h" value="Sensor_Voter_Refinement" />
       <node concept="3Ug1AZ" id="4lqXlWx1ZyZ" role="eml14">
-        <ref role="3Ug1AY" node="4tgWazNvrrE" />
+        <ref role="3Ug1AY" node="4tgWazNvrrE" resolve="Sensor_Voter" />
       </node>
       <node concept="eml1q" id="4lqXlWx1Zz2" role="eml13">
-        <ref role="eml1l" node="4lqXlWx1Zwl" />
+        <ref role="eml1l" node="4lqXlWx1Zwl" resolve="Sensor_Voter_Implementation" />
       </node>
     </node>
     <node concept="2SQmWS" id="4lqXlWx1ZBd" role="2HcuB8" />
@@ -7094,18 +7094,18 @@
           <property role="TrG5h" value="distance" />
           <node concept="d4bQV" id="7hUqFOkxspF" role="1zoetD">
             <node concept="hx854" id="1P9g7h7q076" role="d498F">
-              <ref role="hx9HS" node="6MaWlu$k$iO" />
+              <ref role="hx9HS" node="6MaWlu$k$iO" resolve="MAX_ULTRA" />
             </node>
             <node concept="32Ogvo" id="7hUqFOkxsqB" role="d498I">
-              <ref role="32Ogvr" node="1P9g7h7q06N" />
+              <ref role="32Ogvr" node="1P9g7h7q06N" resolve="distance_in" />
             </node>
             <node concept="32OYss" id="7hUqFOkxspu" role="d498Q">
               <node concept="nE0YJ" id="7hUqFOkxspv" role="32OYtT">
                 <node concept="32Ogvo" id="7hUqFOkxsaR" role="2H9Iav">
-                  <ref role="32Ogvr" node="1P9g7h7q06N" />
+                  <ref role="32Ogvr" node="1P9g7h7q06N" resolve="distance_in" />
                 </node>
                 <node concept="hx854" id="1P9g7h7q073" role="2H9Ial">
-                  <ref role="hx9HS" node="6MaWlu$k$iO" />
+                  <ref role="hx9HS" node="6MaWlu$k$iO" resolve="MAX_ULTRA" />
                 </node>
               </node>
             </node>
@@ -7119,10 +7119,10 @@
     <node concept="eml0t" id="4lqXlWx1ZMS" role="2HcuB8">
       <property role="TrG5h" value="Ultrasound_Sensor_Refinement" />
       <node concept="3Ug1AZ" id="4lqXlWx1ZUG" role="eml14">
-        <ref role="3Ug1AY" node="4tgWazNvqSt" />
+        <ref role="3Ug1AY" node="4tgWazNvqSt" resolve="Ultrasound_Sensor" />
       </node>
       <node concept="eml1q" id="4lqXlWx1ZUJ" role="eml13">
-        <ref role="eml1l" node="4lqXlWx1ZLA" />
+        <ref role="eml1l" node="4lqXlWx1ZLA" resolve="Ultrasound_Sensor_Implementation" />
       </node>
     </node>
     <node concept="2SQmWS" id="4lqXlWx1ZO9" role="2HcuB8" />
@@ -7134,18 +7134,18 @@
           <property role="TrG5h" value="distance" />
           <node concept="d4bQV" id="4pSWRNV3vs3" role="1zoetD">
             <node concept="hx854" id="4pSWRNV3vss" role="d498F">
-              <ref role="hx9HS" node="6MaWlu$kzVw" />
+              <ref role="hx9HS" node="6MaWlu$kzVw" resolve="MAX_LASER" />
             </node>
             <node concept="32Ogvo" id="4pSWRNV3vs5" role="d498I">
-              <ref role="32Ogvr" node="1P9g7h7q07g" />
+              <ref role="32Ogvr" node="1P9g7h7q07g" resolve="distance_in" />
             </node>
             <node concept="32OYss" id="4pSWRNV3vs6" role="d498Q">
               <node concept="nE0YJ" id="4pSWRNV3vs7" role="32OYtT">
                 <node concept="32Ogvo" id="4pSWRNV3vs8" role="2H9Iav">
-                  <ref role="32Ogvr" node="1P9g7h7q07g" />
+                  <ref role="32Ogvr" node="1P9g7h7q07g" resolve="distance_in" />
                 </node>
                 <node concept="hx854" id="4pSWRNV3vso" role="2H9Ial">
-                  <ref role="hx9HS" node="6MaWlu$kzVw" />
+                  <ref role="hx9HS" node="6MaWlu$kzVw" resolve="MAX_LASER" />
                 </node>
               </node>
             </node>
@@ -7159,10 +7159,10 @@
     <node concept="eml0t" id="4lqXlWx1ZQD" role="2HcuB8">
       <property role="TrG5h" value="Laser_Sensor_Refinement" />
       <node concept="3Ug1AZ" id="4lqXlWx1ZUM" role="eml14">
-        <ref role="3Ug1AY" node="4tgWazNvqWb" />
+        <ref role="3Ug1AY" node="4tgWazNvqWb" resolve="Laser_Sensor" />
       </node>
       <node concept="eml1q" id="4lqXlWx1ZUP" role="eml13">
-        <ref role="eml1l" node="4lqXlWx1ZQ_" />
+        <ref role="eml1l" node="4lqXlWx1ZQ_" resolve="Laser_Sensor_Implementation" />
       </node>
     </node>
     <node concept="2SQmWS" id="4lqXlWx1ZUS" role="2HcuB8" />
@@ -7177,30 +7177,30 @@
             <node concept="32OYss" id="4pSWRNV3Vv9" role="d498Q">
               <node concept="nE0YJ" id="4pSWRNV3Vva" role="32OYtT">
                 <node concept="32Ogvo" id="4pSWRNV3E8a" role="2H9Iav">
-                  <ref role="32Ogvr" node="1P9g7h7q07w" />
+                  <ref role="32Ogvr" node="1P9g7h7q07w" resolve="speed_in" />
                 </node>
                 <node concept="hx854" id="4pSWRNV3Vqk" role="2H9Ial">
-                  <ref role="hx9HS" node="4pSWRNV3PC4" />
+                  <ref role="hx9HS" node="4pSWRNV3PC4" resolve="MAX_SPEED" />
                 </node>
               </node>
             </node>
             <node concept="hx854" id="4pSWRNV3Vs6" role="d498F">
-              <ref role="hx9HS" node="4pSWRNV3PC4" />
+              <ref role="hx9HS" node="4pSWRNV3PC4" resolve="MAX_SPEED" />
             </node>
             <node concept="d4bQV" id="4pSWRNV3Vvw" role="d498I">
               <node concept="hx854" id="4pSWRNV3Vxx" role="d498F">
-                <ref role="hx9HS" node="4pSWRNV3Q7f" />
+                <ref role="hx9HS" node="4pSWRNV3Q7f" resolve="MIN_SPEED" />
               </node>
               <node concept="32Ogvo" id="4pSWRNV3VxO" role="d498I">
-                <ref role="32Ogvr" node="1P9g7h7q07w" />
+                <ref role="32Ogvr" node="1P9g7h7q07w" resolve="speed_in" />
               </node>
               <node concept="32OYss" id="4pSWRNV3Vvb" role="d498Q">
                 <node concept="nE0YL" id="4pSWRNV3Vvc" role="32OYtT">
                   <node concept="32Ogvo" id="4pSWRNV3Vsu" role="2H9Iav">
-                    <ref role="32Ogvr" node="1P9g7h7q07w" />
+                    <ref role="32Ogvr" node="1P9g7h7q07w" resolve="speed_in" />
                   </node>
                   <node concept="hx854" id="4pSWRNV3VsZ" role="2H9Ial">
-                    <ref role="hx9HS" node="4pSWRNV3Q7f" />
+                    <ref role="hx9HS" node="4pSWRNV3Q7f" resolve="MIN_SPEED" />
                   </node>
                 </node>
               </node>
@@ -7210,7 +7210,7 @@
         <node concept="JlCpM" id="6MaWlu$kFBV" role="32O2ov">
           <property role="TrG5h" value="old_speed" />
           <node concept="2He$iJ" id="4pSWRNV3N$v" role="1zoetD">
-            <ref role="2He$iI" node="4pSWRNV3JT4" />
+            <ref role="2He$iI" node="4pSWRNV3JT4" resolve="my_old_speed" />
           </node>
         </node>
       </node>
@@ -7218,14 +7218,14 @@
         <node concept="2Hdskp" id="4pSWRNV3JT4" role="2Hfkx9">
           <property role="TrG5h" value="my_old_speed" />
           <node concept="2XEmfi" id="SQH6SzHPvK" role="2HdssA">
-            <ref role="2XEmfl" node="SQH6SzHBvC" />
+            <ref role="2XEmfl" node="SQH6SzHBvC" resolve="velocity_t" />
           </node>
         </node>
       </node>
       <node concept="2Hfkzp" id="4pSWRNV3JTL" role="2HcbjO">
         <node concept="2HfkAV" id="4pSWRNV3JU2" role="2HfkAP">
           <node concept="2He$iJ" id="4pSWRNV3JUG" role="2He$ia">
-            <ref role="2He$iI" node="4pSWRNV3JT4" />
+            <ref role="2He$iI" node="4pSWRNV3JT4" resolve="my_old_speed" />
           </node>
           <node concept="2IPVmt" id="4pSWRNV3JUR" role="2He$i0">
             <property role="2IPVms" value="0" />
@@ -7233,10 +7233,10 @@
         </node>
         <node concept="2HevG6" id="4pSWRNV3JVj" role="2HfkAP">
           <node concept="2He$iJ" id="4pSWRNV3JVV" role="2He$ia">
-            <ref role="2He$iI" node="4pSWRNV3JT4" />
+            <ref role="2He$iI" node="4pSWRNV3JT4" resolve="my_old_speed" />
           </node>
           <node concept="32Ogvo" id="4pSWRNV3JWy" role="2He$i0">
-            <ref role="32Ogvr" node="1P9g7h7q07w" />
+            <ref role="32Ogvr" node="1P9g7h7q07w" resolve="speed_in" />
           </node>
         </node>
       </node>
@@ -7247,10 +7247,10 @@
     <node concept="eml0t" id="4lqXlWx204G" role="2HcuB8">
       <property role="TrG5h" value="Speed_Sensor_Refinement" />
       <node concept="3Ug1AZ" id="4lqXlWx206H" role="eml14">
-        <ref role="3Ug1AY" node="4tgWazNvr83" />
+        <ref role="3Ug1AY" node="4tgWazNvr83" resolve="Speed_Sensor" />
       </node>
       <node concept="eml1q" id="4lqXlWx204I" role="eml13">
-        <ref role="eml1l" node="4lqXlWx204C" />
+        <ref role="eml1l" node="4lqXlWx204C" resolve="Speed_Sensor_Implementation" />
       </node>
     </node>
     <node concept="2SQmWS" id="4lqXlWx204J" role="2HcuB8" />
@@ -7267,15 +7267,15 @@
             <node concept="32OYss" id="1P9g7h7q78J" role="d498Q">
               <node concept="2HbMbg" id="1P9g7h7q78K" role="32OYtT">
                 <node concept="32Ogvo" id="1P9g7h7q75E" role="2H9Iav">
-                  <ref role="32Ogvr" node="4lqXlWx20nI" />
+                  <ref role="32Ogvr" node="4lqXlWx20nI" resolve="acc_accelerate" />
                 </node>
                 <node concept="32OYss" id="1P9g7h7q78L" role="2H9Ial">
                   <node concept="nE0YI" id="1P9g7h7qaFp" role="32OYtT">
                     <node concept="32Ogvo" id="1P9g7h7q769" role="2H9Iav">
-                      <ref role="32Ogvr" node="4lqXlWx20nx" />
+                      <ref role="32Ogvr" node="4lqXlWx20nx" resolve="old_velocity" />
                     </node>
                     <node concept="32Ogvo" id="1P9g7h7q76H" role="2H9Ial">
-                      <ref role="32Ogvr" node="4lqXlWx20nz" />
+                      <ref role="32Ogvr" node="4lqXlWx20nz" resolve="velocity" />
                     </node>
                   </node>
                 </node>
@@ -7297,10 +7297,10 @@
     <node concept="eml0t" id="4lqXlWx20jO" role="2HcuB8">
       <property role="TrG5h" value="Acceleration_Monitor_Refinement" />
       <node concept="3Ug1AZ" id="4lqXlWx20m6" role="eml14">
-        <ref role="3Ug1AY" node="7qgRsCGQBfo" />
+        <ref role="3Ug1AY" node="7qgRsCGQBfo" resolve="Acceleration_Monitor" />
       </node>
       <node concept="eml1q" id="4lqXlWx20jQ" role="eml13">
-        <ref role="eml1l" node="4lqXlWx20jK" />
+        <ref role="eml1l" node="4lqXlWx20jK" resolve="Acceleration_Monitor_Implementation" />
       </node>
     </node>
     <node concept="2SQmWS" id="4lqXlWx20nM" role="2HcuB8" />
@@ -7316,15 +7316,15 @@
             <node concept="32OYss" id="1P9g7h7qaFE" role="d498Q">
               <node concept="2HbMbg" id="1P9g7h7qaFF" role="32OYtT">
                 <node concept="32Ogvo" id="1P9g7h7qaGh" role="2H9Iav">
-                  <ref role="32Ogvr" node="4lqXlWx20tT" />
+                  <ref role="32Ogvr" node="4lqXlWx20tT" resolve="acc_brake" />
                 </node>
                 <node concept="32OYss" id="1P9g7h7qaFH" role="2H9Ial">
                   <node concept="nE0YK" id="1P9g7h7qaGA" role="32OYtT">
                     <node concept="32Ogvo" id="1P9g7h7qaFJ" role="2H9Iav">
-                      <ref role="32Ogvr" node="4lqXlWx20tR" />
+                      <ref role="32Ogvr" node="4lqXlWx20tR" resolve="old_velocity" />
                     </node>
                     <node concept="32Ogvo" id="1P9g7h7qaFK" role="2H9Ial">
-                      <ref role="32Ogvr" node="4lqXlWx20tS" />
+                      <ref role="32Ogvr" node="4lqXlWx20tS" resolve="velocity" />
                     </node>
                   </node>
                 </node>
@@ -7346,10 +7346,10 @@
     <node concept="eml0t" id="4lqXlWx20tU" role="2HcuB8">
       <property role="TrG5h" value="Brake_Monitor_Refinement" />
       <node concept="3Ug1AZ" id="4lqXlWx20wg" role="eml14">
-        <ref role="3Ug1AY" node="7qgRsCGQBta" />
+        <ref role="3Ug1AY" node="7qgRsCGQBta" resolve="Brake_Monitor" />
       </node>
       <node concept="eml1q" id="4lqXlWx20tW" role="eml13">
-        <ref role="eml1l" node="4lqXlWx20tN" />
+        <ref role="eml1l" node="4lqXlWx20tN" resolve="Brake_Monitor_Implementation" />
       </node>
     </node>
     <node concept="2SQmWS" id="4lqXlWx20tX" role="2HcuB8" />
@@ -7368,25 +7368,25 @@
                 <node concept="32OYss" id="1P9g7h7qeom" role="2H9Iav">
                   <node concept="2HbMbg" id="1P9g7h7qeon" role="32OYtT">
                     <node concept="32Ogvo" id="1P9g7h7qe9$" role="2H9Iav">
-                      <ref role="32Ogvr" node="4lqXlWx20yB" />
+                      <ref role="32Ogvr" node="4lqXlWx20yB" resolve="accelerating" />
                     </node>
                     <node concept="32Ogvo" id="1P9g7h7qea5" role="2H9Ial">
-                      <ref role="32Ogvr" node="4lqXlWx20CZ" />
+                      <ref role="32Ogvr" node="4lqXlWx20CZ" resolve="braking" />
                     </node>
                   </node>
                 </node>
                 <node concept="32OYss" id="1P9g7h7qeoo" role="2H9Ial">
                   <node concept="2HbMbg" id="1P9g7h7qeop" role="32OYtT">
                     <node concept="32Ogvo" id="1P9g7h7qeaE" role="2H9Iav">
-                      <ref role="32Ogvr" node="4lqXlWx20Db" />
+                      <ref role="32Ogvr" node="4lqXlWx20Db" resolve="acc_activated" />
                     </node>
                     <node concept="32OYss" id="1P9g7h7qeoq" role="2H9Ial">
                       <node concept="nE0YL" id="1P9g7h7qeor" role="32OYtT">
                         <node concept="32Ogvo" id="1P9g7h7qebb" role="2H9Iav">
-                          <ref role="32Ogvr" node="4lqXlWx20Do" />
+                          <ref role="32Ogvr" node="4lqXlWx20Do" resolve="reference_velocity" />
                         </node>
                         <node concept="hx854" id="1P9g7h7qeb$" role="2H9Ial">
-                          <ref role="hx9HS" node="7qgRsCGQCUB" />
+                          <ref role="hx9HS" node="7qgRsCGQCUB" resolve="VELOCITY_THRESHOLD" />
                         </node>
                       </node>
                     </node>
@@ -7422,10 +7422,10 @@
     <node concept="eml0t" id="4lqXlWx20yD" role="2HcuB8">
       <property role="TrG5h" value="Velocity_Monitor_Refinement" />
       <node concept="3Ug1AZ" id="4lqXlWx20CT" role="eml14">
-        <ref role="3Ug1AY" node="7qgRsCGQBF0" />
+        <ref role="3Ug1AY" node="7qgRsCGQBF0" resolve="Velocity_Monitor" />
       </node>
       <node concept="eml1q" id="4lqXlWx20yF" role="eml13">
-        <ref role="eml1l" node="4lqXlWx20yy" />
+        <ref role="eml1l" node="4lqXlWx20yy" resolve="Velocity_Monitor_Implementation" />
       </node>
     </node>
     <node concept="2SQmWS" id="4lqXlWx20yG" role="2HcuB8" />
@@ -7442,7 +7442,7 @@
                 <node concept="32OYss" id="1P9g7h7qiP1" role="2H9Iav">
                   <node concept="2HbMbg" id="1P9g7h7qiP2" role="32OYtT">
                     <node concept="32Ogvo" id="1P9g7h7qhSv" role="2H9Iav">
-                      <ref role="32Ogvr" node="4lqXlWx20Dx" />
+                      <ref role="32Ogvr" node="4lqXlWx20Dx" resolve="acc_activated" />
                     </node>
                     <node concept="1yA0yd" id="1P9g7h7qiP3" role="2H9Ial">
                       <node concept="32OYss" id="1P9g7h7qiP4" role="32OYtT">
@@ -7450,7 +7450,7 @@
                           <node concept="2HbMbg" id="1P9g7h7qiP6" role="2H9Iav">
                             <node concept="nE0YI" id="1P9g7h7qiP7" role="2H9Iav">
                               <node concept="32Ogvo" id="1P9g7h7qhSJ" role="2H9Iav">
-                                <ref role="32Ogvr" node="4lqXlWx20Dz" />
+                                <ref role="32Ogvr" node="4lqXlWx20Dz" resolve="acc_accelerate" />
                               </node>
                               <node concept="2IPVmt" id="1P9g7h7qiP8" role="2H9Ial">
                                 <property role="2IPVms" value="0" />
@@ -7458,7 +7458,7 @@
                             </node>
                             <node concept="nE0YI" id="1P9g7h7qiP9" role="2H9Ial">
                               <node concept="32Ogvo" id="1P9g7h7qhSN" role="2H9Iav">
-                                <ref role="32Ogvr" node="4lqXlWx20DA" />
+                                <ref role="32Ogvr" node="4lqXlWx20DA" resolve="acc_brake" />
                               </node>
                               <node concept="2IPVmt" id="1P9g7h7qiPa" role="2H9Ial">
                                 <property role="2IPVms" value="0" />
@@ -7467,7 +7467,7 @@
                           </node>
                           <node concept="nE0YI" id="1P9g7h7qiPb" role="2H9Ial">
                             <node concept="32Ogvo" id="1P9g7h7qhSR" role="2H9Iav">
-                              <ref role="32Ogvr" node="4lqXlWx20DE" />
+                              <ref role="32Ogvr" node="4lqXlWx20DE" resolve="distance_front" />
                             </node>
                             <node concept="2IPVmt" id="1P9g7h7qiPc" role="2H9Ial">
                               <property role="2IPVms" value="0" />
@@ -7481,18 +7481,18 @@
                 <node concept="32OYss" id="1P9g7h7qiPd" role="2H9Ial">
                   <node concept="2HbMbg" id="1P9g7h7qiPe" role="32OYtT">
                     <node concept="32Ogvo" id="1P9g7h7qhYq" role="2H9Iav">
-                      <ref role="32Ogvr" node="4lqXlWx20Dx" />
+                      <ref role="32Ogvr" node="4lqXlWx20Dx" resolve="acc_activated" />
                     </node>
                     <node concept="nE0YK" id="1P9g7h7qiPf" role="2H9Ial">
                       <node concept="32Ogvo" id="1P9g7h7qhYu" role="2H9Iav">
-                        <ref role="32Ogvr" node="4lqXlWx20DE" />
+                        <ref role="32Ogvr" node="4lqXlWx20DE" resolve="distance_front" />
                       </node>
                       <node concept="2H9Ewv" id="1P9g7h7qiPg" role="2H9Ial">
                         <node concept="32Ogvo" id="1P9g7h7qhYy" role="2H9Iav">
-                          <ref role="32Ogvr" node="4lqXlWx20DJ" />
+                          <ref role="32Ogvr" node="4lqXlWx20DJ" resolve="current_velocity" />
                         </node>
                         <node concept="hx854" id="1P9g7h7qhYb" role="2H9Ial">
-                          <ref role="hx9HS" node="7qgRsCGUm9l" />
+                          <ref role="hx9HS" node="7qgRsCGUm9l" resolve="SAFE_DISTANCE_FACTOR" />
                         </node>
                       </node>
                     </node>
@@ -7522,10 +7522,10 @@
     <node concept="eml0t" id="4lqXlWx20A5" role="2HcuB8">
       <property role="TrG5h" value="ACC_Monitor_Refinement" />
       <node concept="3Ug1AZ" id="4lqXlWx20CQ" role="eml14">
-        <ref role="3Ug1AY" node="7qgRsCGQBSW" />
+        <ref role="3Ug1AY" node="7qgRsCGQBSW" resolve="ACC_Monitor" />
       </node>
       <node concept="eml1q" id="4lqXlWx20A7" role="eml13">
-        <ref role="eml1l" node="4lqXlWx20_Y" />
+        <ref role="eml1l" node="4lqXlWx20_Y" resolve="ACC_Monitor_Implementation" />
       </node>
     </node>
     <node concept="2SQmWS" id="4lqXlWx20A8" role="2HcuB8" />
@@ -7535,14 +7535,14 @@
         <node concept="JlCpM" id="4lqXlWx20DR" role="32O2ov">
           <property role="TrG5h" value="alert_signal" />
           <node concept="32Ogvo" id="1P9g7h7qj7U" role="1zoetD">
-            <ref role="32Ogvr" node="4lqXlWx20_U" />
+            <ref role="32Ogvr" node="4lqXlWx20_U" resolve="driver_takeover_request" />
           </node>
         </node>
         <node concept="JlCpM" id="1P9g7h7qjd4" role="32O2ov">
           <property role="TrG5h" value="display_message" />
           <node concept="d4bQV" id="1P9g7h7qjd5" role="1zoetD">
             <node concept="32Ogvo" id="1P9g7h7qj8y" role="d498Q">
-              <ref role="32Ogvr" node="4lqXlWx20_U" />
+              <ref role="32Ogvr" node="4lqXlWx20_U" resolve="driver_takeover_request" />
             </node>
             <node concept="2IPVmt" id="1P9g7h7qjd6" role="d498F">
               <property role="2IPVms" value="0" />
@@ -7557,10 +7557,10 @@
               <node concept="32OYss" id="1P9g7h7qjd7" role="d498Q">
                 <node concept="2HbLFT" id="1P9g7h7qjd8" role="32OYtT">
                   <node concept="32Ogvo" id="1P9g7h7qj9_" role="2H9Iav">
-                    <ref role="32Ogvr" node="4lqXlWx20GY" />
+                    <ref role="32Ogvr" node="4lqXlWx20GY" resolve="state_in" />
                   </node>
                   <node concept="2HeeqP" id="1P9g7h7qjas" role="2H9Ial">
-                    <ref role="2HeeqO" node="4lqXlWx1Z1B" />
+                    <ref role="2HeeqO" node="4lqXlWx1Z1B" resolve="degraded_mode" />
                   </node>
                 </node>
               </node>
@@ -7570,7 +7570,7 @@
         <node concept="JlCpM" id="4lqXlWx20IE" role="32O2ov">
           <property role="TrG5h" value="state" />
           <node concept="32Ogvo" id="1P9g7h7qj7l" role="1zoetD">
-            <ref role="32Ogvr" node="4lqXlWx20GY" />
+            <ref role="32Ogvr" node="4lqXlWx20GY" resolve="state_in" />
           </node>
         </node>
       </node>
@@ -7584,10 +7584,10 @@
     <node concept="eml0t" id="4lqXlWx20DU" role="2HcuB8">
       <property role="TrG5h" value="ACC_Communication_Control_Unit_Refinement" />
       <node concept="3Ug1AZ" id="4lqXlWx20GS" role="eml14">
-        <ref role="3Ug1AY" node="16Ng_xNT8KQ" />
+        <ref role="3Ug1AY" node="16Ng_xNT8KQ" resolve="ACC_Communication_Control_Unit" />
       </node>
       <node concept="eml1q" id="4lqXlWx20DV" role="eml13">
-        <ref role="eml1l" node="4lqXlWx20DP" />
+        <ref role="eml1l" node="4lqXlWx20DP" resolve="ACC_Communication_Control_Unit_Implementation" />
       </node>
     </node>
     <node concept="2SQmWS" id="4lqXlWx20DW" role="2HcuB8" />
@@ -7597,19 +7597,19 @@
         <node concept="JlCpM" id="4lqXlWx20JC" role="32O2ov">
           <property role="TrG5h" value="activate" />
           <node concept="32Ogvo" id="1P9g7h7qj_T" role="1zoetD">
-            <ref role="32Ogvr" node="1P9g7h7qj_t" />
+            <ref role="32Ogvr" node="1P9g7h7qj_t" resolve="activate_in" />
           </node>
         </node>
         <node concept="JlCpM" id="4lqXlWx20NA" role="32O2ov">
           <property role="TrG5h" value="desired_speed" />
           <node concept="32Ogvo" id="1P9g7h7qjB1" role="1zoetD">
-            <ref role="32Ogvr" node="1P9g7h7qj_o" />
+            <ref role="32Ogvr" node="1P9g7h7qj_o" resolve="desired_speed_in" />
           </node>
         </node>
         <node concept="JlCpM" id="4lqXlWx20OO" role="32O2ov">
           <property role="TrG5h" value="desired_distance" />
           <node concept="32Ogvo" id="1P9g7h7qjCc" role="1zoetD">
-            <ref role="32Ogvr" node="1P9g7h7qj_q" />
+            <ref role="32Ogvr" node="1P9g7h7qj_q" resolve="desired_distance_in" />
           </node>
         </node>
       </node>
@@ -7626,10 +7626,10 @@
     <node concept="eml0t" id="4lqXlWx20JG" role="2HcuB8">
       <property role="TrG5h" value="ACC_User_Interface_Refinement" />
       <node concept="3Ug1AZ" id="4lqXlWx20MV" role="eml14">
-        <ref role="3Ug1AY" node="16Ng_xNT8tc" />
+        <ref role="3Ug1AY" node="16Ng_xNT8tc" resolve="ACC_User_Interface" />
       </node>
       <node concept="eml1q" id="4lqXlWx20JH" role="eml13">
-        <ref role="eml1l" node="4lqXlWx20JA" />
+        <ref role="eml1l" node="4lqXlWx20JA" resolve="ACC_User_Interface_Implementation" />
       </node>
     </node>
     <node concept="2SQmWS" id="4lqXlWx20JI" role="2HcuB8" />
@@ -7645,7 +7645,7 @@
             <node concept="32OYss" id="1P9g7h7qp91" role="d498Q">
               <node concept="nE0YJ" id="1P9g7h7qp92" role="32OYtT">
                 <node concept="32Ogvo" id="1P9g7h7qp9H" role="2H9Iav">
-                  <ref role="32Ogvr" node="1P9g7h7qp8w" />
+                  <ref role="32Ogvr" node="1P9g7h7qp8w" resolve="brake_in" />
                 </node>
                 <node concept="2IPVmt" id="1P9g7h7qp94" role="2H9Ial">
                   <property role="2IPVms" value="0" />
@@ -7657,7 +7657,7 @@
         <node concept="JlCpM" id="1P9g7h7qp8B" role="32O2ov">
           <property role="TrG5h" value="brake_out" />
           <node concept="32Ogvo" id="1P9g7h7qp9S" role="1zoetD">
-            <ref role="32Ogvr" node="4lqXlWx1ZXD" />
+            <ref role="32Ogvr" node="4lqXlWx1ZXD" resolve="push" />
           </node>
         </node>
       </node>
@@ -7671,10 +7671,10 @@
     <node concept="eml0t" id="4lqXlWx1ZXE" role="2HcuB8">
       <property role="TrG5h" value="Brake_Refinement" />
       <node concept="3Ug1AZ" id="4lqXlWx21gW" role="eml14">
-        <ref role="3Ug1AY" node="4tgWazNvrdx" />
+        <ref role="3Ug1AY" node="4tgWazNvrdx" resolve="Brake" />
       </node>
       <node concept="eml1q" id="4lqXlWx21gZ" role="eml13">
-        <ref role="eml1l" node="4lqXlWx1ZXA" />
+        <ref role="eml1l" node="4lqXlWx1ZXA" resolve="Brake_Interface" />
       </node>
     </node>
     <node concept="2SQmWS" id="4lqXlWx1ZWe" role="2HcuB8" />
@@ -7690,7 +7690,7 @@
             <node concept="32OYss" id="1P9g7h7qoCk" role="d498Q">
               <node concept="nE0YJ" id="1P9g7h7qoCl" role="32OYtT">
                 <node concept="32Ogvo" id="1P9g7h7qoAH" role="2H9Iav">
-                  <ref role="32Ogvr" node="1P9g7h7qo$U" />
+                  <ref role="32Ogvr" node="1P9g7h7qo$U" resolve="throttle_in" />
                 </node>
                 <node concept="2IPVmt" id="1P9g7h7qoCm" role="2H9Ial">
                   <property role="2IPVms" value="0" />
@@ -7702,7 +7702,7 @@
         <node concept="JlCpM" id="1P9g7h7qo_A" role="32O2ov">
           <property role="TrG5h" value="throttle_out" />
           <node concept="32Ogvo" id="1P9g7h7qoAf" role="1zoetD">
-            <ref role="32Ogvr" node="4lqXlWx21is" />
+            <ref role="32Ogvr" node="4lqXlWx21is" resolve="push" />
           </node>
         </node>
       </node>
@@ -7716,10 +7716,10 @@
     <node concept="eml0t" id="4lqXlWx21it" role="2HcuB8">
       <property role="TrG5h" value="Gas_Pedal_Refinement" />
       <node concept="3Ug1AZ" id="4lqXlWx21lH" role="eml14">
-        <ref role="3Ug1AY" node="4tgWazNvrj2" />
+        <ref role="3Ug1AY" node="4tgWazNvrj2" resolve="Gas_Pedal" />
       </node>
       <node concept="eml1q" id="4lqXlWx21iv" role="eml13">
-        <ref role="eml1l" node="4lqXlWx21io" />
+        <ref role="eml1l" node="4lqXlWx21io" resolve="Gas_Pedal_Interface" />
       </node>
     </node>
     <node concept="2SQmWS" id="4lqXlWx21iw" role="2HcuB8" />
@@ -10222,7 +10222,7 @@
       <node concept="19SGf9" id="36EUxMsBWrn" role="2vnaTZ">
         <node concept="19SUe$" id="36EUxMsBWr$" role="19SJt6" />
         <node concept="oXkut" id="36EUxMsBWrz" role="19SJt6">
-          <ref role="oTdVe" node="G$XGFsgYdQ" />
+          <ref role="oTdVe" node="G$XGFsgYdQ" resolve="_101_acc_hazards_list" />
         </node>
         <node concept="19SUe$" id="36EUxMsBWr_" role="19SJt6" />
       </node>
@@ -10250,7 +10250,7 @@
           <property role="19SUeA" value="Residual risk for " />
         </node>
         <node concept="oY6sn" id="55oVyA0mTdg" role="19SJt6">
-          <ref role="oTUVg" node="2vEFX4zmTr$" />
+          <ref role="oTUVg" node="2vEFX4zmTr$" resolve="Ego vehicle does not maintain safe distance from leader vehicle" />
         </node>
         <node concept="19SUe$" id="55oVyA0mTdh" role="19SJt6">
           <property role="19SUeA" value=" acceptable " />
@@ -10258,8 +10258,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="36EUxMsBWKO" role="2vhqc$">
-      <ref role="3VeSjP" node="36EUxMsBWy1" />
-      <ref role="3VeSjQ" node="36EUxMsBWI$" />
+      <ref role="3VeSjP" node="36EUxMsBWy1" resolve="S1_Functional_Safety" />
+      <ref role="3VeSjQ" node="36EUxMsBWI$" resolve="G5_crash_into_lead_car" />
     </node>
     <node concept="2vn7WC" id="36EUxMsBWWO" role="2vn1q5">
       <property role="TrG5h" value="G9_safe_dist_violated" />
@@ -10268,7 +10268,7 @@
           <property role="19SUeA" value="Residual risk for " />
         </node>
         <node concept="oY6sn" id="55oVyA0mTco" role="19SJt6">
-          <ref role="oTUVg" node="2vEFX4zmTr$" />
+          <ref role="oTUVg" node="2vEFX4zmTr$" resolve="Ego vehicle does not maintain safe distance from leader vehicle" />
         </node>
         <node concept="19SUe$" id="55oVyA0mTcp" role="19SJt6">
           <property role="19SUeA" value=" acceptable " />
@@ -10276,12 +10276,12 @@
       </node>
     </node>
     <node concept="3VeUTF" id="36EUxMsBWZS" role="2vhqc$">
-      <ref role="3VeSjP" node="36EUxMsBWy1" />
-      <ref role="3VeSjQ" node="36EUxMsBWWO" />
+      <ref role="3VeSjP" node="36EUxMsBWy1" resolve="S1_Functional_Safety" />
+      <ref role="3VeSjQ" node="36EUxMsBWWO" resolve="G9_safe_dist_violated" />
     </node>
     <node concept="3VeUTF" id="36EUxMsBXwU" role="2vhqc$">
-      <ref role="3VeSjP" node="36EUxMsBWpw" />
-      <ref role="3VeSjQ" node="36EUxMsBWy1" />
+      <ref role="3VeSjP" node="36EUxMsBWpw" resolve="G1_Risk_Management" />
+      <ref role="3VeSjQ" node="36EUxMsBWy1" resolve="S1_Functional_Safety" />
     </node>
     <node concept="2vmxQI" id="36EUxMsBXJl" role="2vn1q5">
       <property role="TrG5h" value="S2_Driver_Takeover" />
@@ -10364,28 +10364,28 @@
       </node>
     </node>
     <node concept="3VeUTF" id="36EUxMsBYX7" role="2vhqc$">
-      <ref role="3VeSjP" node="36EUxMsBWI$" />
-      <ref role="3VeSjQ" node="36EUxMsBXJl" />
+      <ref role="3VeSjP" node="36EUxMsBWI$" resolve="G5_crash_into_lead_car" />
+      <ref role="3VeSjQ" node="36EUxMsBXJl" resolve="S2_Driver_Takeover" />
     </node>
     <node concept="3VeUTF" id="36EUxMsBZ9C" role="2vhqc$">
-      <ref role="3VeSjP" node="36EUxMsBWWO" />
-      <ref role="3VeSjQ" node="36EUxMsBXSw" />
+      <ref role="3VeSjP" node="36EUxMsBWWO" resolve="G9_safe_dist_violated" />
+      <ref role="3VeSjQ" node="36EUxMsBXSw" resolve="S1_Mitigate" />
     </node>
     <node concept="2vhqFZ" id="36EUxMsC2gW" role="2vhqc$">
-      <ref role="3VeSjP" node="36EUxMsBXJl" />
-      <ref role="3VeSjQ" node="36EUxMsBYqk" />
+      <ref role="3VeSjP" node="36EUxMsBXJl" resolve="S2_Driver_Takeover" />
+      <ref role="3VeSjQ" node="36EUxMsBYqk" resolve="C4" />
     </node>
     <node concept="2vhqFZ" id="36EUxMsC2Kj" role="2vhqc$">
-      <ref role="3VeSjP" node="36EUxMsBWpw" />
-      <ref role="3VeSjQ" node="36EUxMsBWr7" />
+      <ref role="3VeSjP" node="36EUxMsBWpw" resolve="G1_Risk_Management" />
+      <ref role="3VeSjQ" node="36EUxMsBWr7" resolve="C2_Hazards" />
     </node>
     <node concept="2vhqFZ" id="36EUxMsC2L0" role="2vhqc$">
-      <ref role="3VeSjP" node="36EUxMsBWpw" />
-      <ref role="3VeSjQ" node="36EUxMsBWsg" />
+      <ref role="3VeSjP" node="36EUxMsBWpw" resolve="G1_Risk_Management" />
+      <ref role="3VeSjQ" node="36EUxMsBWsg" resolve="C1_Item_Definition" />
     </node>
     <node concept="2vhqFZ" id="36EUxMsC3uo" role="2vhqc$">
-      <ref role="3VeSjP" node="36EUxMsBXJl" />
-      <ref role="3VeSjQ" node="36EUxMsBYMN" />
+      <ref role="3VeSjP" node="36EUxMsBXJl" resolve="S2_Driver_Takeover" />
+      <ref role="3VeSjQ" node="36EUxMsBYMN" resolve="C8_SG_Detect_Lead_Vehicle" />
     </node>
     <node concept="2vn7WC" id="36EUxMsC4OK" role="2vn1q5">
       <property role="TrG5h" value="G14_Actors" />
@@ -10420,24 +10420,24 @@
       </node>
     </node>
     <node concept="3VeUTF" id="36EUxMsC5ng" role="2vhqc$">
-      <ref role="3VeSjP" node="36EUxMsC4QA" />
-      <ref role="3VeSjQ" node="36EUxMsC5aF" />
+      <ref role="3VeSjP" node="36EUxMsC4QA" resolve="G13_Sensors" />
+      <ref role="3VeSjQ" node="36EUxMsC5aF" resolve="Sol_2_Redundancy" />
     </node>
     <node concept="3VeUTF" id="36EUxMsC5xq" role="2vhqc$">
-      <ref role="3VeSjP" node="36EUxMsBXSw" />
-      <ref role="3VeSjQ" node="36EUxMsC4QA" />
+      <ref role="3VeSjP" node="36EUxMsBXSw" resolve="S1_Mitigate" />
+      <ref role="3VeSjQ" node="36EUxMsC4QA" resolve="G13_Sensors" />
     </node>
     <node concept="3VeUTF" id="36EUxMsC5Gw" role="2vhqc$">
-      <ref role="3VeSjP" node="36EUxMsBXSw" />
-      <ref role="3VeSjQ" node="36EUxMsC4OK" />
+      <ref role="3VeSjP" node="36EUxMsBXSw" resolve="S1_Mitigate" />
+      <ref role="3VeSjQ" node="36EUxMsC4OK" resolve="G14_Actors" />
     </node>
     <node concept="2vhqFZ" id="36EUxMsC5St" role="2vhqc$">
-      <ref role="3VeSjP" node="36EUxMsBXSw" />
-      <ref role="3VeSjQ" node="36EUxMsBYoU" />
+      <ref role="3VeSjP" node="36EUxMsBXSw" resolve="S1_Mitigate" />
+      <ref role="3VeSjQ" node="36EUxMsBYoU" resolve="C3" />
     </node>
     <node concept="2vhqFZ" id="36EUxMsC6io" role="2vhqc$">
-      <ref role="3VeSjP" node="36EUxMsBXSw" />
-      <ref role="3VeSjQ" node="36EUxMsBYGD" />
+      <ref role="3VeSjP" node="36EUxMsBXSw" resolve="S1_Mitigate" />
+      <ref role="3VeSjQ" node="36EUxMsBYGD" resolve="C6_SG_Safe_Distance" />
     </node>
     <node concept="2vmhmH" id="36EUxMsC6tU" role="2vn1q5">
       <property role="TrG5h" value="Sol_3_Monitor" />
@@ -10470,12 +10470,12 @@
       </node>
     </node>
     <node concept="3VeUTF" id="36EUxMsC6Kg" role="2vhqc$">
-      <ref role="3VeSjP" node="36EUxMsC4OK" />
-      <ref role="3VeSjQ" node="36EUxMsC6tU" />
+      <ref role="3VeSjP" node="36EUxMsC4OK" resolve="G14_Actors" />
+      <ref role="3VeSjQ" node="36EUxMsC6tU" resolve="Sol_3_Monitor" />
     </node>
     <node concept="2vhqFZ" id="36EUxMsC82S" role="2vhqc$">
-      <ref role="3VeSjP" node="36EUxMsBXJl" />
-      <ref role="3VeSjQ" node="36EUxMsBYIa" />
+      <ref role="3VeSjP" node="36EUxMsBXJl" resolve="S2_Driver_Takeover" />
+      <ref role="3VeSjQ" node="36EUxMsBYIa" resolve="C7_SG_System_Driver_Communication" />
     </node>
     <node concept="2vmxSQ" id="36EUxMsC9dQ" role="2vn1q5">
       <property role="TrG5h" value="C7_Safe_State" />
@@ -10486,8 +10486,8 @@
       </node>
     </node>
     <node concept="2vhqFZ" id="36EUxMsC9qK" role="2vhqc$">
-      <ref role="3VeSjP" node="36EUxMsBXJl" />
-      <ref role="3VeSjQ" node="36EUxMsC9dQ" />
+      <ref role="3VeSjP" node="36EUxMsBXJl" resolve="S2_Driver_Takeover" />
+      <ref role="3VeSjQ" node="36EUxMsC9dQ" resolve="C7_Safe_State" />
     </node>
     <node concept="2XiGWt" id="36EUxMsC9BD" role="2vn1q5">
       <property role="TrG5h" value="A1_Driver_present" />
@@ -10498,8 +10498,8 @@
       </node>
     </node>
     <node concept="2vhqFZ" id="36EUxMsC9Pd" role="2vhqc$">
-      <ref role="3VeSjP" node="36EUxMsBXJl" />
-      <ref role="3VeSjQ" node="36EUxMsC9BD" />
+      <ref role="3VeSjP" node="36EUxMsBXJl" resolve="S2_Driver_Takeover" />
+      <ref role="3VeSjQ" node="36EUxMsC9BD" resolve="A1_Driver_present" />
     </node>
     <node concept="2vn7WC" id="36EUxMsCa6P" role="2vn1q5">
       <property role="TrG5h" value="G15_Visual_Alert" />
@@ -10546,20 +10546,20 @@
       </node>
     </node>
     <node concept="3VeUTF" id="36EUxMsCb3B" role="2vhqc$">
-      <ref role="3VeSjP" node="36EUxMsBXJl" />
-      <ref role="3VeSjQ" node="36EUxMsCa6P" />
+      <ref role="3VeSjP" node="36EUxMsBXJl" resolve="S2_Driver_Takeover" />
+      <ref role="3VeSjQ" node="36EUxMsCa6P" resolve="G15_Visual_Alert" />
     </node>
     <node concept="3VeUTF" id="36EUxMsCb4n" role="2vhqc$">
-      <ref role="3VeSjP" node="36EUxMsBXJl" />
-      <ref role="3VeSjQ" node="36EUxMsCa99" />
+      <ref role="3VeSjP" node="36EUxMsBXJl" resolve="S2_Driver_Takeover" />
+      <ref role="3VeSjQ" node="36EUxMsCa99" resolve="G16_Aural_Alert" />
     </node>
     <node concept="3VeUTF" id="36EUxMsCbRn" role="2vhqc$">
-      <ref role="3VeSjP" node="36EUxMsCa6P" />
-      <ref role="3VeSjQ" node="36EUxMsCaD$" />
+      <ref role="3VeSjP" node="36EUxMsCa6P" resolve="G15_Visual_Alert" />
+      <ref role="3VeSjQ" node="36EUxMsCaD$" resolve="Sol_4_Visual_Alert" />
     </node>
     <node concept="3VeUTF" id="36EUxMsCc3k" role="2vhqc$">
-      <ref role="3VeSjP" node="36EUxMsCa99" />
-      <ref role="3VeSjQ" node="36EUxMsCaG2" />
+      <ref role="3VeSjP" node="36EUxMsCa99" resolve="G16_Aural_Alert" />
+      <ref role="3VeSjQ" node="36EUxMsCaG2" resolve="Sol_5_Aural_Alert" />
     </node>
     <node concept="2vmxSQ" id="699Xu0c4xF$" role="2vn1q5">
       <property role="TrG5h" value="C9_ISO_26262" />
@@ -10570,8 +10570,8 @@
       </node>
     </node>
     <node concept="2vhqFZ" id="699Xu0c4xTU" role="2vhqc$">
-      <ref role="3VeSjP" node="36EUxMsBWy1" />
-      <ref role="3VeSjQ" node="699Xu0c4xF$" />
+      <ref role="3VeSjP" node="36EUxMsBWy1" resolve="S1_Functional_Safety" />
+      <ref role="3VeSjQ" node="699Xu0c4xF$" resolve="C9_ISO_26262" />
     </node>
   </node>
   <node concept="3ZpnD6" id="2vEFX4zn0Bc">
@@ -10579,7 +10579,7 @@
     <property role="TrG5h" value="_105_acc_stpa_loss_scenarios" />
     <node concept="3ZpnCB" id="2vEFX4zn0Be" role="3ZpnDU">
       <property role="TrG5h" value="LS01" />
-      <ref role="3ZpnDr" node="2vEFX4zn0B4" />
+      <ref role="3ZpnDr" node="2vEFX4zn0B4" resolve="UCA_ACC_11" />
       <node concept="19SGf9" id="2vEFX4zn0Bg" role="2vnaTY">
         <node concept="19SUe$" id="2vEFX4zn0Bh" role="19SJt6">
           <property role="19SUeA" value="&quot;ACC Control Unit&quot; receives incorrect feedback from &#10;Ultrasound Sensor. Consequently, the vehicle in front&#10;is not detected and thus braking is not initiated &#10;when it should be." />
@@ -11026,36 +11026,36 @@
       </node>
     </node>
     <node concept="3VeUTF" id="2vEFX4zn1S$" role="2vhqc$">
-      <ref role="3VeSjP" node="2vEFX4zn0BM" />
-      <ref role="3VeSjQ" node="2vEFX4zn1R6" />
+      <ref role="3VeSjP" node="2vEFX4zn0BM" resolve="G01" />
+      <ref role="3VeSjQ" node="2vEFX4zn1R6" resolve="Str02.1" />
     </node>
     <node concept="3VeUTF" id="2vEFX4zn1TK" role="2vhqc$">
-      <ref role="3VeSjP" node="2vEFX4zn1R6" />
-      <ref role="3VeSjQ" node="2vEFX4zn0C$" />
+      <ref role="3VeSjP" node="2vEFX4zn1R6" resolve="Str02.1" />
+      <ref role="3VeSjQ" node="2vEFX4zn0C$" resolve="G03.1" />
     </node>
     <node concept="3VeUTF" id="2vEFX4zn1UN" role="2vhqc$">
-      <ref role="3VeSjP" node="2vEFX4zn1R6" />
-      <ref role="3VeSjQ" node="2vEFX4zn0Ch" />
+      <ref role="3VeSjP" node="2vEFX4zn1R6" resolve="Str02.1" />
+      <ref role="3VeSjQ" node="2vEFX4zn0Ch" resolve="G03.2" />
     </node>
     <node concept="3VeUTF" id="2vEFX4zn1W5" role="2vhqc$">
-      <ref role="3VeSjP" node="2vEFX4zn1R6" />
-      <ref role="3VeSjQ" node="2vEFX4zn0CZ" />
+      <ref role="3VeSjP" node="2vEFX4zn1R6" resolve="Str02.1" />
+      <ref role="3VeSjQ" node="2vEFX4zn0CZ" resolve="G03.3" />
     </node>
     <node concept="3VeUTF" id="2vEFX4zn1Wo" role="2vhqc$">
-      <ref role="3VeSjP" node="2vEFX4zn1R6" />
-      <ref role="3VeSjQ" node="2vEFX4zn0Dv" />
+      <ref role="3VeSjP" node="2vEFX4zn1R6" resolve="Str02.1" />
+      <ref role="3VeSjQ" node="2vEFX4zn0Dv" resolve="G03.4" />
     </node>
     <node concept="3VeUTF" id="2vEFX4zn26p" role="2vhqc$">
-      <ref role="3VeSjP" node="2vEFX4zn0Ch" />
-      <ref role="3VeSjQ" node="2vEFX4zn0EI" />
+      <ref role="3VeSjP" node="2vEFX4zn0Ch" resolve="G03.2" />
+      <ref role="3VeSjQ" node="2vEFX4zn0EI" resolve="Str04.2xxx" />
     </node>
     <node concept="3VeUTF" id="2vEFX4zn291" role="2vhqc$">
-      <ref role="3VeSjP" node="2vEFX4zn0EI" />
-      <ref role="3VeSjQ" node="2vEFX4zn0I8" />
+      <ref role="3VeSjP" node="2vEFX4zn0EI" resolve="Str04.2xxx" />
+      <ref role="3VeSjQ" node="2vEFX4zn0I8" resolve="G05.3" />
     </node>
     <node concept="3VeUTF" id="2vEFX4zn2aT" role="2vhqc$">
-      <ref role="3VeSjP" node="2vEFX4zn0EI" />
-      <ref role="3VeSjQ" node="2vEFX4zn0Ha" />
+      <ref role="3VeSjP" node="2vEFX4zn0EI" resolve="Str04.2xxx" />
+      <ref role="3VeSjQ" node="2vEFX4zn0Ha" resolve="G05.2" />
     </node>
     <node concept="2vmxQI" id="2vEFX4zn2gG" role="2vn1q5">
       <property role="TrG5h" value="Str04.1" />
@@ -11066,12 +11066,12 @@
       </node>
     </node>
     <node concept="3VeUTF" id="2vEFX4zn2iX" role="2vhqc$">
-      <ref role="3VeSjP" node="2vEFX4zn2gG" />
-      <ref role="3VeSjQ" node="2vEFX4zn0E4" />
+      <ref role="3VeSjP" node="2vEFX4zn2gG" resolve="Str04.1" />
+      <ref role="3VeSjQ" node="2vEFX4zn0E4" resolve="G05.1" />
     </node>
     <node concept="3VeUTF" id="2vEFX4zn2lm" role="2vhqc$">
-      <ref role="3VeSjP" node="2vEFX4zn0Ch" />
-      <ref role="3VeSjQ" node="2vEFX4zn2gG" />
+      <ref role="3VeSjP" node="2vEFX4zn0Ch" resolve="G03.2" />
+      <ref role="3VeSjQ" node="2vEFX4zn2gG" resolve="Str04.1" />
     </node>
   </node>
   <node concept="3h3iLa" id="55oVyA0mSP4">
diff --git a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._020_adas_students_lab._030_safe_emergency_break.mps b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._020_adas_students_lab._030_safe_emergency_break.mps
index b01f49556..3dd1902d2 100644
--- a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._020_adas_students_lab._030_safe_emergency_break.mps
+++ b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._020_adas_students_lab._030_safe_emergency_break.mps
@@ -563,61 +563,61 @@
     <node concept="1a6Z8w" id="G$XGFsgYdV" role="8gIbH">
       <property role="0lsPB" value="H01" />
       <property role="TrG5h" value="Warning issued too late - ASIL QM" />
-      <ref role="2HxXJk" node="G$XGFsgYc9" />
+      <ref role="2HxXJk" node="G$XGFsgYc9" resolve="Loss of life or injury to people" />
       <node concept="3h3uym" id="75La0fJz0jj" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNL5/E2" />
-        <ref role="3h3iM1" node="75La0fJyZ19" />
+        <ref role="3h3iM1" node="75La0fJyZ19" resolve="EB_OS_001" />
       </node>
     </node>
     <node concept="1a6Z8w" id="3XLpsf2__9h" role="8gIbH">
       <property role="0lsPB" value="H02" />
       <property role="TrG5h" value="Braking initiated too late - ASIL A" />
-      <ref role="2HxXJk" node="G$XGFsgYc9" />
+      <ref role="2HxXJk" node="G$XGFsgYc9" resolve="Loss of life or injury to people" />
       <node concept="3h3uym" id="75La0fJz0jm" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNL5/E2" />
         <property role="3h3uzD" value="24PsEXFbNKQ/S2" />
         <property role="3h3uzF" value="24PsEXFbNLt/C3" />
-        <ref role="3h3iM1" node="75La0fJyZ19" />
+        <ref role="3h3iM1" node="75La0fJyZ19" resolve="EB_OS_001" />
       </node>
     </node>
     <node concept="1a6Z8w" id="3XLpsf2__9p" role="8gIbH">
       <property role="0lsPB" value="H03" />
       <property role="TrG5h" value="Car crashes into obstacle - ASIL B" />
-      <ref role="2HxXJk" node="G$XGFsgYc9" />
+      <ref role="2HxXJk" node="G$XGFsgYc9" resolve="Loss of life or injury to people" />
       <node concept="3h3uym" id="75La0fJz0jp" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNL5/E2" />
         <property role="3h3uzD" value="24PsEXFbNKU/S3" />
         <property role="3h3uzF" value="24PsEXFbNLt/C3" />
-        <ref role="3h3iM1" node="75La0fJyZ19" />
+        <ref role="3h3iM1" node="75La0fJyZ19" resolve="EB_OS_001" />
       </node>
     </node>
     <node concept="1a6Z8w" id="3XLpsf2__9z" role="8gIbH">
       <property role="0lsPB" value="H04" />
       <property role="TrG5h" value="Unnecessary warning - ASIL QM" />
-      <ref role="2HxXJk" node="G$XGFsgYcm" />
+      <ref role="2HxXJk" node="G$XGFsgYcm" resolve="Loss of customer satisfaction" />
       <node concept="3h3uym" id="75La0fJz0jJ" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNL9/E3" />
-        <ref role="3h3iM1" node="75La0fJz0jA" />
+        <ref role="3h3iM1" node="75La0fJz0jA" resolve="EB_OS_002" />
       </node>
     </node>
     <node concept="1a6Z8w" id="3XLpsf2__9J" role="8gIbH">
       <property role="0lsPB" value="H05" />
       <property role="TrG5h" value="Unnecessary braking - ASIL QM" />
-      <ref role="2HxXJk" node="G$XGFsgYcm" />
+      <ref role="2HxXJk" node="G$XGFsgYcm" resolve="Loss of customer satisfaction" />
       <node concept="3h3uym" id="75La0fJz0jM" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNL9/E3" />
-        <ref role="3h3iM1" node="75La0fJz0jA" />
+        <ref role="3h3iM1" node="75La0fJz0jA" resolve="EB_OS_002" />
       </node>
     </node>
     <node concept="1a6Z8w" id="3XLpsf2__9X" role="8gIbH">
       <property role="0lsPB" value="H06" />
       <property role="TrG5h" value="Strong breaking leads to rear end collision - ASIL A" />
-      <ref role="2HxXJk" node="G$XGFsgYc9" />
+      <ref role="2HxXJk" node="G$XGFsgYc9" resolve="Loss of life or injury to people" />
       <node concept="3h3uym" id="75La0fJz0js" role="3h3uzw">
         <property role="3h3uzC" value="24PsEXFbNL5/E2" />
         <property role="3h3uzD" value="24PsEXFbNKQ/S2" />
         <property role="3h3uzF" value="24PsEXFbNLt/C3" />
-        <ref role="3h3iM1" node="75La0fJyZ19" />
+        <ref role="3h3iM1" node="75La0fJyZ19" resolve="EB_OS_001" />
       </node>
     </node>
   </node>
@@ -2010,15 +2010,15 @@
     <node concept="1XyJaU" id="3XLpsf2__c9" role="1X_0GB">
       <property role="TrG5h" value="EB Control Unit" />
       <node concept="1XypPU" id="3XLpsf2_A_4" role="2I3o71">
-        <ref role="SrP08" node="3XLpsf2__c9" />
-        <ref role="SrP07" node="3XLpsf2__gX" />
+        <ref role="SrP08" node="3XLpsf2__c9" resolve="EB Control Unit" />
+        <ref role="SrP07" node="3XLpsf2__gX" resolve="Brake" />
         <node concept="Sqzvu" id="3XLpsf2_A_5" role="Sq$B$">
           <property role="TrG5h" value="control break" />
         </node>
       </node>
       <node concept="Sq$B_" id="3XLpsf2_ALC" role="2I3o71">
-        <ref role="SrP08" node="3XLpsf2__c9" />
-        <ref role="SrP07" node="3XLpsf2__Nb" />
+        <ref role="SrP08" node="3XLpsf2__c9" resolve="EB Control Unit" />
+        <ref role="SrP07" node="3XLpsf2__Nb" resolve="Communication Unit" />
         <node concept="Sqzvu" id="3XLpsf2_ALD" role="Sq$B$">
           <property role="TrG5h" value="warning" />
         </node>
@@ -2027,8 +2027,8 @@
     <node concept="1XyJaU" id="3XLpsf2__gX" role="1X_0GB">
       <property role="TrG5h" value="Brake" />
       <node concept="Sq$B_" id="3XLpsf2_AFd" role="2I3o71">
-        <ref role="SrP08" node="3XLpsf2__gX" />
-        <ref role="SrP07" node="3XLpsf2__c9" />
+        <ref role="SrP08" node="3XLpsf2__gX" resolve="Brake" />
+        <ref role="SrP07" node="3XLpsf2__c9" resolve="EB Control Unit" />
         <node concept="Sqzvu" id="3XLpsf2_AFe" role="Sq$B$">
           <property role="TrG5h" value="manual driver input" />
         </node>
@@ -2037,15 +2037,15 @@
     <node concept="1XyJaU" id="3XLpsf2__h3" role="1X_0GB">
       <property role="TrG5h" value="Environment" />
       <node concept="Sq$B_" id="3XLpsf2_AdE" role="2I3o71">
-        <ref role="SrP08" node="3XLpsf2__h3" />
-        <ref role="SrP07" node="3XLpsf2__qB" />
+        <ref role="SrP08" node="3XLpsf2__h3" resolve="Environment" />
+        <ref role="SrP07" node="3XLpsf2__qB" resolve="Laser Sensor" />
         <node concept="Sqzvu" id="3XLpsf2_AdF" role="Sq$B$">
           <property role="TrG5h" value="Observation" />
         </node>
       </node>
       <node concept="Sq$B_" id="3XLpsf2_AdT" role="2I3o71">
-        <ref role="SrP08" node="3XLpsf2__h3" />
-        <ref role="SrP07" node="3XLpsf2__qv" />
+        <ref role="SrP08" node="3XLpsf2__h3" resolve="Environment" />
+        <ref role="SrP07" node="3XLpsf2__qv" resolve="Ultrasound Snsor" />
         <node concept="Sqzvu" id="3XLpsf2_AdU" role="Sq$B$">
           <property role="TrG5h" value="observation" />
         </node>
@@ -2054,8 +2054,8 @@
     <node concept="1XyJaU" id="3XLpsf2__qv" role="1X_0GB">
       <property role="TrG5h" value="Ultrasound Snsor" />
       <node concept="Sq$B_" id="3XLpsf2_A2K" role="2I3o71">
-        <ref role="SrP08" node="3XLpsf2__qv" />
-        <ref role="SrP07" node="3XLpsf2__c9" />
+        <ref role="SrP08" node="3XLpsf2__qv" resolve="Ultrasound Snsor" />
+        <ref role="SrP07" node="3XLpsf2__c9" resolve="EB Control Unit" />
         <node concept="Sqzvu" id="3XLpsf2_A2L" role="Sq$B$">
           <property role="TrG5h" value="provides distance to obstacle" />
         </node>
@@ -2064,8 +2064,8 @@
     <node concept="1XyJaU" id="3XLpsf2__qB" role="1X_0GB">
       <property role="TrG5h" value="Laser Sensor" />
       <node concept="Sq$B_" id="3XLpsf2_A89" role="2I3o71">
-        <ref role="SrP08" node="3XLpsf2__qB" />
-        <ref role="SrP07" node="3XLpsf2__c9" />
+        <ref role="SrP08" node="3XLpsf2__qB" resolve="Laser Sensor" />
+        <ref role="SrP07" node="3XLpsf2__c9" resolve="EB Control Unit" />
         <node concept="Sqzvu" id="3XLpsf2_A8a" role="Sq$B$">
           <property role="TrG5h" value="provides distance to obstacle" />
         </node>
@@ -2074,8 +2074,8 @@
     <node concept="1XyJaU" id="3XLpsf2__$d" role="1X_0GB">
       <property role="TrG5h" value="Gas Pedal" />
       <node concept="Sq$B_" id="3XLpsf2_Av2" role="2I3o71">
-        <ref role="SrP08" node="3XLpsf2__$d" />
-        <ref role="SrP07" node="3XLpsf2__c9" />
+        <ref role="SrP08" node="3XLpsf2__$d" resolve="Gas Pedal" />
+        <ref role="SrP07" node="3XLpsf2__c9" resolve="EB Control Unit" />
         <node concept="Sqzvu" id="3XLpsf2_Av3" role="Sq$B$">
           <property role="TrG5h" value="manual driver input" />
         </node>
@@ -2084,8 +2084,8 @@
     <node concept="1XyJaU" id="3XLpsf2__$n" role="1X_0GB">
       <property role="TrG5h" value="Speed Sensor" />
       <node concept="Sq$B_" id="3XLpsf2_Ap6" role="2I3o71">
-        <ref role="SrP08" node="3XLpsf2__$n" />
-        <ref role="SrP07" node="3XLpsf2__c9" />
+        <ref role="SrP08" node="3XLpsf2__$n" resolve="Speed Sensor" />
+        <ref role="SrP07" node="3XLpsf2__c9" resolve="EB Control Unit" />
         <node concept="Sqzvu" id="3XLpsf2_Ap7" role="Sq$B$">
           <property role="TrG5h" value="provides current speed" />
         </node>
@@ -2094,15 +2094,15 @@
     <node concept="1XyJaU" id="3XLpsf2__I8" role="1X_0GB">
       <property role="TrG5h" value="Driver" />
       <node concept="1XypPU" id="3XLpsf2_Bjc" role="2I3o71">
-        <ref role="SrP08" node="3XLpsf2__I8" />
-        <ref role="SrP07" node="3XLpsf2__$d" />
+        <ref role="SrP08" node="3XLpsf2__I8" resolve="Driver" />
+        <ref role="SrP07" node="3XLpsf2__$d" resolve="Gas Pedal" />
         <node concept="Sqzvu" id="3XLpsf2_Bjd" role="Sq$B$">
           <property role="TrG5h" value="manual acceleration" />
         </node>
       </node>
       <node concept="1XypPU" id="3XLpsf2_BjL" role="2I3o71">
-        <ref role="SrP08" node="3XLpsf2__I8" />
-        <ref role="SrP07" node="3XLpsf2__gX" />
+        <ref role="SrP08" node="3XLpsf2__I8" resolve="Driver" />
+        <ref role="SrP07" node="3XLpsf2__gX" resolve="Brake" />
         <node concept="Sqzvu" id="3XLpsf2_BjM" role="Sq$B$">
           <property role="TrG5h" value="manual braking" />
         </node>
@@ -2111,15 +2111,15 @@
     <node concept="1XyJaU" id="3XLpsf2__Nb" role="1X_0GB">
       <property role="TrG5h" value="Communication Unit" />
       <node concept="1XypPU" id="3XLpsf2_ASh" role="2I3o71">
-        <ref role="SrP08" node="3XLpsf2__Nb" />
-        <ref role="SrP07" node="3XLpsf2__SC" />
+        <ref role="SrP08" node="3XLpsf2__Nb" resolve="Communication Unit" />
+        <ref role="SrP07" node="3XLpsf2__SC" resolve="steering wheel" />
         <node concept="Sqzvu" id="3XLpsf2_ASi" role="Sq$B$">
           <property role="TrG5h" value="vibrate" />
         </node>
       </node>
       <node concept="1XypPU" id="3XLpsf2_ASI" role="2I3o71">
-        <ref role="SrP08" node="3XLpsf2__Nb" />
-        <ref role="SrP07" node="3XLpsf2__Sq" />
+        <ref role="SrP08" node="3XLpsf2__Nb" resolve="Communication Unit" />
+        <ref role="SrP07" node="3XLpsf2__Sq" resolve="Display" />
         <node concept="Sqzvu" id="3XLpsf2_ASJ" role="Sq$B$">
           <property role="TrG5h" value="warning message" />
         </node>
@@ -2128,8 +2128,8 @@
     <node concept="1XyJaU" id="3XLpsf2__Sq" role="1X_0GB">
       <property role="TrG5h" value="Display" />
       <node concept="Sq$B_" id="3XLpsf2_B5u" role="2I3o71">
-        <ref role="SrP08" node="3XLpsf2__Sq" />
-        <ref role="SrP07" node="3XLpsf2__I8" />
+        <ref role="SrP08" node="3XLpsf2__Sq" resolve="Display" />
+        <ref role="SrP07" node="3XLpsf2__I8" resolve="Driver" />
         <node concept="Sqzvu" id="3XLpsf2_B5v" role="Sq$B$">
           <property role="TrG5h" value="warning message" />
         </node>
@@ -2138,8 +2138,8 @@
     <node concept="1XyJaU" id="3XLpsf2__SC" role="1X_0GB">
       <property role="TrG5h" value="steering wheel" />
       <node concept="Sq$B_" id="3XLpsf2_Bch" role="2I3o71">
-        <ref role="SrP08" node="3XLpsf2__SC" />
-        <ref role="SrP07" node="3XLpsf2__I8" />
+        <ref role="SrP08" node="3XLpsf2__SC" resolve="steering wheel" />
+        <ref role="SrP07" node="3XLpsf2__I8" resolve="Driver" />
         <node concept="Sqzvu" id="3XLpsf2_Bci" role="Sq$B$">
           <property role="TrG5h" value="vibrate" />
         </node>
@@ -2148,11 +2148,11 @@
   </node>
   <node concept="1E0nO6" id="4GKPLBASuiH">
     <property role="TrG5h" value="_104_eb_unsafe_control_actions" />
-    <ref role="1E05RL" node="2fZol$t_0Lh" />
+    <ref role="1E05RL" node="2fZol$t_0Lh" resolve="_103_eb_control_structure" />
     <node concept="1E0nOG" id="3XLpsf2_BRS" role="1E0n_e">
-      <ref role="1E0nOH" node="3XLpsf2__c9" />
+      <ref role="1E0nOH" node="3XLpsf2__c9" resolve="EB Control Unit" />
       <node concept="1E0nOJ" id="3XLpsf2_BRT" role="1E0nOC">
-        <ref role="1E0n_N" node="3XLpsf2_ALD" />
+        <ref role="1E0n_N" node="3XLpsf2_ALD" resolve="warning" />
         <node concept="3f6qtF" id="6vZMoXu3Mj_" role="3f6qqO">
           <node concept="1E0uc6" id="3XLpsf2_BRY" role="3f6qtG">
             <property role="TrG5h" value="UCA_EB_12" />
@@ -2161,7 +2161,7 @@
                 <property role="19SUeA" value="unnecessary warnings &#10;" />
               </node>
               <node concept="oY6sn" id="3XLpsf2_BS4" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9z" />
+                <ref role="oTUVg" node="3XLpsf2__9z" resolve="Unnecessary warning - ASIL QM" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_BS5" role="19SJt6" />
             </node>
@@ -2178,7 +2178,7 @@
                 <property role="19SUeA" value="Warning too late&#10;" />
               </node>
               <node concept="oY6sn" id="3XLpsf2_BSf" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYdV" />
+                <ref role="oTUVg" node="G$XGFsgYdV" resolve="Warning issued too late - ASIL QM" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_BSg" role="19SJt6" />
             </node>
@@ -2189,7 +2189,7 @@
         </node>
       </node>
       <node concept="1E0nOJ" id="3XLpsf2_BTk" role="1E0nOC">
-        <ref role="1E0n_N" node="3XLpsf2_A_5" />
+        <ref role="1E0n_N" node="3XLpsf2_A_5" resolve="control break" />
         <node concept="3f6qtF" id="6vZMoXu3MjG" role="3f6qqO">
           <node concept="1E0uc6" id="3XLpsf2_BTI" role="3f6qtG">
             <property role="TrG5h" value="UCA_EB_22" />
@@ -2198,7 +2198,7 @@
                 <property role="19SUeA" value="Unnecessary breaking may result in an rear-end collision&#10;" />
               </node>
               <node concept="oY6sn" id="3XLpsf2_BTO" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9X" />
+                <ref role="oTUVg" node="3XLpsf2__9X" resolve="Strong breaking leads to rear end collision - ASIL A" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_BTP" role="19SJt6" />
             </node>
@@ -2212,7 +2212,7 @@
                 <property role="19SUeA" value="system does not fullfill its function and that leads to a crash&#10;" />
               </node>
               <node concept="oY6sn" id="3XLpsf2_BTD" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9p" />
+                <ref role="oTUVg" node="3XLpsf2__9p" resolve="Car crashes into obstacle - ASIL B" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_BTE" role="19SJt6" />
             </node>
@@ -2226,7 +2226,7 @@
                 <property role="19SUeA" value="system does not fullfill its function if it brakes too late and that leads to a crash&#10;" />
               </node>
               <node concept="oY6sn" id="3XLpsf2_BU1" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9p" />
+                <ref role="oTUVg" node="3XLpsf2__9p" resolve="Car crashes into obstacle - ASIL B" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_BU0" role="19SJt6">
                 <property role="19SUeA" value="" />
@@ -2242,13 +2242,13 @@
                 <property role="19SUeA" value="if applied too long, stopping may cause an rear-end collsion." />
               </node>
               <node concept="oY6sn" id="3XLpsf2_BUe" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9X" />
+                <ref role="oTUVg" node="3XLpsf2__9X" resolve="Strong breaking leads to rear end collision - ASIL A" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_BUd" role="19SJt6">
                 <property role="19SUeA" value="&#10;If it is stopped too soon, the car crashed into the obstacle " />
               </node>
               <node concept="oY6sn" id="3XLpsf2_BUl" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9p" />
+                <ref role="oTUVg" node="3XLpsf2__9p" resolve="Car crashes into obstacle - ASIL B" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_BUk" role="19SJt6">
                 <property role="19SUeA" value="" />
@@ -2259,9 +2259,9 @@
       </node>
     </node>
     <node concept="1E0nOG" id="3XLpsf2_BUs" role="1E0n_e">
-      <ref role="1E0nOH" node="3XLpsf2__Nb" />
+      <ref role="1E0nOH" node="3XLpsf2__Nb" resolve="Communication Unit" />
       <node concept="1E0nOJ" id="3XLpsf2_BUt" role="1E0nOC">
-        <ref role="1E0n_N" node="3XLpsf2_ASJ" />
+        <ref role="1E0n_N" node="3XLpsf2_ASJ" resolve="warning message" />
         <node concept="3f6qtF" id="6vZMoXu3MjK" role="3f6qqO">
           <node concept="1E0uc6" id="3XLpsf2_BVe" role="3f6qtG">
             <property role="TrG5h" value="UCA_EB_32" />
@@ -2270,7 +2270,7 @@
                 <property role="19SUeA" value="unnecessary warnings &#10;" />
               </node>
               <node concept="oY6sn" id="3XLpsf2_BVl" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9z" />
+                <ref role="oTUVg" node="3XLpsf2__9z" resolve="Unnecessary warning - ASIL QM" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_BVk" role="19SJt6">
                 <property role="19SUeA" value="" />
@@ -2289,7 +2289,7 @@
                 <property role="19SUeA" value="Warning too late&#10;" />
               </node>
               <node concept="oY6sn" id="3XLpsf2_BVE" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYdV" />
+                <ref role="oTUVg" node="G$XGFsgYdV" resolve="Warning issued too late - ASIL QM" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_BVD" role="19SJt6">
                 <property role="19SUeA" value="" />
@@ -2302,7 +2302,7 @@
         </node>
       </node>
       <node concept="1E0nOJ" id="3XLpsf2_BV8" role="1E0nOC">
-        <ref role="1E0n_N" node="3XLpsf2_ASi" />
+        <ref role="1E0n_N" node="3XLpsf2_ASi" resolve="vibrate" />
         <node concept="3f6qtF" id="6vZMoXu3MjO" role="3f6qqO">
           <node concept="1E0uc6" id="3XLpsf2_BVr" role="3f6qtG">
             <property role="TrG5h" value="UCA_EB_42" />
@@ -2311,7 +2311,7 @@
                 <property role="19SUeA" value="unnecessary warnings &#10;" />
               </node>
               <node concept="oY6sn" id="3XLpsf2_BVy" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9z" />
+                <ref role="oTUVg" node="3XLpsf2__9z" resolve="Unnecessary warning - ASIL QM" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_BVz" role="19SJt6">
                 <property role="19SUeA" value="" />
@@ -2330,7 +2330,7 @@
                 <property role="19SUeA" value="Warning too late&#10;" />
               </node>
               <node concept="oY6sn" id="3XLpsf2_BVX" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYdV" />
+                <ref role="oTUVg" node="G$XGFsgYdV" resolve="Warning issued too late - ASIL QM" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_BVY" role="19SJt6">
                 <property role="19SUeA" value="" />
@@ -2344,9 +2344,9 @@
       </node>
     </node>
     <node concept="1E0nOG" id="3XLpsf2_BW6" role="1E0n_e">
-      <ref role="1E0nOH" node="3XLpsf2__qB" />
+      <ref role="1E0nOH" node="3XLpsf2__qB" resolve="Laser Sensor" />
       <node concept="1E0nOJ" id="3XLpsf2_BW7" role="1E0nOC">
-        <ref role="1E0n_N" node="3XLpsf2_A8a" />
+        <ref role="1E0n_N" node="3XLpsf2_A8a" resolve="provides distance to obstacle" />
         <node concept="3f6qtF" id="6vZMoXu3MjS" role="3f6qqO">
           <node concept="1E0uc6" id="3XLpsf2_BYr" role="3f6qtG">
             <property role="TrG5h" value="UCA_EB_52" />
@@ -2355,27 +2355,27 @@
                 <property role="19SUeA" value="If sensor data is wrong, the system cannot react properly&#10;" />
               </node>
               <node concept="oY6sn" id="3XLpsf2_BYx" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9p" />
+                <ref role="oTUVg" node="3XLpsf2__9p" resolve="Car crashes into obstacle - ASIL B" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_BYB" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_BYA" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9z" />
+                <ref role="oTUVg" node="3XLpsf2__9z" resolve="Unnecessary warning - ASIL QM" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_BYJ" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_BYI" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYdV" />
+                <ref role="oTUVg" node="G$XGFsgYdV" resolve="Warning issued too late - ASIL QM" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_BYT" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_BYS" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9h" />
+                <ref role="oTUVg" node="3XLpsf2__9h" resolve="Braking initiated too late - ASIL A" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_BZ5" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_BZ4" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9J" />
+                <ref role="oTUVg" node="3XLpsf2__9J" resolve="Unnecessary braking - ASIL QM" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_BZj" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_BZi" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9X" />
+                <ref role="oTUVg" node="3XLpsf2__9X" resolve="Strong breaking leads to rear end collision - ASIL A" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_BZk" role="19SJt6" />
             </node>
@@ -2389,7 +2389,7 @@
                 <property role="19SUeA" value="system cannot detect obstacle. Crash avoidance can't be provided " />
               </node>
               <node concept="oY6sn" id="3XLpsf2_BYm" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9p" />
+                <ref role="oTUVg" node="3XLpsf2__9p" resolve="Car crashes into obstacle - ASIL B" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_BYn" role="19SJt6" />
             </node>
@@ -2403,27 +2403,27 @@
                 <property role="19SUeA" value="Too soon not possible. Too late: the system cannot react properly&#10;" />
               </node>
               <node concept="oY6sn" id="3XLpsf2_BZD" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9p" />
+                <ref role="oTUVg" node="3XLpsf2__9p" resolve="Car crashes into obstacle - ASIL B" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_BZE" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_BZF" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9z" />
+                <ref role="oTUVg" node="3XLpsf2__9z" resolve="Unnecessary warning - ASIL QM" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_BZG" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_BZH" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYdV" />
+                <ref role="oTUVg" node="G$XGFsgYdV" resolve="Warning issued too late - ASIL QM" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_BZI" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_BZJ" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9h" />
+                <ref role="oTUVg" node="3XLpsf2__9h" resolve="Braking initiated too late - ASIL A" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_BZK" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_BZL" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9J" />
+                <ref role="oTUVg" node="3XLpsf2__9J" resolve="Unnecessary braking - ASIL QM" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_BZM" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_BZN" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9X" />
+                <ref role="oTUVg" node="3XLpsf2__9X" resolve="Strong breaking leads to rear end collision - ASIL A" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_BZO" role="19SJt6">
                 <property role="19SUeA" value="" />
@@ -2437,9 +2437,9 @@
       </node>
     </node>
     <node concept="1E0nOG" id="3XLpsf2_BXa" role="1E0n_e">
-      <ref role="1E0nOH" node="3XLpsf2__qv" />
+      <ref role="1E0nOH" node="3XLpsf2__qv" resolve="Ultrasound Snsor" />
       <node concept="1E0nOJ" id="3XLpsf2_BXb" role="1E0nOC">
-        <ref role="1E0n_N" node="3XLpsf2_A2L" />
+        <ref role="1E0n_N" node="3XLpsf2_A2L" resolve="provides distance to obstacle" />
         <node concept="3f6qtF" id="6vZMoXu3MjW" role="3f6qqO">
           <node concept="1E0uc6" id="3XLpsf2_C0I" role="3f6qtG">
             <property role="TrG5h" value="UCA_EB_62" />
@@ -2448,27 +2448,27 @@
                 <property role="19SUeA" value="If sensor data is wrong, the system cannot react properly&#10;" />
               </node>
               <node concept="oY6sn" id="3XLpsf2_C0Z" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9p" />
+                <ref role="oTUVg" node="3XLpsf2__9p" resolve="Car crashes into obstacle - ASIL B" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_C0Y" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_C0X" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9z" />
+                <ref role="oTUVg" node="3XLpsf2__9z" resolve="Unnecessary warning - ASIL QM" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_C0W" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_C0V" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYdV" />
+                <ref role="oTUVg" node="G$XGFsgYdV" resolve="Warning issued too late - ASIL QM" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_C0U" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_C0T" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9h" />
+                <ref role="oTUVg" node="3XLpsf2__9h" resolve="Braking initiated too late - ASIL A" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_C0S" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_C0R" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9J" />
+                <ref role="oTUVg" node="3XLpsf2__9J" resolve="Unnecessary braking - ASIL QM" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_C0Q" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_C0P" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9X" />
+                <ref role="oTUVg" node="3XLpsf2__9X" resolve="Strong breaking leads to rear end collision - ASIL A" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_C0O" role="19SJt6">
                 <property role="19SUeA" value="" />
@@ -2484,7 +2484,7 @@
                 <property role="19SUeA" value="system cannot detect obstacle. Crash avoidance can't be provided " />
               </node>
               <node concept="oY6sn" id="3XLpsf2_C1g" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9p" />
+                <ref role="oTUVg" node="3XLpsf2__9p" resolve="Car crashes into obstacle - ASIL B" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_C1f" role="19SJt6">
                 <property role="19SUeA" value="" />
@@ -2500,27 +2500,27 @@
                 <property role="19SUeA" value="Too soon not possible. Too late: the system cannot react properly&#10;" />
               </node>
               <node concept="oY6sn" id="3XLpsf2_C0e" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9p" />
+                <ref role="oTUVg" node="3XLpsf2__9p" resolve="Car crashes into obstacle - ASIL B" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_C0f" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_C0g" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9z" />
+                <ref role="oTUVg" node="3XLpsf2__9z" resolve="Unnecessary warning - ASIL QM" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_C0h" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_C0i" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYdV" />
+                <ref role="oTUVg" node="G$XGFsgYdV" resolve="Warning issued too late - ASIL QM" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_C0j" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_C0k" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9h" />
+                <ref role="oTUVg" node="3XLpsf2__9h" resolve="Braking initiated too late - ASIL A" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_C0l" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_C0m" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9J" />
+                <ref role="oTUVg" node="3XLpsf2__9J" resolve="Unnecessary braking - ASIL QM" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_C0n" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_C0o" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9X" />
+                <ref role="oTUVg" node="3XLpsf2__9X" resolve="Strong breaking leads to rear end collision - ASIL A" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_C0p" role="19SJt6">
                 <property role="19SUeA" value="" />
@@ -2534,9 +2534,9 @@
       </node>
     </node>
     <node concept="1E0nOG" id="3XLpsf2_C1m" role="1E0n_e">
-      <ref role="1E0nOH" node="3XLpsf2__$n" />
+      <ref role="1E0nOH" node="3XLpsf2__$n" resolve="Speed Sensor" />
       <node concept="1E0nOJ" id="3XLpsf2_C1n" role="1E0nOC">
-        <ref role="1E0n_N" node="3XLpsf2_Ap7" />
+        <ref role="1E0n_N" node="3XLpsf2_Ap7" resolve="provides current speed" />
         <node concept="3f6qtF" id="6vZMoXu3Mk0" role="3f6qqO">
           <node concept="1E0uc6" id="3XLpsf2_C3L" role="3f6qtG">
             <property role="TrG5h" value="UCA_EB_72" />
@@ -2545,27 +2545,27 @@
                 <property role="19SUeA" value="If sensor data is wrong, the system cannot react properly&#10;" />
               </node>
               <node concept="oY6sn" id="3XLpsf2_C3Y" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9p" />
+                <ref role="oTUVg" node="3XLpsf2__9p" resolve="Car crashes into obstacle - ASIL B" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_C3X" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_C3W" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9z" />
+                <ref role="oTUVg" node="3XLpsf2__9z" resolve="Unnecessary warning - ASIL QM" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_C3V" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_C3U" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYdV" />
+                <ref role="oTUVg" node="G$XGFsgYdV" resolve="Warning issued too late - ASIL QM" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_C3T" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_C3S" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9h" />
+                <ref role="oTUVg" node="3XLpsf2__9h" resolve="Braking initiated too late - ASIL A" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_C3R" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_C3Q" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9J" />
+                <ref role="oTUVg" node="3XLpsf2__9J" resolve="Unnecessary braking - ASIL QM" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_C3P" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_C3O" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9X" />
+                <ref role="oTUVg" node="3XLpsf2__9X" resolve="Strong breaking leads to rear end collision - ASIL A" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_C3N" role="19SJt6">
                 <property role="19SUeA" value="" />
@@ -2581,7 +2581,7 @@
                 <property role="19SUeA" value="system can't interpret the distance data " />
               </node>
               <node concept="oY6sn" id="3XLpsf2_C3G" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9p" />
+                <ref role="oTUVg" node="3XLpsf2__9p" resolve="Car crashes into obstacle - ASIL B" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_C3H" role="19SJt6" />
             </node>
@@ -2595,27 +2595,27 @@
                 <property role="19SUeA" value="Too soon not possible. Too late: the system cannot react properly&#10;" />
               </node>
               <node concept="oY6sn" id="3XLpsf2_C4r" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9p" />
+                <ref role="oTUVg" node="3XLpsf2__9p" resolve="Car crashes into obstacle - ASIL B" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_C4s" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_C4t" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9z" />
+                <ref role="oTUVg" node="3XLpsf2__9z" resolve="Unnecessary warning - ASIL QM" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_C4u" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_C4v" role="19SJt6">
-                <ref role="oTUVg" node="G$XGFsgYdV" />
+                <ref role="oTUVg" node="G$XGFsgYdV" resolve="Warning issued too late - ASIL QM" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_C4w" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_C4x" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9h" />
+                <ref role="oTUVg" node="3XLpsf2__9h" resolve="Braking initiated too late - ASIL A" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_C4y" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_C4z" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9J" />
+                <ref role="oTUVg" node="3XLpsf2__9J" resolve="Unnecessary braking - ASIL QM" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_C4$" role="19SJt6" />
               <node concept="oY6sn" id="3XLpsf2_C4_" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9X" />
+                <ref role="oTUVg" node="3XLpsf2__9X" resolve="Strong breaking leads to rear end collision - ASIL A" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_C4A" role="19SJt6">
                 <property role="19SUeA" value="" />
@@ -2629,9 +2629,9 @@
       </node>
     </node>
     <node concept="1E0nOG" id="3XLpsf2_C4R" role="1E0n_e">
-      <ref role="1E0nOH" node="3XLpsf2__$d" />
+      <ref role="1E0nOH" node="3XLpsf2__$d" resolve="Gas Pedal" />
       <node concept="1E0nOJ" id="3XLpsf2_C4S" role="1E0nOC">
-        <ref role="1E0n_N" node="3XLpsf2_Av3" />
+        <ref role="1E0n_N" node="3XLpsf2_Av3" resolve="manual driver input" />
         <node concept="3f6qtF" id="6vZMoXu3Mk4" role="3f6qqO">
           <node concept="1E0uc6" id="3XLpsf2_C7T" role="3f6qtG">
             <property role="TrG5h" value="UCA_EB_82" />
@@ -2640,7 +2640,7 @@
                 <property role="19SUeA" value="if the system falsely detects a driver input, it deactivates even it shouldn't&#10;" />
               </node>
               <node concept="oY6sn" id="3XLpsf2_C7Z" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9p" />
+                <ref role="oTUVg" node="3XLpsf2__9p" resolve="Car crashes into obstacle - ASIL B" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_C80" role="19SJt6">
                 <property role="19SUeA" value="&#10;" />
@@ -2656,7 +2656,7 @@
                 <property role="19SUeA" value="driver override cannot be detected. This may lead the following vehicle to crash into the vehicle. " />
               </node>
               <node concept="oY6sn" id="3XLpsf2_C7O" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9X" />
+                <ref role="oTUVg" node="3XLpsf2__9X" resolve="Strong breaking leads to rear end collision - ASIL A" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_C7P" role="19SJt6" />
             </node>
@@ -2670,7 +2670,7 @@
                 <property role="19SUeA" value="Too soon not possible. Too late may lead the following vehicle to crash into the vehicle. " />
               </node>
               <node concept="oY6sn" id="3XLpsf2_C8b" role="19SJt6">
-                <ref role="oTUVg" node="3XLpsf2__9X" />
+                <ref role="oTUVg" node="3XLpsf2__9X" resolve="Strong breaking leads to rear end collision - ASIL A" />
               </node>
               <node concept="19SUe$" id="3XLpsf2_C8a" role="19SJt6">
                 <property role="19SUeA" value="" />
@@ -2715,10 +2715,10 @@
         </node>
         <node concept="2iDXIW" id="54T4ifBJt0f" role="0nOlf">
           <node concept="DABN8" id="54T4ifBJt0i" role="DABNk">
-            <ref role="DABNb" node="3XLpsf2__9p" />
+            <ref role="DABNb" node="3XLpsf2__9p" resolve="Car crashes into obstacle - ASIL B" />
           </node>
           <node concept="DABN8" id="54T4ifBJt2b" role="DABNk">
-            <ref role="DABNb" node="3XLpsf2__9h" />
+            <ref role="DABNb" node="3XLpsf2__9h" resolve="Braking initiated too late - ASIL A" />
           </node>
         </node>
         <node concept="19SGf9" id="54T4ifBJt09" role="1QQeG9">
@@ -2741,10 +2741,10 @@
         </node>
         <node concept="2iDXIW" id="54T4ifBJt0x" role="0nOlf">
           <node concept="DABN8" id="54T4ifBJt0$" role="DABNk">
-            <ref role="DABNb" node="3XLpsf2__9X" />
+            <ref role="DABNb" node="3XLpsf2__9X" resolve="Strong breaking leads to rear end collision - ASIL A" />
           </node>
           <node concept="DABN8" id="54T4ifBJt24" role="DABNk">
-            <ref role="DABNb" node="3XLpsf2__9J" />
+            <ref role="DABNb" node="3XLpsf2__9J" resolve="Unnecessary braking - ASIL QM" />
           </node>
         </node>
         <node concept="19SGf9" id="54T4ifBJt0m" role="1QQeG9">
@@ -2755,13 +2755,13 @@
       </node>
       <node concept="2iDXIW" id="4WLVkAsg3p2" role="0nOlf">
         <node concept="DABN8" id="54T4ifBJt02" role="DABNk">
-          <ref role="DABNb" node="3XLpsf2__9p" />
+          <ref role="DABNb" node="3XLpsf2__9p" resolve="Car crashes into obstacle - ASIL B" />
         </node>
         <node concept="DABN8" id="54T4ifBJt10" role="DABNk">
-          <ref role="DABNb" node="3XLpsf2__9X" />
+          <ref role="DABNb" node="3XLpsf2__9X" resolve="Strong breaking leads to rear end collision - ASIL A" />
         </node>
         <node concept="DABN8" id="54T4ifBJt1j" role="DABNk">
-          <ref role="DABNb" node="3XLpsf2__9h" />
+          <ref role="DABNb" node="3XLpsf2__9h" resolve="Braking initiated too late - ASIL A" />
         </node>
       </node>
       <node concept="19SGf9" id="4WLVkAsg3oV" role="1QQeG9">
@@ -2793,13 +2793,13 @@
       </node>
       <node concept="2iDXIW" id="4tgWazNvlzO" role="0nOlf">
         <node concept="DABN8" id="54T4ifBJt14" role="DABNk">
-          <ref role="DABNb" node="3XLpsf2__9z" />
+          <ref role="DABNb" node="3XLpsf2__9z" resolve="Unnecessary warning - ASIL QM" />
         </node>
         <node concept="DABN8" id="54T4ifBJt19" role="DABNk">
-          <ref role="DABNb" node="G$XGFsgYdV" />
+          <ref role="DABNb" node="G$XGFsgYdV" resolve="Warning issued too late - ASIL QM" />
         </node>
         <node concept="DABN8" id="22e91OCPK8D" role="DABNk">
-          <ref role="DABNb" node="3XLpsf2__9p" />
+          <ref role="DABNb" node="3XLpsf2__9p" resolve="Car crashes into obstacle - ASIL B" />
         </node>
       </node>
       <node concept="19SGf9" id="4tgWazNvlzz" role="1QQeG9">
@@ -2823,16 +2823,16 @@
       </node>
       <node concept="2iDXIW" id="4tgWazNvl_7" role="0nOlf">
         <node concept="DABN8" id="54T4ifBJt1d" role="DABNk">
-          <ref role="DABNb" node="3XLpsf2__9h" />
+          <ref role="DABNb" node="3XLpsf2__9h" resolve="Braking initiated too late - ASIL A" />
         </node>
         <node concept="DABN8" id="54T4ifBJt1r" role="DABNk">
-          <ref role="DABNb" node="G$XGFsgYdV" />
+          <ref role="DABNb" node="G$XGFsgYdV" resolve="Warning issued too late - ASIL QM" />
         </node>
         <node concept="DABN8" id="54T4ifBJt1z" role="DABNk">
-          <ref role="DABNb" node="3XLpsf2__9J" />
+          <ref role="DABNb" node="3XLpsf2__9J" resolve="Unnecessary braking - ASIL QM" />
         </node>
         <node concept="DABN8" id="54T4ifBJt1V" role="DABNk">
-          <ref role="DABNb" node="3XLpsf2__9z" />
+          <ref role="DABNb" node="3XLpsf2__9z" resolve="Unnecessary warning - ASIL QM" />
         </node>
       </node>
       <node concept="19SGf9" id="4tgWazNvlzT" role="1QQeG9">
@@ -2858,13 +2858,13 @@
       </node>
       <node concept="2iDXIW" id="4tgWazNvndk" role="0nOlf">
         <node concept="DABN8" id="54T4ifBJtau" role="DABNk">
-          <ref role="DABNb" node="3XLpsf2__9p" />
+          <ref role="DABNb" node="3XLpsf2__9p" resolve="Car crashes into obstacle - ASIL B" />
         </node>
         <node concept="DABN8" id="54T4ifBJtaz" role="DABNk">
-          <ref role="DABNb" node="3XLpsf2__9h" />
+          <ref role="DABNb" node="3XLpsf2__9h" resolve="Braking initiated too late - ASIL A" />
         </node>
         <node concept="DABN8" id="54T4ifBJtaF" role="DABNk">
-          <ref role="DABNb" node="3XLpsf2__9X" />
+          <ref role="DABNb" node="3XLpsf2__9X" resolve="Strong breaking leads to rear end collision - ASIL A" />
         </node>
       </node>
       <node concept="19SGf9" id="4tgWazNvnb5" role="1QQeG9">
@@ -2895,7 +2895,7 @@
         </node>
         <node concept="2iDXIW" id="54T4ifBJt8n" role="0nOlf">
           <node concept="DABN8" id="54T4ifBJtb2" role="DABNk">
-            <ref role="DABNb" node="3XLpsf2__9p" />
+            <ref role="DABNb" node="3XLpsf2__9p" resolve="Car crashes into obstacle - ASIL B" />
           </node>
         </node>
         <node concept="19SGf9" id="54T4ifBJt7E" role="1QQeG9">
@@ -2918,7 +2918,7 @@
         </node>
         <node concept="2iDXIW" id="54T4ifBJt8q" role="0nOlf">
           <node concept="DABN8" id="54T4ifBJtb4" role="DABNk">
-            <ref role="DABNb" node="3XLpsf2__9p" />
+            <ref role="DABNb" node="3XLpsf2__9p" resolve="Car crashes into obstacle - ASIL B" />
           </node>
         </node>
         <node concept="19SGf9" id="54T4ifBJt7M" role="1QQeG9">
@@ -2929,10 +2929,10 @@
       </node>
       <node concept="2iDXIW" id="4WLVkAsg6Hk" role="0nOlf">
         <node concept="DABN8" id="54T4ifBJtaK" role="DABNk">
-          <ref role="DABNb" node="G$XGFsgYdV" />
+          <ref role="DABNb" node="G$XGFsgYdV" resolve="Warning issued too late - ASIL QM" />
         </node>
         <node concept="DABN8" id="54T4ifBJtaP" role="DABNk">
-          <ref role="DABNb" node="3XLpsf2__9z" />
+          <ref role="DABNb" node="3XLpsf2__9z" resolve="Unnecessary warning - ASIL QM" />
         </node>
       </node>
       <node concept="19SGf9" id="4WLVkAsg6H4" role="1QQeG9">
@@ -2979,10 +2979,10 @@
       </node>
       <node concept="2iDXIW" id="4tgWazNvn8l" role="0nOlf">
         <node concept="DABN8" id="54T4ifBJtaT" role="DABNk">
-          <ref role="DABNb" node="3XLpsf2__9z" />
+          <ref role="DABNb" node="3XLpsf2__9z" resolve="Unnecessary warning - ASIL QM" />
         </node>
         <node concept="DABN8" id="54T4ifBJtaY" role="DABNk">
-          <ref role="DABNb" node="3XLpsf2__9J" />
+          <ref role="DABNb" node="3XLpsf2__9J" resolve="Unnecessary braking - ASIL QM" />
         </node>
       </node>
     </node>
@@ -3098,19 +3098,19 @@
       <node concept="3UnI9n" id="2l0tHRMMepZ" role="3UnI90">
         <property role="TrG5h" value="display_message_OUT" />
         <node concept="2XEmfi" id="2r$08YM5BaF" role="3UnI80">
-          <ref role="2XEmfl" node="2r$08YM5tsB" />
+          <ref role="2XEmfl" node="2r$08YM5tsB" resolve="DISPLAY_MESSAGE" />
         </node>
       </node>
       <node concept="3UnI9n" id="2l0tHRMMeqm" role="3UnI90">
         <property role="TrG5h" value="state_OUT" />
         <node concept="2XJXdx" id="2r$08YM5Bcb" role="3UnI80">
-          <ref role="2XJXdw" node="2Q6_IeFkaVR" />
+          <ref role="2XJXdw" node="2Q6_IeFkaVR" resolve="enum_state_eb" />
         </node>
       </node>
       <node concept="3UnI9n" id="2r$08YM5vHH" role="3UnI90">
         <property role="TrG5h" value="brake_OUT" />
         <node concept="2XEmfi" id="2r$08YM5HE3" role="3UnI80">
-          <ref role="2XEmfl" to="ee4e:SQH6SzHC8S" />
+          <ref role="2XEmfl" to="ee4e:SQH6SzHC8S" resolve="brake_t" />
         </node>
       </node>
       <node concept="37mRI7" id="4tgWazNvrD_" role="lGtFl">
@@ -5008,270 +5008,270 @@
       <node concept="3Ug1AV" id="54T4ifBJyQK" role="3UgYNK">
         <property role="TrG5h" value="Ultrasound1" />
         <node concept="3Ug1AZ" id="54T4ifBJyQL" role="3Ug1A_">
-          <ref role="3Ug1AY" node="4tgWazNvqSt" />
+          <ref role="3Ug1AY" node="4tgWazNvqSt" resolve="Ultrasound_Sensor" />
         </node>
       </node>
       <node concept="3Ug1AV" id="54T4ifBJyQQ" role="3UgYNK">
         <property role="TrG5h" value="Laser1" />
         <node concept="3Ug1AZ" id="54T4ifBJyQR" role="3Ug1A_">
-          <ref role="3Ug1AY" node="4tgWazNvqWb" />
+          <ref role="3Ug1AY" node="4tgWazNvqWb" resolve="Laser_Sensor" />
         </node>
       </node>
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@@ -5281,155 +5281,155 @@
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         <property role="TrG5h" value="distance" />
         <node concept="2XEmfi" id="2r$08YM5HBr" role="3UnI80">
-          <ref role="2XEmfl" to="ee4e:SQH6SzH_nu" />
+          <ref role="2XEmfl" to="ee4e:SQH6SzH_nu" resolve="distance_t" />
         </node>
       </node>
       <node concept="3UnI81" id="4pSWRNV3E4f" role="3UnI9m">
         <property role="TrG5h" value="speed_IN" />
         <node concept="2XEmfi" id="2r$08YM5HCN" role="3UnI80">
-          <ref role="2XEmfl" to="ee4e:SQH6SzHBvC" />
+          <ref role="2XEmfl" to="ee4e:SQH6SzHBvC" resolve="velocity_t" />
         </node>
       </node>
       <node concept="3UnI81" id="2r$08YM5vEK" role="3UnI9m">
         <property role="TrG5h" value="brake_IN" />
         <node concept="2XEmfi" id="2r$08YM5HDr" role="3UnI80">
-          <ref role="2XEmfl" to="ee4e:SQH6SzHC8S" />
+          <ref role="2XEmfl" to="ee4e:SQH6SzHC8S" resolve="brake_t" />
         </node>
       </node>
       <node concept="3Ug1$w" id="7hUqFOkxqmd" role="3UgYNK">
         <node concept="3Ug1Ap" id="7hUqFOkxqme" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="7hUqFOkxqdU" />
+          <ref role="3Ug1Ao" node="7hUqFOkxqdU" resolve="distance" />
         </node>
         <node concept="3Ug1GC" id="7hUqFOkxqmf" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="7hUqFOkxqen" />
+          <ref role="3Ug1Ha" node="7hUqFOkxqen" resolve="distance_in" />
           <node concept="3Ug1GJ" id="7hUqFOkxqmg" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="54T4ifBJz6q" />
+            <ref role="3Ug1GI" node="54T4ifBJz6q" resolve="Ultrasound2" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="7hUqFOkxqoi" role="3UgYNK">
         <node concept="3Ug1Ap" id="7hUqFOkxqoj" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="7hUqFOkxqdU" />
+          <ref role="3Ug1Ao" node="7hUqFOkxqdU" resolve="distance" />
         </node>
         <node concept="3Ug1GC" id="7hUqFOkxqok" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="7hUqFOkxqeu" />
+          <ref role="3Ug1Ha" node="7hUqFOkxqeu" resolve="distance_in" />
           <node concept="3Ug1GJ" id="7hUqFOkxqol" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="54T4ifBJyQQ" />
+            <ref role="3Ug1GI" node="54T4ifBJyQQ" resolve="Laser1" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="7hUqFOkxqqr" role="3UgYNK">
         <node concept="3Ug1Ap" id="7hUqFOkxqqs" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="7hUqFOkxqdU" />
+          <ref role="3Ug1Ao" node="7hUqFOkxqdU" resolve="distance" />
         </node>
         <node concept="3Ug1GC" id="7hUqFOkxqqt" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="7hUqFOkxqeu" />
+          <ref role="3Ug1Ha" node="7hUqFOkxqeu" resolve="distance_in" />
           <node concept="3Ug1GJ" id="7hUqFOkxqqu" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="54T4ifBJz6A" />
+            <ref role="3Ug1GI" node="54T4ifBJz6A" resolve="Laser2" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="7hUqFOkxqsC" role="3UgYNK">
         <node concept="3Ug1Ap" id="7hUqFOkxqsD" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="7hUqFOkxqdU" />
+          <ref role="3Ug1Ao" node="7hUqFOkxqdU" resolve="distance" />
         </node>
         <node concept="3Ug1GC" id="7hUqFOkxqsE" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="7hUqFOkxqen" />
+          <ref role="3Ug1Ha" node="7hUqFOkxqen" resolve="distance_in" />
           <node concept="3Ug1GJ" id="7hUqFOkxqsF" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="54T4ifBJyQK" />
+            <ref role="3Ug1GI" node="54T4ifBJyQK" resolve="Ultrasound1" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4pSWRNV3HPc" role="3UgYNK">
         <node concept="3Ug1Ap" id="4pSWRNV3HPd" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="4pSWRNV3E4f" />
+          <ref role="3Ug1Ao" node="4pSWRNV3E4f" resolve="speed_IN" />
         </node>
         <node concept="3Ug1GC" id="4pSWRNV3HPe" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4pSWRNV3E4O" />
+          <ref role="3Ug1Ha" node="4pSWRNV3E4O" resolve="speed_in" />
           <node concept="3Ug1GJ" id="4pSWRNV3HPf" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="54T4ifBJzCY" />
+            <ref role="3Ug1GI" node="54T4ifBJzCY" resolve="Speed_Sensor" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="2r$08YM5vT1" role="3UgYNK">
         <node concept="3Ug1GC" id="2r$08YM5vT2" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="2r$08YM5vGZ" />
+          <ref role="3Ug1Ha" node="2r$08YM5vGZ" resolve="brake_out" />
           <node concept="3Ug1GJ" id="2r$08YM5vT3" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="54T4ifBJzhq" />
+            <ref role="3Ug1GI" node="54T4ifBJzhq" resolve="Brake" />
           </node>
         </node>
         <node concept="3Ug1Ap" id="2r$08YM5vT4" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="2r$08YM5vHH" />
+          <ref role="3Ug1Ao" node="2r$08YM5vHH" resolve="brake_OUT" />
         </node>
       </node>
       <node concept="3Ug1$w" id="2r$08YM5vVB" role="3UgYNK">
         <node concept="3Ug1Ap" id="2r$08YM5vVC" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="2r$08YM5vEK" />
+          <ref role="3Ug1Ao" node="2r$08YM5vEK" resolve="brake_IN" />
         </node>
         <node concept="3Ug1GC" id="2r$08YM5vVD" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="2r$08YM5vGe" />
+          <ref role="3Ug1Ha" node="2r$08YM5vGe" resolve="brake_in" />
           <node concept="3Ug1GJ" id="2r$08YM5vVE" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="54T4ifBJzhq" />
+            <ref role="3Ug1GI" node="54T4ifBJzhq" resolve="Brake" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="2r$08YM5B7P" role="3UgYNK">
         <node concept="3Ug1GC" id="2r$08YM5B7Q" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="16Ng_xNT8RK" />
+          <ref role="3Ug1Ha" node="16Ng_xNT8RK" resolve="alert_signal" />
           <node concept="3Ug1GJ" id="2r$08YM5B7R" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="54T4ifBJ$w7" />
+            <ref role="3Ug1GI" node="54T4ifBJ$w7" resolve="EB_Communication_Unit" />
           </node>
         </node>
         <node concept="3Ug1Ap" id="2r$08YM5B7S" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="2l0tHRMMenx" />
+          <ref role="3Ug1Ao" node="2l0tHRMMenx" resolve="alert_OUT" />
         </node>
       </node>
       <node concept="3Ug1$w" id="2r$08YM5BfA" role="3UgYNK">
         <node concept="3Ug1GC" id="2r$08YM5BfB" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="16Ng_xNT8RX" />
+          <ref role="3Ug1Ha" node="16Ng_xNT8RX" resolve="state" />
           <node concept="3Ug1GJ" id="2r$08YM5BfC" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="54T4ifBJ$w7" />
+            <ref role="3Ug1GI" node="54T4ifBJ$w7" resolve="EB_Communication_Unit" />
           </node>
         </node>
         <node concept="3Ug1Ap" id="2r$08YM5BfD" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="2l0tHRMMeqm" />
+          <ref role="3Ug1Ao" node="2l0tHRMMeqm" resolve="state_OUT" />
         </node>
       </node>
       <node concept="3Ug1$w" id="2r$08YM5Bmv" role="3UgYNK">
         <node concept="3Ug1GC" id="2r$08YM5Bmw" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4tgWazNvsms" />
+          <ref role="3Ug1Ha" node="4tgWazNvsms" resolve="brake" />
           <node concept="3Ug1GJ" id="2r$08YM5Bmx" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="54T4ifBJzbY" />
+            <ref role="3Ug1GI" node="54T4ifBJzbY" resolve="EB_Control_Unit" />
           </node>
         </node>
         <node concept="3Ug1GC" id="2r$08YM5Bmy" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="7qgRsCGQCeU" />
+          <ref role="3Ug1Ha" node="7qgRsCGQCeU" resolve="eb_brake" />
           <node concept="3Ug1GJ" id="2r$08YM5Bmz" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="54T4ifBJ$TQ" />
+            <ref role="3Ug1GI" node="54T4ifBJ$TQ" resolve="Brake_Monitor" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="2r$08YM5Bt7" role="3UgYNK">
         <node concept="3Ug1GC" id="2r$08YM5Bt8" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4tgWazNvqYR" />
+          <ref role="3Ug1Ha" node="4tgWazNvqYR" resolve="display_message" />
           <node concept="3Ug1GJ" id="2r$08YM5Bt9" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="54T4ifBJ$w7" />
+            <ref role="3Ug1GI" node="54T4ifBJ$w7" resolve="EB_Communication_Unit" />
           </node>
         </node>
         <node concept="3Ug1Ap" id="2r$08YM5Bta" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="2l0tHRMMepZ" />
+          <ref role="3Ug1Ao" node="2l0tHRMMepZ" resolve="display_message_OUT" />
         </node>
       </node>
     </node>
@@ -5452,19 +5452,19 @@
       <node concept="3UnI81" id="4tgWazNvrn7" role="3UnI9m">
         <property role="TrG5h" value="current_speed" />
         <node concept="2XEmfi" id="2r$08YM5HEF" role="3UnI80">
-          <ref role="2XEmfl" to="ee4e:SQH6SzHBvC" />
+          <ref role="2XEmfl" to="ee4e:SQH6SzHBvC" resolve="velocity_t" />
         </node>
       </node>
       <node concept="3UnI81" id="4tgWazNvrnG" role="3UnI9m">
         <property role="TrG5h" value="distance_front" />
         <node concept="2XEmfi" id="2r$08YM5HFj" role="3UnI80">
-          <ref role="2XEmfl" to="ee4e:SQH6SzH_nu" />
+          <ref role="2XEmfl" to="ee4e:SQH6SzH_nu" resolve="distance_t" />
         </node>
       </node>
       <node concept="3UnI81" id="4tgWazNvryb" role="3UnI9m">
         <property role="TrG5h" value="reference_velocity" />
         <node concept="2XEmfi" id="2r$08YM5HGb" role="3UnI80">
-          <ref role="2XEmfl" to="ee4e:SQH6SzHBvC" />
+          <ref role="2XEmfl" to="ee4e:SQH6SzHBvC" resolve="velocity_t" />
         </node>
       </node>
       <node concept="3UnI81" id="4tgWazNvryR" role="3UnI9m">
@@ -5474,7 +5474,7 @@
       <node concept="3UnI9n" id="4tgWazNvrTe" role="3UnI90">
         <property role="TrG5h" value="state" />
         <node concept="2XJXdx" id="4tgWazNvsiC" role="3UnI80">
-          <ref role="2XJXdw" node="2Q6_IeFkaVR" />
+          <ref role="2XJXdw" node="2Q6_IeFkaVR" resolve="enum_state_eb" />
         </node>
       </node>
       <node concept="3UnI9n" id="16Ng_xNT8ss" role="3UnI90">
@@ -5484,7 +5484,7 @@
       <node concept="3UnI9n" id="4tgWazNvsms" role="3UnI90">
         <property role="TrG5h" value="brake" />
         <node concept="2XEmfi" id="2r$08YM5HH3" role="3UnI80">
-          <ref role="2XEmfl" to="ee4e:SQH6SzHC8S" />
+          <ref role="2XEmfl" to="ee4e:SQH6SzHC8S" resolve="brake_t" />
         </node>
       </node>
       <node concept="3UTh7Y" id="6MaWlu$kClq" role="3UnIb_">
@@ -5493,19 +5493,19 @@
           <node concept="32OYss" id="6MaWlu$kCsh" role="1yBIc4">
             <node concept="1yyYsf" id="6MaWlu$kCsi" role="32OYtT">
               <node concept="3Ug1Ap" id="6MaWlu$kClA" role="2H9Iav">
-                <ref role="3Ug1Ao" node="4tgWazNvrm$" />
+                <ref role="3Ug1Ao" node="4tgWazNvrm$" resolve="accelerating" />
               </node>
               <node concept="2Sa8AP" id="6MaWlu$kCsj" role="2H9Ial">
                 <node concept="32OYss" id="6MaWlu$kCsk" role="1yBIc4">
                   <node concept="2HbMbg" id="6MaWlu$kCsl" role="32OYtT">
                     <node concept="1yA0yd" id="6MaWlu$kCsm" role="2H9Iav">
                       <node concept="3Ug1Ap" id="6MaWlu$kClZ" role="32OYtT">
-                        <ref role="3Ug1Ao" node="4tgWazNvsms" />
+                        <ref role="3Ug1Ao" node="4tgWazNvsms" resolve="brake" />
                       </node>
                     </node>
                     <node concept="1yA0yd" id="6MaWlu$kCsn" role="2H9Ial">
                       <node concept="3Ug1Ap" id="6MaWlu$kCmN" role="32OYtT">
-                        <ref role="3Ug1Ao" node="16Ng_xNT8ss" />
+                        <ref role="3Ug1Ao" node="16Ng_xNT8ss" resolve="warning_out" />
                       </node>
                     </node>
                   </node>
@@ -5521,20 +5521,20 @@
           <node concept="32OYss" id="6MaWlu$kCAC" role="1yBIc4">
             <node concept="1yyYsf" id="6MaWlu$kCAD" role="32OYtT">
               <node concept="3Ug1Ap" id="6MaWlu$kCtj" role="2H9Iav">
-                <ref role="3Ug1Ao" node="4tgWazNvryR" />
+                <ref role="3Ug1Ao" node="4tgWazNvryR" resolve="alert" />
               </node>
               <node concept="32OYss" id="6MaWlu$kCAE" role="2H9Ial">
                 <node concept="2HbMbg" id="6MaWlu$kCAF" role="32OYtT">
                   <node concept="3Ug1Ap" id="6MaWlu$kCtK" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="16Ng_xNT8ss" />
+                    <ref role="3Ug1Ao" node="16Ng_xNT8ss" resolve="warning_out" />
                   </node>
                   <node concept="32OYss" id="6MaWlu$kCAG" role="2H9Ial">
                     <node concept="2HbLFT" id="6MaWlu$kCAH" role="32OYtT">
                       <node concept="3Ug1Ap" id="6MaWlu$kCu6" role="2H9Iav">
-                        <ref role="3Ug1Ao" node="4tgWazNvrTe" />
+                        <ref role="3Ug1Ao" node="4tgWazNvrTe" resolve="state" />
                       </node>
                       <node concept="2HeeqP" id="2r$08YM5_DL" role="2H9Ial">
-                        <ref role="2HeeqO" node="7hUqFOkxssq" />
+                        <ref role="2HeeqO" node="7hUqFOkxssq" resolve="warning" />
                       </node>
                     </node>
                   </node>
@@ -5554,30 +5554,30 @@
                   <node concept="32OYss" id="6MaWlu$kEyc" role="2H9Iav">
                     <node concept="2H9DuE" id="6MaWlu$kEyd" role="32OYtT">
                       <node concept="3Ug1Ap" id="6MaWlu$kCD5" role="2H9Iav">
-                        <ref role="3Ug1Ao" node="4tgWazNvrnG" />
+                        <ref role="3Ug1Ao" node="4tgWazNvrnG" resolve="distance_front" />
                       </node>
                       <node concept="3Ug1Ap" id="6MaWlu$kCDp" role="2H9Ial">
-                        <ref role="3Ug1Ao" node="4tgWazNvryb" />
+                        <ref role="3Ug1Ao" node="4tgWazNvryb" resolve="reference_velocity" />
                       </node>
                     </node>
                   </node>
                   <node concept="hx854" id="6MaWlu$kCEB" role="2H9Ial">
-                    <ref role="hx9HS" node="6MaWlu$kyrV" />
+                    <ref role="hx9HS" node="6MaWlu$kyrV" resolve="SD_THRESHOLD_ALERT" />
                   </node>
                 </node>
               </node>
               <node concept="32OYss" id="6MaWlu$kEye" role="2H9Ial">
                 <node concept="2HbMbg" id="6MaWlu$kEyf" role="32OYtT">
                   <node concept="3Ug1Ap" id="6MaWlu$kCFv" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="16Ng_xNT8ss" />
+                    <ref role="3Ug1Ao" node="16Ng_xNT8ss" resolve="warning_out" />
                   </node>
                   <node concept="32OYss" id="6MaWlu$kEyg" role="2H9Ial">
                     <node concept="2HbLFT" id="6MaWlu$kEyh" role="32OYtT">
                       <node concept="3Ug1Ap" id="6MaWlu$kD2_" role="2H9Iav">
-                        <ref role="3Ug1Ao" node="4tgWazNvrTe" />
+                        <ref role="3Ug1Ao" node="4tgWazNvrTe" resolve="state" />
                       </node>
                       <node concept="2HeeqP" id="2r$08YM5t99" role="2H9Ial">
-                        <ref role="2HeeqO" node="6MaWlu$kzly" />
+                        <ref role="2HeeqO" node="6MaWlu$kzly" resolve="warning" />
                       </node>
                     </node>
                   </node>
@@ -5597,25 +5597,25 @@
                   <node concept="32OYss" id="6MaWlu$kE$c" role="2H9Iav">
                     <node concept="2H9DuE" id="6MaWlu$kE$d" role="32OYtT">
                       <node concept="3Ug1Ap" id="6MaWlu$kE$e" role="2H9Iav">
-                        <ref role="3Ug1Ao" node="4tgWazNvrnG" />
+                        <ref role="3Ug1Ao" node="4tgWazNvrnG" resolve="distance_front" />
                       </node>
                       <node concept="3Ug1Ap" id="6MaWlu$kE$f" role="2H9Ial">
-                        <ref role="3Ug1Ao" node="4tgWazNvryb" />
+                        <ref role="3Ug1Ao" node="4tgWazNvryb" resolve="reference_velocity" />
                       </node>
                     </node>
                   </node>
                   <node concept="hx854" id="6MaWlu$kE$R" role="2H9Ial">
-                    <ref role="hx9HS" node="6MaWlu$kyMH" />
+                    <ref role="hx9HS" node="6MaWlu$kyMH" resolve="SD_THRESHOLD_BRAKE" />
                   </node>
                 </node>
               </node>
               <node concept="32OYss" id="6MaWlu$kE$h" role="2H9Ial">
                 <node concept="2HbMbg" id="6MaWlu$kE$i" role="32OYtT">
                   <node concept="3Ug1Ap" id="6MaWlu$kE$j" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="16Ng_xNT8ss" />
+                    <ref role="3Ug1Ao" node="16Ng_xNT8ss" resolve="warning_out" />
                   </node>
                   <node concept="3Ug1Ap" id="6MaWlu$kF3M" role="2H9Ial">
-                    <ref role="3Ug1Ao" node="4tgWazNvsms" />
+                    <ref role="3Ug1Ao" node="4tgWazNvsms" resolve="brake" />
                   </node>
                 </node>
               </node>
@@ -5630,7 +5630,7 @@
       <node concept="3UnI9n" id="4tgWazNvqTx" role="3UnI90">
         <property role="TrG5h" value="distance" />
         <node concept="2XEmfi" id="2r$08YM5HJv" role="3UnI80">
-          <ref role="2XEmfl" to="ee4e:SQH6SzH_nu" />
+          <ref role="2XEmfl" to="ee4e:SQH6SzH_nu" resolve="distance_t" />
         </node>
       </node>
       <node concept="0Sh09" id="4tgWazNvrkO" role="lGtFl">
@@ -5646,20 +5646,20 @@
               <node concept="32OYss" id="7hUqFOkxrPY" role="2H9Iav">
                 <node concept="nE0YJ" id="7hUqFOkxrPZ" role="32OYtT">
                   <node concept="3Ug1Ap" id="4pSWRNV3tJn" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="7hUqFOkxqen" />
+                    <ref role="3Ug1Ao" node="7hUqFOkxqen" resolve="distance_in" />
                   </node>
                   <node concept="hx854" id="7hUqFOkxrzV" role="2H9Ial">
-                    <ref role="hx9HS" node="6MaWlu$k$iO" />
+                    <ref role="hx9HS" node="6MaWlu$k$iO" resolve="MAX_ULTRA" />
                   </node>
                 </node>
               </node>
               <node concept="32OYss" id="7hUqFOkxrQ0" role="2H9Ial">
                 <node concept="2HbLFT" id="7hUqFOkxrQ1" role="32OYtT">
                   <node concept="3Ug1Ap" id="7hUqFOkxrGu" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="4tgWazNvqTx" />
+                    <ref role="3Ug1Ao" node="4tgWazNvqTx" resolve="distance" />
                   </node>
                   <node concept="hx854" id="7hUqFOkxrIC" role="2H9Ial">
-                    <ref role="hx9HS" node="6MaWlu$k$iO" />
+                    <ref role="hx9HS" node="6MaWlu$k$iO" resolve="MAX_ULTRA" />
                   </node>
                 </node>
               </node>
@@ -5675,7 +5675,7 @@
               <property role="2IPVms" value="0" />
             </node>
             <node concept="3Ug1Ap" id="7hUqFOkxrRf" role="2H9Iav">
-              <ref role="3Ug1Ao" node="7hUqFOkxqen" />
+              <ref role="3Ug1Ao" node="7hUqFOkxqen" resolve="distance_in" />
             </node>
           </node>
         </node>
@@ -5688,7 +5688,7 @@
               <node concept="32OYss" id="7hUqFOkxs9E" role="2H9Iav">
                 <node concept="nE0YL" id="7hUqFOkxs9F" role="32OYtT">
                   <node concept="3Ug1Ap" id="4pSWRNV3tJy" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="7hUqFOkxqen" />
+                    <ref role="3Ug1Ao" node="7hUqFOkxqen" resolve="distance_in" />
                   </node>
                   <node concept="2IPVmt" id="7hUqFOkxs9G" role="2H9Ial">
                     <property role="2IPVms" value="0" />
@@ -5698,7 +5698,7 @@
               <node concept="32OYss" id="7hUqFOkxs9H" role="2H9Ial">
                 <node concept="2HbLFT" id="7hUqFOkxs9I" role="32OYtT">
                   <node concept="3Ug1Ap" id="7hUqFOkxrUm" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="4tgWazNvqTx" />
+                    <ref role="3Ug1Ao" node="4tgWazNvqTx" resolve="distance" />
                   </node>
                   <node concept="2IPVmt" id="7hUqFOkxs9J" role="2H9Ial">
                     <property role="2IPVms" value="0" />
@@ -5712,7 +5712,7 @@
       <node concept="3UnI81" id="7hUqFOkxqen" role="3UnI9m">
         <property role="TrG5h" value="distance_in" />
         <node concept="2XEmfi" id="2r$08YM5HI3" role="3UnI80">
-          <ref role="2XEmfl" to="ee4e:SQH6SzH_nu" />
+          <ref role="2XEmfl" to="ee4e:SQH6SzH_nu" resolve="distance_t" />
         </node>
       </node>
     </node>
@@ -5722,7 +5722,7 @@
       <node concept="3UnI9n" id="4tgWazNvqWg" role="3UnI90">
         <property role="TrG5h" value="distance" />
         <node concept="2XEmfi" id="2r$08YM5HM9" role="3UnI80">
-          <ref role="2XEmfl" to="ee4e:SQH6SzH_nu" />
+          <ref role="2XEmfl" to="ee4e:SQH6SzH_nu" resolve="distance_t" />
         </node>
       </node>
       <node concept="0Sh09" id="4tgWazNvrkM" role="lGtFl">
@@ -5738,20 +5738,20 @@
               <node concept="32OYss" id="4pSWRNV3tHM" role="2H9Iav">
                 <node concept="nE0YJ" id="4pSWRNV3tHN" role="32OYtT">
                   <node concept="3Ug1Ap" id="4pSWRNV3tJH" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="7hUqFOkxqeu" />
+                    <ref role="3Ug1Ao" node="7hUqFOkxqeu" resolve="distance_in" />
                   </node>
                   <node concept="hx854" id="4pSWRNV3tJL" role="2H9Ial">
-                    <ref role="hx9HS" node="6MaWlu$kzVw" />
+                    <ref role="hx9HS" node="6MaWlu$kzVw" resolve="MAX_LASER" />
                   </node>
                 </node>
               </node>
               <node concept="32OYss" id="4pSWRNV3tHQ" role="2H9Ial">
                 <node concept="2HbLFT" id="4pSWRNV3tHR" role="32OYtT">
                   <node concept="3Ug1Ap" id="4pSWRNV3tHS" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="4tgWazNvqWg" />
+                    <ref role="3Ug1Ao" node="4tgWazNvqWg" resolve="distance" />
                   </node>
                   <node concept="hx854" id="4pSWRNV3tJP" role="2H9Ial">
-                    <ref role="hx9HS" node="6MaWlu$kzVw" />
+                    <ref role="hx9HS" node="6MaWlu$kzVw" resolve="MAX_LASER" />
                   </node>
                 </node>
               </node>
@@ -5767,7 +5767,7 @@
               <property role="2IPVms" value="0" />
             </node>
             <node concept="3Ug1Ap" id="4pSWRNV3tHY" role="2H9Iav">
-              <ref role="3Ug1Ao" node="7hUqFOkxqeu" />
+              <ref role="3Ug1Ao" node="7hUqFOkxqeu" resolve="distance_in" />
             </node>
           </node>
         </node>
@@ -5780,7 +5780,7 @@
               <node concept="32OYss" id="4pSWRNV3tI3" role="2H9Iav">
                 <node concept="nE0YL" id="4pSWRNV3tI4" role="32OYtT">
                   <node concept="3Ug1Ap" id="4pSWRNV3tK4" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="7hUqFOkxqeu" />
+                    <ref role="3Ug1Ao" node="7hUqFOkxqeu" resolve="distance_in" />
                   </node>
                   <node concept="2IPVmt" id="4pSWRNV3tI6" role="2H9Ial">
                     <property role="2IPVms" value="0" />
@@ -5790,7 +5790,7 @@
               <node concept="32OYss" id="4pSWRNV3tI7" role="2H9Ial">
                 <node concept="2HbLFT" id="4pSWRNV3tI8" role="32OYtT">
                   <node concept="3Ug1Ap" id="4pSWRNV3tI9" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="4tgWazNvqWg" />
+                    <ref role="3Ug1Ao" node="4tgWazNvqWg" resolve="distance" />
                   </node>
                   <node concept="2IPVmt" id="4pSWRNV3tIa" role="2H9Ial">
                     <property role="2IPVms" value="0" />
@@ -5804,7 +5804,7 @@
       <node concept="3UnI81" id="7hUqFOkxqeu" role="3UnI9m">
         <property role="TrG5h" value="distance_in" />
         <node concept="2XEmfi" id="2r$08YM5HKH" role="3UnI80">
-          <ref role="2XEmfl" to="ee4e:SQH6SzH_nu" />
+          <ref role="2XEmfl" to="ee4e:SQH6SzH_nu" resolve="distance_t" />
         </node>
       </node>
     </node>
@@ -5814,13 +5814,13 @@
       <node concept="3UnI81" id="4tgWazNvreR" role="3UnI9m">
         <property role="TrG5h" value="push" />
         <node concept="2XEmfi" id="2r$08YM5HNn" role="3UnI80">
-          <ref role="2XEmfl" to="ee4e:SQH6SzHC8S" />
+          <ref role="2XEmfl" to="ee4e:SQH6SzHC8S" resolve="brake_t" />
         </node>
       </node>
       <node concept="3UnI81" id="2r$08YM5vGe" role="3UnI9m">
         <property role="TrG5h" value="brake_in" />
         <node concept="2XEmfi" id="2r$08YM5HOl" role="3UnI80">
-          <ref role="2XEmfl" to="ee4e:SQH6SzHC8S" />
+          <ref role="2XEmfl" to="ee4e:SQH6SzHC8S" resolve="brake_t" />
         </node>
       </node>
       <node concept="3UnI9n" id="4tgWazNvrfM" role="3UnI90">
@@ -5830,7 +5830,7 @@
       <node concept="3UnI9n" id="2r$08YM5vGZ" role="3UnI90">
         <property role="TrG5h" value="brake_out" />
         <node concept="2XEmfi" id="2r$08YM5HP4" role="3UnI80">
-          <ref role="2XEmfl" to="ee4e:SQH6SzHC8S" />
+          <ref role="2XEmfl" to="ee4e:SQH6SzHC8S" resolve="brake_t" />
         </node>
       </node>
       <node concept="0Sh09" id="4tgWazNvrkG" role="lGtFl">
@@ -5846,17 +5846,17 @@
               <node concept="32OYss" id="6MaWlu$kAEZ" role="2H9Iav">
                 <node concept="nE0YL" id="6MaWlu$kAF0" role="32OYtT">
                   <node concept="3Ug1Ap" id="6MaWlu$kAtg" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="4tgWazNvreR" />
+                    <ref role="3Ug1Ao" node="4tgWazNvreR" resolve="push" />
                   </node>
                   <node concept="hx854" id="6MaWlu$kAur" role="2H9Ial">
-                    <ref role="hx9HS" node="6MaWlu$kAfV" />
+                    <ref role="hx9HS" node="6MaWlu$kAfV" resolve="MAX_BRAKE" />
                   </node>
                 </node>
               </node>
               <node concept="32OYss" id="6MaWlu$kAF1" role="2H9Ial">
                 <node concept="nE0YI" id="2r$08YM5vYF" role="32OYtT">
                   <node concept="3Ug1Ap" id="6MaWlu$kAuZ" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="4tgWazNvreR" />
+                    <ref role="3Ug1Ao" node="4tgWazNvreR" resolve="push" />
                   </node>
                   <node concept="2IPVmt" id="6MaWlu$kAF3" role="2H9Ial">
                     <property role="2IPVms" value="0" />
@@ -5874,13 +5874,13 @@
       <node concept="3UnI9n" id="4tgWazNvr88" role="3UnI90">
         <property role="TrG5h" value="current_speed" />
         <node concept="2XEmfi" id="2r$08YM5HQK" role="3UnI80">
-          <ref role="2XEmfl" to="ee4e:SQH6SzHBvC" />
+          <ref role="2XEmfl" to="ee4e:SQH6SzHBvC" resolve="velocity_t" />
         </node>
       </node>
       <node concept="3UnI9n" id="7qgRsCGUqVJ" role="3UnI90">
         <property role="TrG5h" value="old_speed" />
         <node concept="2XEmfi" id="2r$08YM5HSe" role="3UnI80">
-          <ref role="2XEmfl" to="ee4e:SQH6SzHBvC" />
+          <ref role="2XEmfl" to="ee4e:SQH6SzHBvC" resolve="velocity_t" />
         </node>
       </node>
       <node concept="0Sh09" id="4tgWazNvrkK" role="lGtFl">
@@ -5896,20 +5896,20 @@
               <node concept="32OYss" id="4pSWRNV3QDp" role="2H9Iav">
                 <node concept="nE0YJ" id="4pSWRNV3QDq" role="32OYtT">
                   <node concept="3Ug1Ap" id="4pSWRNV3QoH" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="4pSWRNV3E4O" />
+                    <ref role="3Ug1Ao" node="4pSWRNV3E4O" resolve="speed_in" />
                   </node>
                   <node concept="hx854" id="4pSWRNV3Qp0" role="2H9Ial">
-                    <ref role="hx9HS" node="4pSWRNV3PC4" />
+                    <ref role="hx9HS" node="4pSWRNV3PC4" resolve="MAX_SPEED" />
                   </node>
                 </node>
               </node>
               <node concept="32OYss" id="4pSWRNV3QDr" role="2H9Ial">
                 <node concept="2HbLFT" id="4pSWRNV3QDs" role="32OYtT">
                   <node concept="3Ug1Ap" id="4pSWRNV3QpI" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="4tgWazNvr88" />
+                    <ref role="3Ug1Ao" node="4tgWazNvr88" resolve="current_speed" />
                   </node>
                   <node concept="hx854" id="4pSWRNV3Qqd" role="2H9Ial">
-                    <ref role="hx9HS" node="4pSWRNV3PC4" />
+                    <ref role="hx9HS" node="4pSWRNV3PC4" resolve="MAX_SPEED" />
                   </node>
                 </node>
               </node>
@@ -5925,20 +5925,20 @@
               <node concept="32OYss" id="4pSWRNV3QQ8" role="2H9Iav">
                 <node concept="nE0YL" id="4pSWRNV3QQ9" role="32OYtT">
                   <node concept="3Ug1Ap" id="4pSWRNV3Qri" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="4pSWRNV3E4O" />
+                    <ref role="3Ug1Ao" node="4pSWRNV3E4O" resolve="speed_in" />
                   </node>
                   <node concept="hx854" id="4pSWRNV3Qr_" role="2H9Ial">
-                    <ref role="hx9HS" node="4pSWRNV3Q7f" />
+                    <ref role="hx9HS" node="4pSWRNV3Q7f" resolve="MIN_SPEED" />
                   </node>
                 </node>
               </node>
               <node concept="32OYss" id="4pSWRNV3QQa" role="2H9Ial">
                 <node concept="2HbLFT" id="4pSWRNV3QQb" role="32OYtT">
                   <node concept="3Ug1Ap" id="4pSWRNV3Qsj" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="4tgWazNvr88" />
+                    <ref role="3Ug1Ao" node="4tgWazNvr88" resolve="current_speed" />
                   </node>
                   <node concept="hx854" id="4pSWRNV3QsQ" role="2H9Ial">
-                    <ref role="hx9HS" node="4pSWRNV3Q7f" />
+                    <ref role="hx9HS" node="4pSWRNV3Q7f" resolve="MIN_SPEED" />
                   </node>
                 </node>
               </node>
@@ -5952,10 +5952,10 @@
           <node concept="2Sa8AP" id="4pSWRNV3QR$" role="1yBIc4">
             <node concept="2HbLFT" id="4pSWRNV3QRX" role="1yBIc4">
               <node concept="3Ug1Ap" id="4pSWRNV3QSA" role="2H9Ial">
-                <ref role="3Ug1Ao" node="4tgWazNvr88" />
+                <ref role="3Ug1Ao" node="4tgWazNvr88" resolve="current_speed" />
               </node>
               <node concept="3Ug1Ap" id="4pSWRNV3QRT" role="2H9Iav">
-                <ref role="3Ug1Ao" node="7qgRsCGUqVJ" />
+                <ref role="3Ug1Ao" node="7qgRsCGUqVJ" resolve="old_speed" />
               </node>
             </node>
           </node>
@@ -5964,7 +5964,7 @@
       <node concept="3UnI81" id="4pSWRNV3E4O" role="3UnI9m">
         <property role="TrG5h" value="speed_in" />
         <node concept="2XEmfi" id="2r$08YM5HPM" role="3UnI80">
-          <ref role="2XEmfl" to="ee4e:SQH6SzHBvC" />
+          <ref role="2XEmfl" to="ee4e:SQH6SzHBvC" resolve="velocity_t" />
         </node>
       </node>
     </node>
@@ -5974,37 +5974,37 @@
       <node concept="3UnI81" id="4tgWazNvrtx" role="3UnI9m">
         <property role="TrG5h" value="laser1" />
         <node concept="2XEmfi" id="2r$08YM5HTc" role="3UnI80">
-          <ref role="2XEmfl" to="ee4e:SQH6SzH_nu" />
+          <ref role="2XEmfl" to="ee4e:SQH6SzH_nu" resolve="distance_t" />
         </node>
       </node>
       <node concept="3UnI81" id="7qgRsCGQDaI" role="3UnI9m">
         <property role="TrG5h" value="laser2" />
         <node concept="2XEmfi" id="2r$08YM5HUA" role="3UnI80">
-          <ref role="2XEmfl" to="ee4e:SQH6SzH_nu" />
+          <ref role="2XEmfl" to="ee4e:SQH6SzH_nu" resolve="distance_t" />
         </node>
       </node>
       <node concept="3UnI81" id="4tgWazNvrtW" role="3UnI9m">
         <property role="TrG5h" value="ultrasound1" />
         <node concept="2XEmfi" id="2r$08YM5HW0" role="3UnI80">
-          <ref role="2XEmfl" to="ee4e:SQH6SzH_nu" />
+          <ref role="2XEmfl" to="ee4e:SQH6SzH_nu" resolve="distance_t" />
         </node>
       </node>
       <node concept="3UnI81" id="4tgWazNvrup" role="3UnI9m">
         <property role="TrG5h" value="ultrasound2" />
         <node concept="2XEmfi" id="2r$08YM5HXq" role="3UnI80">
-          <ref role="2XEmfl" to="ee4e:SQH6SzH_nu" />
+          <ref role="2XEmfl" to="ee4e:SQH6SzH_nu" resolve="distance_t" />
         </node>
       </node>
       <node concept="3UnI9n" id="4tgWazNvrvj" role="3UnI90">
         <property role="TrG5h" value="distance_front" />
         <node concept="2XEmfi" id="2r$08YM5HYO" role="3UnI80">
-          <ref role="2XEmfl" to="ee4e:SQH6SzH_nu" />
+          <ref role="2XEmfl" to="ee4e:SQH6SzH_nu" resolve="distance_t" />
         </node>
       </node>
       <node concept="3UnI9n" id="4tgWazNvrx3" role="3UnI90">
         <property role="TrG5h" value="reference_velocity" />
         <node concept="2XEmfi" id="2r$08YM5HZM" role="3UnI80">
-          <ref role="2XEmfl" to="ee4e:SQH6SzHBvC" />
+          <ref role="2XEmfl" to="ee4e:SQH6SzHBvC" resolve="velocity_t" />
         </node>
       </node>
       <node concept="3UnI9n" id="4tgWazNvrvB" role="3UnI90">
@@ -6027,7 +6027,7 @@
                     <node concept="2HbMbg" id="7qgRsCGQQ2X" role="2H9Iav">
                       <node concept="2HbLFT" id="7qgRsCGQQ2Y" role="2H9Iav">
                         <node concept="3Ug1Ap" id="7qgRsCGQDbF" role="2H9Iav">
-                          <ref role="3Ug1Ao" node="4tgWazNvrtx" />
+                          <ref role="3Ug1Ao" node="4tgWazNvrtx" resolve="laser1" />
                         </node>
                         <node concept="2IPVmt" id="7qgRsCGQQ2Z" role="2H9Ial">
                           <property role="2IPVms" value="0" />
@@ -6035,7 +6035,7 @@
                       </node>
                       <node concept="2HbLFT" id="7qgRsCGQQ30" role="2H9Ial">
                         <node concept="3Ug1Ap" id="7qgRsCGQDet" role="2H9Iav">
-                          <ref role="3Ug1Ao" node="7qgRsCGQDaI" />
+                          <ref role="3Ug1Ao" node="7qgRsCGQDaI" resolve="laser2" />
                         </node>
                         <node concept="2IPVmt" id="7qgRsCGQQ31" role="2H9Ial">
                           <property role="2IPVms" value="0" />
@@ -6046,7 +6046,7 @@
                       <node concept="2HbMbg" id="7qgRsCGQQ33" role="2H9Iav">
                         <node concept="2HbLFT" id="7qgRsCGQQ34" role="2H9Iav">
                           <node concept="3Ug1Ap" id="7qgRsCGQDBy" role="2H9Iav">
-                            <ref role="3Ug1Ao" node="4tgWazNvrtx" />
+                            <ref role="3Ug1Ao" node="4tgWazNvrtx" resolve="laser1" />
                           </node>
                           <node concept="2IPVmt" id="7qgRsCGQQ35" role="2H9Ial">
                             <property role="2IPVms" value="0" />
@@ -6054,7 +6054,7 @@
                         </node>
                         <node concept="2HbLFT" id="7qgRsCGQQ36" role="2H9Ial">
                           <node concept="3Ug1Ap" id="7qgRsCGQDPk" role="2H9Iav">
-                            <ref role="3Ug1Ao" node="4tgWazNvrtW" />
+                            <ref role="3Ug1Ao" node="4tgWazNvrtW" resolve="ultrasound1" />
                           </node>
                           <node concept="2IPVmt" id="7qgRsCGQQ37" role="2H9Ial">
                             <property role="2IPVms" value="0" />
@@ -6063,7 +6063,7 @@
                       </node>
                       <node concept="2HbLFT" id="7qgRsCGQQ38" role="2H9Ial">
                         <node concept="3Ug1Ap" id="7qgRsCGQEnk" role="2H9Iav">
-                          <ref role="3Ug1Ao" node="4tgWazNvrup" />
+                          <ref role="3Ug1Ao" node="4tgWazNvrup" resolve="ultrasound2" />
                         </node>
                         <node concept="2IPVmt" id="7qgRsCGQQ39" role="2H9Ial">
                           <property role="2IPVms" value="0" />
@@ -6075,7 +6075,7 @@
                     <node concept="2HbMbg" id="7qgRsCGQQ3b" role="2H9Iav">
                       <node concept="2HbLFT" id="7qgRsCGQQ3c" role="2H9Iav">
                         <node concept="3Ug1Ap" id="7qgRsCGQFKg" role="2H9Iav">
-                          <ref role="3Ug1Ao" node="7qgRsCGQDaI" />
+                          <ref role="3Ug1Ao" node="7qgRsCGQDaI" resolve="laser2" />
                         </node>
                         <node concept="2IPVmt" id="7qgRsCGQQ3d" role="2H9Ial">
                           <property role="2IPVms" value="0" />
@@ -6083,7 +6083,7 @@
                       </node>
                       <node concept="2HbLFT" id="7qgRsCGQQ3e" role="2H9Ial">
                         <node concept="3Ug1Ap" id="7qgRsCGQIVI" role="2H9Iav">
-                          <ref role="3Ug1Ao" node="4tgWazNvrtW" />
+                          <ref role="3Ug1Ao" node="4tgWazNvrtW" resolve="ultrasound1" />
                         </node>
                         <node concept="2IPVmt" id="7qgRsCGQQ3f" role="2H9Ial">
                           <property role="2IPVms" value="0" />
@@ -6095,7 +6095,7 @@
                         <property role="2IPVms" value="0" />
                       </node>
                       <node concept="3Ug1Ap" id="7qgRsCGQQ5m" role="2H9Iav">
-                        <ref role="3Ug1Ao" node="4tgWazNvrup" />
+                        <ref role="3Ug1Ao" node="4tgWazNvrup" resolve="ultrasound2" />
                       </node>
                     </node>
                   </node>
@@ -6103,7 +6103,7 @@
               </node>
               <node concept="2Sa8AP" id="4pSWRNV3zBM" role="2H9Ial">
                 <node concept="3Ug1Ap" id="4pSWRNV3zC0" role="1yBIc4">
-                  <ref role="3Ug1Ao" node="4tgWazNvrvB" />
+                  <ref role="3Ug1Ao" node="4tgWazNvrvB" resolve="alert" />
                 </node>
               </node>
             </node>
@@ -6120,7 +6120,7 @@
                   <node concept="32OYss" id="6MaWlu$kCaV" role="2H9Iav">
                     <node concept="nE0YL" id="6MaWlu$kCaW" role="32OYtT">
                       <node concept="3Ug1Ap" id="6MaWlu$kCaX" role="2H9Iav">
-                        <ref role="3Ug1Ao" node="4tgWazNvrvj" />
+                        <ref role="3Ug1Ao" node="4tgWazNvrvj" resolve="distance_front" />
                       </node>
                       <node concept="2IPVmt" id="6MaWlu$kCaY" role="2H9Ial">
                         <property role="2IPVms" value="0" />
@@ -6130,10 +6130,10 @@
                   <node concept="32OYss" id="6MaWlu$kCaZ" role="2H9Ial">
                     <node concept="nE0YJ" id="6MaWlu$kCb0" role="32OYtT">
                       <node concept="3Ug1Ap" id="6MaWlu$kCb1" role="2H9Iav">
-                        <ref role="3Ug1Ao" node="4tgWazNvrvj" />
+                        <ref role="3Ug1Ao" node="4tgWazNvrvj" resolve="distance_front" />
                       </node>
                       <node concept="hx854" id="6MaWlu$kCb2" role="2H9Ial">
-                        <ref role="hx9HS" node="6MaWlu$kzVw" />
+                        <ref role="hx9HS" node="6MaWlu$kzVw" resolve="MAX_LASER" />
                       </node>
                     </node>
                   </node>
@@ -6141,7 +6141,7 @@
               </node>
               <node concept="2Sa8AP" id="4pSWRNV3zBp" role="2H9Ial">
                 <node concept="3Ug1Ap" id="4pSWRNV3zBB" role="1yBIc4">
-                  <ref role="3Ug1Ao" node="4tgWazNvrvB" />
+                  <ref role="3Ug1Ao" node="4tgWazNvrvB" resolve="alert" />
                 </node>
               </node>
             </node>
@@ -6158,7 +6158,7 @@
       <node concept="3UnI81" id="16Ng_xNT8ME" role="3UnI9m">
         <property role="TrG5h" value="state_in" />
         <node concept="2XJXdx" id="2r$08YM5tad" role="3UnI80">
-          <ref role="2XJXdw" node="2Q6_IeFkaVR" />
+          <ref role="2XJXdw" node="2Q6_IeFkaVR" resolve="enum_state_eb" />
         </node>
       </node>
       <node concept="3UnI9n" id="16Ng_xNT8RK" role="3UnI90">
@@ -6168,13 +6168,13 @@
       <node concept="3UnI9n" id="4tgWazNvqYR" role="3UnI90">
         <property role="TrG5h" value="display_message" />
         <node concept="2XEmfi" id="2r$08YM5tH2" role="3UnI80">
-          <ref role="2XEmfl" node="2r$08YM5tsB" />
+          <ref role="2XEmfl" node="2r$08YM5tsB" resolve="DISPLAY_MESSAGE" />
         </node>
       </node>
       <node concept="3UnI9n" id="16Ng_xNT8RX" role="3UnI90">
         <property role="TrG5h" value="state" />
         <node concept="2XJXdx" id="2r$08YM5taC" role="3UnI80">
-          <ref role="2XJXdw" node="2Q6_IeFkaVR" />
+          <ref role="2XJXdw" node="2Q6_IeFkaVR" resolve="enum_state_eb" />
         </node>
       </node>
       <node concept="0Sh09" id="2NJwv_HFJYu" role="lGtFl">
@@ -6186,12 +6186,12 @@
         <property role="TrG5h" value="Forward_Warning" />
         <node concept="1yyYsf" id="6MaWlu$kChv" role="1yBDGv">
           <node concept="3Ug1Ap" id="6MaWlu$kCcX" role="2H9Iav">
-            <ref role="3Ug1Ao" node="16Ng_xNT8Mt" />
+            <ref role="3Ug1Ao" node="16Ng_xNT8Mt" resolve="driver_warning_in" />
           </node>
           <node concept="32OYss" id="6MaWlu$kChw" role="2H9Ial">
             <node concept="2HbMbg" id="6MaWlu$kChx" role="32OYtT">
               <node concept="3Ug1Ap" id="6MaWlu$kCdS" role="2H9Iav">
-                <ref role="3Ug1Ao" node="16Ng_xNT8RK" />
+                <ref role="3Ug1Ao" node="16Ng_xNT8RK" resolve="alert_signal" />
               </node>
               <node concept="32OYss" id="6MaWlu$kChz" role="2H9Ial">
                 <node concept="2HbLFT" id="2r$08YM5tbH" role="32OYtT">
@@ -6199,7 +6199,7 @@
                     <property role="2IPVms" value="0" />
                   </node>
                   <node concept="3Ug1Ap" id="6MaWlu$kCeq" role="2H9Iav">
-                    <ref role="3Ug1Ao" node="4tgWazNvqYR" />
+                    <ref role="3Ug1Ao" node="4tgWazNvqYR" resolve="display_message" />
                   </node>
                 </node>
               </node>
@@ -6213,10 +6213,10 @@
           <node concept="32OYss" id="6MaWlu$kCkv" role="1yBIc4">
             <node concept="2HbLFT" id="6MaWlu$kCkw" role="32OYtT">
               <node concept="3Ug1Ap" id="6MaWlu$kCjy" role="2H9Iav">
-                <ref role="3Ug1Ao" node="16Ng_xNT8ME" />
+                <ref role="3Ug1Ao" node="16Ng_xNT8ME" resolve="state_in" />
               </node>
               <node concept="3Ug1Ap" id="6MaWlu$kCjS" role="2H9Ial">
-                <ref role="3Ug1Ao" node="16Ng_xNT8RX" />
+                <ref role="3Ug1Ao" node="16Ng_xNT8RX" resolve="state" />
               </node>
             </node>
           </node>
@@ -6229,19 +6229,19 @@
       <node concept="3UnI81" id="7qgRsCGQC9d" role="3UnI9m">
         <property role="TrG5h" value="old_velocity" />
         <node concept="2XEmfi" id="2r$08YM5I0w" role="3UnI80">
-          <ref role="2XEmfl" to="ee4e:SQH6SzHBvC" />
+          <ref role="2XEmfl" to="ee4e:SQH6SzHBvC" resolve="velocity_t" />
         </node>
       </node>
       <node concept="3UnI81" id="7qgRsCGQCet" role="3UnI9m">
         <property role="TrG5h" value="velocity" />
         <node concept="2XEmfi" id="2r$08YM5I0$" role="3UnI80">
-          <ref role="2XEmfl" to="ee4e:SQH6SzHBvC" />
+          <ref role="2XEmfl" to="ee4e:SQH6SzHBvC" resolve="velocity_t" />
         </node>
       </node>
       <node concept="3UnI81" id="7qgRsCGQCeU" role="3UnI9m">
         <property role="TrG5h" value="eb_brake" />
         <node concept="2XEmfi" id="2r$08YM5I2c" role="3UnI80">
-          <ref role="2XEmfl" to="ee4e:SQH6SzHC8S" />
+          <ref role="2XEmfl" to="ee4e:SQH6SzHC8S" resolve="brake_t" />
         </node>
       </node>
       <node concept="3UnI9n" id="7qgRsCGQCh4" role="3UnI90">
@@ -6264,7 +6264,7 @@
                     <node concept="32OYss" id="2r$08YM5AWF" role="2H9Iav">
                       <node concept="nE0YJ" id="2r$08YM5AWG" role="32OYtT">
                         <node concept="3Ug1Ap" id="7qgRsCGUpk5" role="2H9Iav">
-                          <ref role="3Ug1Ao" node="7qgRsCGQCeU" />
+                          <ref role="3Ug1Ao" node="7qgRsCGQCeU" resolve="eb_brake" />
                         </node>
                         <node concept="2IPVmt" id="2r$08YM5AWH" role="2H9Ial">
                           <property role="2IPVms" value="0" />
@@ -6274,10 +6274,10 @@
                     <node concept="32OYss" id="2r$08YM5AWI" role="2H9Ial">
                       <node concept="nE0YK" id="2r$08YM5AWJ" role="32OYtT">
                         <node concept="3Ug1Ap" id="7qgRsCGUpkM" role="2H9Iav">
-                          <ref role="3Ug1Ao" node="7qgRsCGQC9d" />
+                          <ref role="3Ug1Ao" node="7qgRsCGQC9d" resolve="old_velocity" />
                         </node>
                         <node concept="3Ug1Ap" id="3p1$yKVlhQw" role="2H9Ial">
-                          <ref role="3Ug1Ao" node="7qgRsCGQCet" />
+                          <ref role="3Ug1Ao" node="7qgRsCGQCet" resolve="velocity" />
                         </node>
                       </node>
                     </node>
@@ -6285,7 +6285,7 @@
                 </node>
                 <node concept="2Sa8AP" id="2r$08YM5AWK" role="2H9Ial">
                   <node concept="3Ug1Ap" id="4pSWRNV3Cf6" role="1yBIc4">
-                    <ref role="3Ug1Ao" node="7qgRsCGQCh4" />
+                    <ref role="3Ug1Ao" node="7qgRsCGQCh4" resolve="alert" />
                   </node>
                 </node>
               </node>
@@ -6535,10 +6535,10 @@
           <property role="TrG5h" value="state" />
           <node concept="d4bQV" id="4pSWRNV3Ypp" role="1zoetD">
             <node concept="2HeeqP" id="4pSWRNV3YIE" role="d498F">
-              <ref role="2HeeqO" node="7hUqFOkxssq" />
+              <ref role="2HeeqO" node="7hUqFOkxssq" resolve="warning" />
             </node>
             <node concept="2HeeqP" id="4pSWRNV3YIZ" role="d498I">
-              <ref role="2HeeqO" node="7hUqFOkxssn" />
+              <ref role="2HeeqO" node="7hUqFOkxssn" resolve="ok" />
             </node>
             <node concept="32OYss" id="4pSWRNV3Yoh" role="d498Q">
               <node concept="2HbMbg" id="4pSWRNV3Yoi" role="32OYtT">
@@ -6546,22 +6546,22 @@
                   <node concept="2HbMDt" id="4pSWRNV3Yok" role="32OYtT">
                     <node concept="2HbMDt" id="4pSWRNV3Yol" role="2H9Iav">
                       <node concept="32Ogvo" id="4pSWRNV3XuB" role="2H9Iav">
-                        <ref role="32Ogvr" node="6MaWlu$kFfz" />
+                        <ref role="32Ogvr" node="6MaWlu$kFfz" resolve="alert" />
                       </node>
                       <node concept="32OYss" id="4pSWRNV3Yom" role="2H9Ial">
                         <node concept="nE0YK" id="4pSWRNV3Yon" role="32OYtT">
                           <node concept="32OYss" id="4pSWRNV3Yoo" role="2H9Iav">
                             <node concept="2H9DuE" id="4pSWRNV3Yop" role="32OYtT">
                               <node concept="32Ogvo" id="4pSWRNV3XuG" role="2H9Iav">
-                                <ref role="32Ogvr" node="6MaWlu$kFfo" />
+                                <ref role="32Ogvr" node="6MaWlu$kFfo" resolve="distance_front" />
                               </node>
                               <node concept="32Ogvo" id="4pSWRNV3XuH" role="2H9Ial">
-                                <ref role="32Ogvr" node="6MaWlu$kFft" />
+                                <ref role="32Ogvr" node="6MaWlu$kFft" resolve="reference_velocity" />
                               </node>
                             </node>
                           </node>
                           <node concept="hx854" id="4pSWRNV3XuI" role="2H9Ial">
-                            <ref role="hx9HS" node="6MaWlu$kyrV" />
+                            <ref role="hx9HS" node="6MaWlu$kyrV" resolve="SD_THRESHOLD_ALERT" />
                           </node>
                         </node>
                       </node>
@@ -6571,15 +6571,15 @@
                         <node concept="32OYss" id="4pSWRNV3Yos" role="2H9Iav">
                           <node concept="2H9DuE" id="4pSWRNV3Yot" role="32OYtT">
                             <node concept="32Ogvo" id="4pSWRNV3XuN" role="2H9Iav">
-                              <ref role="32Ogvr" node="6MaWlu$kFfo" />
+                              <ref role="32Ogvr" node="6MaWlu$kFfo" resolve="distance_front" />
                             </node>
                             <node concept="32Ogvo" id="4pSWRNV3XuO" role="2H9Ial">
-                              <ref role="32Ogvr" node="6MaWlu$kFft" />
+                              <ref role="32Ogvr" node="6MaWlu$kFft" resolve="reference_velocity" />
                             </node>
                           </node>
                         </node>
                         <node concept="hx854" id="4pSWRNV3XuP" role="2H9Ial">
-                          <ref role="hx9HS" node="6MaWlu$kyMH" />
+                          <ref role="hx9HS" node="6MaWlu$kyMH" resolve="SD_THRESHOLD_BRAKE" />
                         </node>
                       </node>
                     </node>
@@ -6587,7 +6587,7 @@
                 </node>
                 <node concept="1yA0yd" id="4pSWRNV3You" role="2H9Ial">
                   <node concept="32Ogvo" id="4pSWRNV3XuR" role="32OYtT">
-                    <ref role="32Ogvr" node="6MaWlu$kFfh" />
+                    <ref role="32Ogvr" node="6MaWlu$kFfh" resolve="accelerating" />
                   </node>
                 </node>
               </node>
@@ -6597,13 +6597,13 @@
         <node concept="JlCpM" id="4pSWRNV3Tnu" role="32O2ov">
           <property role="TrG5h" value="warning_out" />
           <node concept="2He$iJ" id="6i8f1VRXKmH" role="1zoetD">
-            <ref role="2He$iI" node="6i8f1VRXKi4" />
+            <ref role="2He$iI" node="6i8f1VRXKi4" resolve="my_warning" />
           </node>
         </node>
         <node concept="JlCpM" id="6i8f1VRXKgJ" role="32O2ov">
           <property role="TrG5h" value="brake" />
           <node concept="2He$iJ" id="6i8f1VRXKhC" role="1zoetD">
-            <ref role="2He$iI" node="6i8f1VRXK5w" />
+            <ref role="2He$iI" node="6i8f1VRXK5w" resolve="my_brake" />
           </node>
         </node>
       </node>
@@ -6611,7 +6611,7 @@
         <node concept="2Hdskp" id="6i8f1VRXK5w" role="2Hfkx9">
           <property role="TrG5h" value="my_brake" />
           <node concept="2XEmfi" id="6i8f1VRXK5Q" role="2HdssA">
-            <ref role="2XEmfl" to="ee4e:SQH6SzHC8S" />
+            <ref role="2XEmfl" to="ee4e:SQH6SzHC8S" resolve="brake_t" />
           </node>
         </node>
         <node concept="2Hdskp" id="6i8f1VRXKi4" role="2Hfkx9">
@@ -6622,7 +6622,7 @@
       <node concept="2Hfkzp" id="6i8f1VRXK7f" role="2HcbjO">
         <node concept="2HfkAV" id="6i8f1VRXK8k" role="2HfkAP">
           <node concept="2He$iJ" id="6i8f1VRXK8L" role="2He$ia">
-            <ref role="2He$iI" node="6i8f1VRXK5w" />
+            <ref role="2He$iI" node="6i8f1VRXK5w" resolve="my_brake" />
           </node>
           <node concept="2IPVmt" id="6i8f1VRXK92" role="2He$i0">
             <property role="2IPVms" value="0" />
@@ -6630,13 +6630,13 @@
         </node>
         <node concept="2HfkAV" id="6i8f1VRXKjd" role="2HfkAP">
           <node concept="2He$iJ" id="6i8f1VRXKk2" role="2He$ia">
-            <ref role="2He$iI" node="6i8f1VRXKi4" />
+            <ref role="2He$iI" node="6i8f1VRXKi4" resolve="my_warning" />
           </node>
           <node concept="1yCjT0" id="6i8f1VRXKkj" role="2He$i0" />
         </node>
         <node concept="2HevG6" id="6i8f1VRXK9Y" role="2HfkAP">
           <node concept="2He$iJ" id="6i8f1VRXKau" role="2He$ia">
-            <ref role="2He$iI" node="6i8f1VRXK5w" />
+            <ref role="2He$iI" node="6i8f1VRXK5w" resolve="my_brake" />
           </node>
           <node concept="2HbMbg" id="6i8f1VRXKaF" role="2He$i0">
             <node concept="32OYss" id="6i8f1VRXKaG" role="2H9Iav">
@@ -6644,22 +6644,22 @@
                 <node concept="32OYss" id="6i8f1VRXKaI" role="2H9Iav">
                   <node concept="2H9DuE" id="6i8f1VRXKaJ" role="32OYtT">
                     <node concept="32Ogvo" id="6i8f1VRXKaK" role="2H9Iav">
-                      <ref role="32Ogvr" node="6MaWlu$kFfo" />
+                      <ref role="32Ogvr" node="6MaWlu$kFfo" resolve="distance_front" />
                     </node>
                     <node concept="32Ogvo" id="6i8f1VRXKaL" role="2H9Ial">
-                      <ref role="32Ogvr" node="6MaWlu$kFft" />
+                      <ref role="32Ogvr" node="6MaWlu$kFft" resolve="reference_velocity" />
                     </node>
                   </node>
                 </node>
                 <node concept="hx854" id="6i8f1VRXKaM" role="2H9Ial">
-                  <ref role="hx9HS" node="6MaWlu$kyMH" />
+                  <ref role="hx9HS" node="6MaWlu$kyMH" resolve="SD_THRESHOLD_BRAKE" />
                 </node>
               </node>
             </node>
             <node concept="32OYss" id="6i8f1VRXKaN" role="2H9Ial">
               <node concept="1yA0yd" id="6i8f1VRXKaO" role="32OYtT">
                 <node concept="32Ogvo" id="6i8f1VRXKaP" role="32OYtT">
-                  <ref role="32Ogvr" node="6MaWlu$kFfh" />
+                  <ref role="32Ogvr" node="6MaWlu$kFfh" resolve="accelerating" />
                 </node>
               </node>
             </node>
@@ -6667,29 +6667,29 @@
         </node>
         <node concept="2HevG6" id="6i8f1VRXKkR" role="2HfkAP">
           <node concept="2He$iJ" id="6i8f1VRXKlF" role="2He$ia">
-            <ref role="2He$iI" node="6i8f1VRXKi4" />
+            <ref role="2He$iI" node="6i8f1VRXKi4" resolve="my_warning" />
           </node>
           <node concept="2HbMbg" id="4pSWRNV3Tnv" role="2He$i0">
             <node concept="32OYss" id="4pSWRNV3Tnw" role="2H9Iav">
               <node concept="2HbMDt" id="4pSWRNV3Tnx" role="32OYtT">
                 <node concept="2HbMDt" id="4pSWRNV3Tny" role="2H9Iav">
                   <node concept="32Ogvo" id="4pSWRNV3SPC" role="2H9Iav">
-                    <ref role="32Ogvr" node="6MaWlu$kFfz" />
+                    <ref role="32Ogvr" node="6MaWlu$kFfz" resolve="alert" />
                   </node>
                   <node concept="32OYss" id="4pSWRNV3Tnz" role="2H9Ial">
                     <node concept="nE0YK" id="4pSWRNV3Tn$" role="32OYtT">
                       <node concept="32OYss" id="4pSWRNV3Tn_" role="2H9Iav">
                         <node concept="2H9DuE" id="4pSWRNV3TnA" role="32OYtT">
                           <node concept="32Ogvo" id="4pSWRNV3SQV" role="2H9Iav">
-                            <ref role="32Ogvr" node="6MaWlu$kFfo" />
+                            <ref role="32Ogvr" node="6MaWlu$kFfo" resolve="distance_front" />
                           </node>
                           <node concept="32Ogvo" id="4pSWRNV3SSM" role="2H9Ial">
-                            <ref role="32Ogvr" node="6MaWlu$kFft" />
+                            <ref role="32Ogvr" node="6MaWlu$kFft" resolve="reference_velocity" />
                           </node>
                         </node>
                       </node>
                       <node concept="hx854" id="4pSWRNV3SQ7" role="2H9Ial">
-                        <ref role="hx9HS" node="6MaWlu$kyrV" />
+                        <ref role="hx9HS" node="6MaWlu$kyrV" resolve="SD_THRESHOLD_ALERT" />
                       </node>
                     </node>
                   </node>
@@ -6699,15 +6699,15 @@
                     <node concept="32OYss" id="4pSWRNV3TnD" role="2H9Iav">
                       <node concept="2H9DuE" id="4pSWRNV3TnE" role="32OYtT">
                         <node concept="32Ogvo" id="4pSWRNV3STO" role="2H9Iav">
-                          <ref role="32Ogvr" node="6MaWlu$kFfo" />
+                          <ref role="32Ogvr" node="6MaWlu$kFfo" resolve="distance_front" />
                         </node>
                         <node concept="32Ogvo" id="4pSWRNV3STK" role="2H9Ial">
-                          <ref role="32Ogvr" node="6MaWlu$kFft" />
+                          <ref role="32Ogvr" node="6MaWlu$kFft" resolve="reference_velocity" />
                         </node>
                       </node>
                     </node>
                     <node concept="hx854" id="4pSWRNV3STy" role="2H9Ial">
-                      <ref role="hx9HS" node="6MaWlu$kyMH" />
+                      <ref role="hx9HS" node="6MaWlu$kyMH" resolve="SD_THRESHOLD_BRAKE" />
                     </node>
                   </node>
                 </node>
@@ -6715,7 +6715,7 @@
             </node>
             <node concept="1yA0yd" id="4pSWRNV3TnF" role="2H9Ial">
               <node concept="32Ogvo" id="4pSWRNV3SXw" role="32OYtT">
-                <ref role="32Ogvr" node="6MaWlu$kFfh" />
+                <ref role="32Ogvr" node="6MaWlu$kFfh" resolve="accelerating" />
               </node>
             </node>
           </node>
@@ -6743,10 +6743,10 @@
     <node concept="eml0t" id="6MaWlu$kFdq" role="2HcuB8">
       <property role="TrG5h" value="EB_Control_Unit_Refinement" />
       <node concept="3Ug1AZ" id="6MaWlu$kFf8" role="eml14">
-        <ref role="3Ug1AY" node="4tgWazNvqpn" />
+        <ref role="3Ug1AY" node="4tgWazNvqpn" resolve="EB_Control_Unit" />
       </node>
       <node concept="eml1q" id="6MaWlu$kFfb" role="eml13">
-        <ref role="eml1l" node="6MaWlu$kFck" />
+        <ref role="eml1l" node="6MaWlu$kFck" resolve="EB_Control_Unit_Implementation" />
       </node>
     </node>
     <node concept="2SQmWS" id="6MaWlu$kFcU" role="2HcuB8" />
@@ -6757,18 +6757,18 @@
           <property role="TrG5h" value="distance" />
           <node concept="d4bQV" id="7hUqFOkxspF" role="1zoetD">
             <node concept="hx854" id="7hUqFOkxsq9" role="d498F">
-              <ref role="hx9HS" node="6MaWlu$k$iO" />
+              <ref role="hx9HS" node="6MaWlu$k$iO" resolve="MAX_ULTRA" />
             </node>
             <node concept="32Ogvo" id="7hUqFOkxsqB" role="d498I">
-              <ref role="32Ogvr" node="7hUqFOkxqz0" />
+              <ref role="32Ogvr" node="7hUqFOkxqz0" resolve="distance_in" />
             </node>
             <node concept="32OYss" id="7hUqFOkxspu" role="d498Q">
               <node concept="nE0YJ" id="7hUqFOkxspv" role="32OYtT">
                 <node concept="32Ogvo" id="7hUqFOkxsaR" role="2H9Iav">
-                  <ref role="32Ogvr" node="7hUqFOkxqz0" />
+                  <ref role="32Ogvr" node="7hUqFOkxqz0" resolve="distance_in" />
                 </node>
                 <node concept="hx854" id="7hUqFOkxsoR" role="2H9Ial">
-                  <ref role="hx9HS" node="6MaWlu$k$iO" />
+                  <ref role="hx9HS" node="6MaWlu$k$iO" resolve="MAX_ULTRA" />
                 </node>
               </node>
             </node>
@@ -6783,10 +6783,10 @@
     <node concept="eml0t" id="7hUqFOkxsxL" role="2HcuB8">
       <property role="TrG5h" value="Ultrasound_Refinement" />
       <node concept="3Ug1AZ" id="7hUqFOkxs_I" role="eml14">
-        <ref role="3Ug1AY" node="4tgWazNvqSt" />
+        <ref role="3Ug1AY" node="4tgWazNvqSt" resolve="Ultrasound_Sensor" />
       </node>
       <node concept="eml1q" id="7hUqFOkxs_L" role="eml13">
-        <ref role="eml1l" node="6MaWlu$kFjA" />
+        <ref role="eml1l" node="6MaWlu$kFjA" resolve="Ultrasound_Sensor_Implementation" />
       </node>
     </node>
     <node concept="2SQmWS" id="7hUqFOkxqwW" role="2HcuB8" />
@@ -6798,18 +6798,18 @@
           <property role="TrG5h" value="distance" />
           <node concept="d4bQV" id="4pSWRNV3vs3" role="1zoetD">
             <node concept="hx854" id="4pSWRNV3vss" role="d498F">
-              <ref role="hx9HS" node="6MaWlu$kzVw" />
+              <ref role="hx9HS" node="6MaWlu$kzVw" resolve="MAX_LASER" />
             </node>
             <node concept="32Ogvo" id="4pSWRNV3vs5" role="d498I">
-              <ref role="32Ogvr" node="7hUqFOkxqz3" />
+              <ref role="32Ogvr" node="7hUqFOkxqz3" resolve="distance_in" />
             </node>
             <node concept="32OYss" id="4pSWRNV3vs6" role="d498Q">
               <node concept="nE0YJ" id="4pSWRNV3vs7" role="32OYtT">
                 <node concept="32Ogvo" id="4pSWRNV3vs8" role="2H9Iav">
-                  <ref role="32Ogvr" node="7hUqFOkxqz3" />
+                  <ref role="32Ogvr" node="7hUqFOkxqz3" resolve="distance_in" />
                 </node>
                 <node concept="hx854" id="4pSWRNV3vso" role="2H9Ial">
-                  <ref role="hx9HS" node="6MaWlu$kzVw" />
+                  <ref role="hx9HS" node="6MaWlu$kzVw" resolve="MAX_LASER" />
                 </node>
               </node>
             </node>
@@ -6824,10 +6824,10 @@
     <node concept="eml0t" id="6MaWlu$kFoU" role="2HcuB8">
       <property role="TrG5h" value="Laser_Sensor_Refinement" />
       <node concept="3Ug1AZ" id="6MaWlu$kFq$" role="eml14">
-        <ref role="3Ug1AY" node="4tgWazNvqWb" />
+        <ref role="3Ug1AY" node="4tgWazNvqWb" resolve="Laser_Sensor" />
       </node>
       <node concept="eml1q" id="6MaWlu$kFoW" role="eml13">
-        <ref role="eml1l" node="6MaWlu$kFoP" />
+        <ref role="eml1l" node="6MaWlu$kFoP" resolve="Laser_Sensor_Implementation" />
       </node>
     </node>
     <node concept="2SQmWS" id="6MaWlu$kFoX" role="2HcuB8" />
@@ -6841,7 +6841,7 @@
               <node concept="32OYss" id="4pSWRNV40Lc" role="32OYtT">
                 <node concept="nE0YJ" id="4pSWRNV40Nf" role="32OYtT">
                   <node concept="32Ogvo" id="4pSWRNV40Gv" role="2H9Iav">
-                    <ref role="32Ogvr" node="6MaWlu$kFrE" />
+                    <ref role="32Ogvr" node="6MaWlu$kFrE" resolve="push" />
                   </node>
                   <node concept="2IPVmt" id="4pSWRNV40Pn" role="2H9Ial">
                     <property role="2IPVms" value="0" />
@@ -6856,7 +6856,7 @@
         <node concept="JlCpM" id="2r$08YM5BxS" role="32O2ov">
           <property role="TrG5h" value="brake_out" />
           <node concept="32Ogvo" id="2r$08YM5BDy" role="1zoetD">
-            <ref role="32Ogvr" node="6MaWlu$kFrE" />
+            <ref role="32Ogvr" node="6MaWlu$kFrE" resolve="push" />
           </node>
         </node>
       </node>
@@ -6871,10 +6871,10 @@
     <node concept="eml0t" id="6MaWlu$kFsK" role="2HcuB8">
       <property role="TrG5h" value="Brake_Refinement" />
       <node concept="3Ug1AZ" id="6MaWlu$kFtV" role="eml14">
-        <ref role="3Ug1AY" node="4tgWazNvrdx" />
+        <ref role="3Ug1AY" node="4tgWazNvrdx" resolve="Brake" />
       </node>
       <node concept="eml1q" id="6MaWlu$kFtY" role="eml13">
-        <ref role="eml1l" node="6MaWlu$kFqB" />
+        <ref role="eml1l" node="6MaWlu$kFqB" resolve="Brake_Implementation" />
       </node>
     </node>
     <node concept="2SQmWS" id="4lqXlWx1ZIk" role="2HcuB8" />
@@ -6887,30 +6887,30 @@
             <node concept="32OYss" id="4pSWRNV3Vv9" role="d498Q">
               <node concept="nE0YJ" id="4pSWRNV3Vva" role="32OYtT">
                 <node concept="32Ogvo" id="4pSWRNV3E8a" role="2H9Iav">
-                  <ref role="32Ogvr" node="4pSWRNV3E5m" />
+                  <ref role="32Ogvr" node="4pSWRNV3E5m" resolve="speed_in" />
                 </node>
                 <node concept="hx854" id="4pSWRNV3Vqk" role="2H9Ial">
-                  <ref role="hx9HS" node="4pSWRNV3PC4" />
+                  <ref role="hx9HS" node="4pSWRNV3PC4" resolve="MAX_SPEED" />
                 </node>
               </node>
             </node>
             <node concept="hx854" id="4pSWRNV3Vs6" role="d498F">
-              <ref role="hx9HS" node="4pSWRNV3PC4" />
+              <ref role="hx9HS" node="4pSWRNV3PC4" resolve="MAX_SPEED" />
             </node>
             <node concept="d4bQV" id="4pSWRNV3Vvw" role="d498I">
               <node concept="hx854" id="4pSWRNV3Vxx" role="d498F">
-                <ref role="hx9HS" node="4pSWRNV3Q7f" />
+                <ref role="hx9HS" node="4pSWRNV3Q7f" resolve="MIN_SPEED" />
               </node>
               <node concept="32Ogvo" id="4pSWRNV3VxO" role="d498I">
-                <ref role="32Ogvr" node="4pSWRNV3E5m" />
+                <ref role="32Ogvr" node="4pSWRNV3E5m" resolve="speed_in" />
               </node>
               <node concept="32OYss" id="4pSWRNV3Vvb" role="d498Q">
                 <node concept="nE0YL" id="4pSWRNV3Vvc" role="32OYtT">
                   <node concept="32Ogvo" id="4pSWRNV3Vsu" role="2H9Iav">
-                    <ref role="32Ogvr" node="4pSWRNV3E5m" />
+                    <ref role="32Ogvr" node="4pSWRNV3E5m" resolve="speed_in" />
                   </node>
                   <node concept="hx854" id="4pSWRNV3VsZ" role="2H9Ial">
-                    <ref role="hx9HS" node="4pSWRNV3Q7f" />
+                    <ref role="hx9HS" node="4pSWRNV3Q7f" resolve="MIN_SPEED" />
                   </node>
                 </node>
               </node>
@@ -6920,7 +6920,7 @@
         <node concept="JlCpM" id="6MaWlu$kFBV" role="32O2ov">
           <property role="TrG5h" value="old_speed" />
           <node concept="2He$iJ" id="4pSWRNV3N$v" role="1zoetD">
-            <ref role="2He$iI" node="4pSWRNV3JT4" />
+            <ref role="2He$iI" node="4pSWRNV3JT4" resolve="my_old_speed" />
           </node>
         </node>
       </node>
@@ -6928,14 +6928,14 @@
         <node concept="2Hdskp" id="4pSWRNV3JT4" role="2Hfkx9">
           <property role="TrG5h" value="my_old_speed" />
           <node concept="2XEmfi" id="2r$08YM5PyL" role="2HdssA">
-            <ref role="2XEmfl" to="ee4e:SQH6SzHBvC" />
+            <ref role="2XEmfl" to="ee4e:SQH6SzHBvC" resolve="velocity_t" />
           </node>
         </node>
       </node>
       <node concept="2Hfkzp" id="4pSWRNV3JTL" role="2HcbjO">
         <node concept="2HfkAV" id="4pSWRNV3JU2" role="2HfkAP">
           <node concept="2He$iJ" id="4pSWRNV3JUG" role="2He$ia">
-            <ref role="2He$iI" node="4pSWRNV3JT4" />
+            <ref role="2He$iI" node="4pSWRNV3JT4" resolve="my_old_speed" />
           </node>
           <node concept="2IPVmt" id="4pSWRNV3JUR" role="2He$i0">
             <property role="2IPVms" value="0" />
@@ -6943,10 +6943,10 @@
         </node>
         <node concept="2HevG6" id="4pSWRNV3JVj" role="2HfkAP">
           <node concept="2He$iJ" id="4pSWRNV3JVV" role="2He$ia">
-            <ref role="2He$iI" node="4pSWRNV3JT4" />
+            <ref role="2He$iI" node="4pSWRNV3JT4" resolve="my_old_speed" />
           </node>
           <node concept="32Ogvo" id="4pSWRNV3JWy" role="2He$i0">
-            <ref role="32Ogvr" node="4pSWRNV3E5m" />
+            <ref role="32Ogvr" node="4pSWRNV3E5m" resolve="speed_in" />
           </node>
         </node>
       </node>
@@ -6957,10 +6957,10 @@
     <node concept="eml0t" id="6MaWlu$kFCG" role="2HcuB8">
       <property role="TrG5h" value="Speed_Sensor_Refinement" />
       <node concept="3Ug1AZ" id="6MaWlu$kFE5" role="eml14">
-        <ref role="3Ug1AY" node="4tgWazNvr83" />
+        <ref role="3Ug1AY" node="4tgWazNvr83" resolve="Speed_Sensor" />
       </node>
       <node concept="eml1q" id="6MaWlu$kFE8" role="eml13">
-        <ref role="eml1l" node="6MaWlu$kF$U" />
+        <ref role="eml1l" node="6MaWlu$kF$U" resolve="Speed_Sensor_Impelementation" />
       </node>
     </node>
     <node concept="2SQmWS" id="6MaWlu$kFEb" role="2HcuB8" />
@@ -6975,18 +6975,18 @@
             <node concept="2HbMDt" id="4pSWRNV3xdd" role="2H9Iav">
               <node concept="2HbMDt" id="4pSWRNV3xde" role="2H9Iav">
                 <node concept="32Ogvo" id="4pSWRNV3xbn" role="2H9Iav">
-                  <ref role="32Ogvr" node="4lqXlWx1Zxg" />
+                  <ref role="32Ogvr" node="4lqXlWx1Zxg" resolve="laser1" />
                 </node>
                 <node concept="32Ogvo" id="4pSWRNV3xbZ" role="2H9Ial">
-                  <ref role="32Ogvr" node="4lqXlWx1Zz6" />
+                  <ref role="32Ogvr" node="4lqXlWx1Zz6" resolve="laser2" />
                 </node>
               </node>
               <node concept="32Ogvo" id="4pSWRNV3xcU" role="2H9Ial">
-                <ref role="32Ogvr" node="4lqXlWx1Zzd" />
+                <ref role="32Ogvr" node="4lqXlWx1Zzd" resolve="ultrasound1" />
               </node>
             </node>
             <node concept="32Ogvo" id="4pSWRNV3xdQ" role="2H9Ial">
-              <ref role="32Ogvr" node="4lqXlWx1Zzi" />
+              <ref role="32Ogvr" node="4lqXlWx1Zzi" resolve="ultrasound2" />
             </node>
           </node>
         </node>
@@ -6999,7 +6999,7 @@
         <node concept="JlCpM" id="4lqXlWx1ZAe" role="32O2ov">
           <property role="TrG5h" value="alert" />
           <node concept="2He$iJ" id="4pSWRNV3xQb" role="1zoetD">
-            <ref role="2He$iI" node="4pSWRNV3xeQ" />
+            <ref role="2He$iI" node="4pSWRNV3xeQ" resolve="my_alert" />
           </node>
         </node>
       </node>
@@ -7025,13 +7025,13 @@
       <node concept="2Hfkzp" id="4pSWRNV3xfV" role="2HcbjO">
         <node concept="2HfkAV" id="4pSWRNV3xgk" role="2HfkAP">
           <node concept="2He$iJ" id="4pSWRNV3xgM" role="2He$ia">
-            <ref role="2He$iI" node="4pSWRNV3xeQ" />
+            <ref role="2He$iI" node="4pSWRNV3xeQ" resolve="my_alert" />
           </node>
           <node concept="1yCjT0" id="4pSWRNV3xh3" role="2He$i0" />
         </node>
         <node concept="2HevG6" id="4pSWRNV3xho" role="2HfkAP">
           <node concept="2He$iJ" id="4pSWRNV3xhU" role="2He$ia">
-            <ref role="2He$iI" node="4pSWRNV3xeQ" />
+            <ref role="2He$iI" node="4pSWRNV3xeQ" resolve="my_alert" />
           </node>
           <node concept="2HbMDt" id="4pSWRNV3AdK" role="2He$i0">
             <node concept="2HbMDt" id="4pSWRNV3AdL" role="2H9Iav">
@@ -7040,12 +7040,12 @@
                   <node concept="2HbMbg" id="4pSWRNV3AdO" role="32OYtT">
                     <node concept="1yA0yd" id="4pSWRNV3AdP" role="2H9Iav">
                       <node concept="32Ogvo" id="4pSWRNV3xiz" role="32OYtT">
-                        <ref role="32Ogvr" node="4lqXlWx1Zxg" />
+                        <ref role="32Ogvr" node="4lqXlWx1Zxg" resolve="laser1" />
                       </node>
                     </node>
                     <node concept="1yA0yd" id="4pSWRNV3AdQ" role="2H9Ial">
                       <node concept="32Ogvo" id="4pSWRNV3xjn" role="32OYtT">
-                        <ref role="32Ogvr" node="4lqXlWx1Zz6" />
+                        <ref role="32Ogvr" node="4lqXlWx1Zz6" resolve="laser2" />
                       </node>
                     </node>
                   </node>
@@ -7056,12 +7056,12 @@
                       <node concept="2HbMbg" id="4pSWRNV3AdU" role="32OYtT">
                         <node concept="1yA0yd" id="4pSWRNV3AdV" role="2H9Iav">
                           <node concept="32Ogvo" id="4pSWRNV3xkv" role="32OYtT">
-                            <ref role="32Ogvr" node="4lqXlWx1Zzd" />
+                            <ref role="32Ogvr" node="4lqXlWx1Zzd" resolve="ultrasound1" />
                           </node>
                         </node>
                         <node concept="1yA0yd" id="4pSWRNV3AdW" role="2H9Ial">
                           <node concept="32Ogvo" id="4pSWRNV3xlz" role="32OYtT">
-                            <ref role="32Ogvr" node="4lqXlWx1Zzi" />
+                            <ref role="32Ogvr" node="4lqXlWx1Zzi" resolve="ultrasound2" />
                           </node>
                         </node>
                       </node>
@@ -7070,12 +7070,12 @@
                       <node concept="2HbMDt" id="4pSWRNV3AdY" role="32OYtT">
                         <node concept="1yA0yd" id="4pSWRNV3AdZ" role="2H9Iav">
                           <node concept="32Ogvo" id="4pSWRNV3xmy" role="32OYtT">
-                            <ref role="32Ogvr" node="4lqXlWx1Zxg" />
+                            <ref role="32Ogvr" node="4lqXlWx1Zxg" resolve="laser1" />
                           </node>
                         </node>
                         <node concept="1yA0yd" id="4pSWRNV3Ae0" role="2H9Ial">
                           <node concept="32Ogvo" id="4pSWRNV3xnu" role="32OYtT">
-                            <ref role="32Ogvr" node="4lqXlWx1Zz6" />
+                            <ref role="32Ogvr" node="4lqXlWx1Zz6" resolve="laser2" />
                           </node>
                         </node>
                       </node>
@@ -7086,7 +7086,7 @@
               <node concept="32OYss" id="4pSWRNV3Ae1" role="2H9Ial">
                 <node concept="nE0YL" id="4pSWRNV3Ae2" role="32OYtT">
                   <node concept="1J1L9T" id="4pSWRNV3zD5" role="2H9Iav">
-                    <ref role="1J1L9S" node="4pSWRNV3xdb" />
+                    <ref role="1J1L9S" node="4pSWRNV3xdb" resolve="distance_front" />
                   </node>
                   <node concept="2IPVmt" id="4pSWRNV3Ae3" role="2H9Ial">
                     <property role="2IPVms" value="0" />
@@ -7097,10 +7097,10 @@
             <node concept="32OYss" id="4pSWRNV3Ae4" role="2H9Ial">
               <node concept="nE0YJ" id="4pSWRNV3Ae5" role="32OYtT">
                 <node concept="1J1L9T" id="4pSWRNV3zNB" role="2H9Iav">
-                  <ref role="1J1L9S" node="4pSWRNV3xdb" />
+                  <ref role="1J1L9S" node="4pSWRNV3xdb" resolve="distance_front" />
                 </node>
                 <node concept="hx854" id="4pSWRNV3zTx" role="2H9Ial">
-                  <ref role="hx9HS" node="6MaWlu$kzVw" />
+                  <ref role="hx9HS" node="6MaWlu$kzVw" resolve="MAX_LASER" />
                 </node>
               </node>
             </node>
@@ -7112,10 +7112,10 @@
     <node concept="eml0t" id="4lqXlWx1Zy6" role="2HcuB8">
       <property role="TrG5h" value="Sensor_Voter_Refinement" />
       <node concept="3Ug1AZ" id="6MaWlu$kFUk" role="eml14">
-        <ref role="3Ug1AY" node="4tgWazNvrrE" />
+        <ref role="3Ug1AY" node="4tgWazNvrrE" resolve="Sensor_Voter" />
       </node>
       <node concept="eml1q" id="6MaWlu$kFUn" role="eml13">
-        <ref role="eml1l" node="4lqXlWx1Zwl" />
+        <ref role="eml1l" node="4lqXlWx1Zwl" resolve="Sensor_Voter_Implementation" />
       </node>
     </node>
     <node concept="2SQmWS" id="4lqXlWx1ZBd" role="2HcuB8" />
@@ -7125,14 +7125,14 @@
         <node concept="JlCpM" id="6MaWlu$kFXR" role="32O2ov">
           <property role="TrG5h" value="alert_signal" />
           <node concept="32Ogvo" id="4pSWRNV3Vo8" role="1zoetD">
-            <ref role="32Ogvr" node="6MaWlu$kFXm" />
+            <ref role="32Ogvr" node="6MaWlu$kFXm" resolve="driver_warning_in" />
           </node>
         </node>
         <node concept="JlCpM" id="6MaWlu$kFYW" role="32O2ov">
           <property role="TrG5h" value="display_message" />
           <node concept="d4bQV" id="6i8f1VRXB1z" role="1zoetD">
             <node concept="32Ogvo" id="6i8f1VRXB1S" role="d498Q">
-              <ref role="32Ogvr" node="6MaWlu$kFXm" />
+              <ref role="32Ogvr" node="6MaWlu$kFXm" resolve="driver_warning_in" />
             </node>
             <node concept="2IPVmt" id="6i8f1VRXB24" role="d498F">
               <property role="2IPVms" value="0" />
@@ -7145,7 +7145,7 @@
         <node concept="JlCpM" id="6MaWlu$kG1j" role="32O2ov">
           <property role="TrG5h" value="state" />
           <node concept="32Ogvo" id="4pSWRNV3VoD" role="1zoetD">
-            <ref role="32Ogvr" node="6MaWlu$kFXo" />
+            <ref role="32Ogvr" node="6MaWlu$kFXo" resolve="state_in" />
           </node>
         </node>
       </node>
@@ -7160,10 +7160,10 @@
     <node concept="eml0t" id="6MaWlu$kG1N" role="2HcuB8">
       <property role="TrG5h" value="EB_Communication_Unit_Refinement" />
       <node concept="3Ug1AZ" id="6MaWlu$kG3G" role="eml14">
-        <ref role="3Ug1AY" node="16Ng_xNT8KQ" />
+        <ref role="3Ug1AY" node="16Ng_xNT8KQ" resolve="EB_Communication_Unit" />
       </node>
       <node concept="eml1q" id="6MaWlu$kG3J" role="eml13">
-        <ref role="eml1l" node="6MaWlu$kFVE" />
+        <ref role="eml1l" node="6MaWlu$kFVE" resolve="EB_Communication_Unit_Implementation" />
       </node>
     </node>
     <node concept="2SQmWS" id="6MaWlu$kG3M" role="2HcuB8" />
@@ -7173,7 +7173,7 @@
         <node concept="JlCpM" id="6MaWlu$kGaC" role="32O2ov">
           <property role="TrG5h" value="alert" />
           <node concept="2He$iJ" id="4pSWRNV3Cme" role="1zoetD">
-            <ref role="2He$iI" node="4pSWRNV3CfG" />
+            <ref role="2He$iI" node="4pSWRNV3CfG" resolve="my_alert" />
           </node>
         </node>
       </node>
@@ -7195,29 +7195,29 @@
       <node concept="2Hfkzp" id="4pSWRNV3Cgo" role="2HcbjO">
         <node concept="2HfkAV" id="4pSWRNV3Cgz" role="2HfkAP">
           <node concept="2He$iJ" id="4pSWRNV3Ch0" role="2He$ia">
-            <ref role="2He$iI" node="4pSWRNV3CfG" />
+            <ref role="2He$iI" node="4pSWRNV3CfG" resolve="my_alert" />
           </node>
           <node concept="1yCjT0" id="4pSWRNV3ClW" role="2He$i0" />
         </node>
         <node concept="2HevG6" id="4pSWRNV3ChH" role="2HfkAP">
           <node concept="2He$iJ" id="4pSWRNV3Cif" role="2He$ia">
-            <ref role="2He$iI" node="4pSWRNV3CfG" />
+            <ref role="2He$iI" node="4pSWRNV3CfG" resolve="my_alert" />
           </node>
           <node concept="2HbMbg" id="6i8f1VRXFzz" role="2He$i0">
             <node concept="32OYss" id="6i8f1VRXFz$" role="2H9Iav">
               <node concept="nE0YK" id="6i8f1VRXFz_" role="32OYtT">
                 <node concept="32Ogvo" id="4pSWRNV3CiM" role="2H9Iav">
-                  <ref role="32Ogvr" node="6MaWlu$kG9n" />
+                  <ref role="32Ogvr" node="6MaWlu$kG9n" resolve="old_velocity" />
                 </node>
                 <node concept="32Ogvo" id="4pSWRNV3CjP" role="2H9Ial">
-                  <ref role="32Ogvr" node="6MaWlu$kG9q" />
+                  <ref role="32Ogvr" node="6MaWlu$kG9q" resolve="velocity" />
                 </node>
               </node>
             </node>
             <node concept="32OYss" id="6i8f1VRXFzA" role="2H9Ial">
               <node concept="nE0YJ" id="6i8f1VRXFzB" role="32OYtT">
                 <node concept="32Ogvo" id="4pSWRNV3CkG" role="2H9Iav">
-                  <ref role="32Ogvr" node="6MaWlu$kG9C" />
+                  <ref role="32Ogvr" node="6MaWlu$kG9C" resolve="eb_brake" />
                 </node>
                 <node concept="2IPVmt" id="6i8f1VRXFzC" role="2H9Ial">
                   <property role="2IPVms" value="0" />
@@ -7231,10 +7231,10 @@
     <node concept="eml0t" id="6MaWlu$kGbf" role="2HcuB8">
       <property role="TrG5h" value="Brake_Monitor_Refinement" />
       <node concept="3Ug1AZ" id="6MaWlu$kGdj" role="eml14">
-        <ref role="3Ug1AY" node="7qgRsCGQBta" />
+        <ref role="3Ug1AY" node="7qgRsCGQBta" resolve="Brake_Monitor" />
       </node>
       <node concept="eml1q" id="6MaWlu$kGdm" role="eml13">
-        <ref role="eml1l" node="6MaWlu$kG7t" />
+        <ref role="eml1l" node="6MaWlu$kG7t" resolve="Brake_Monitor_Implementation" />
       </node>
     </node>
     <node concept="2SQmWS" id="6MaWlu$kFyz" role="2HcuB8" />
@@ -8475,7 +8475,7 @@
           <property role="19SUeA" value="Hazard " />
         </node>
         <node concept="oY6sn" id="22e91OCPKdV" role="19SJt6">
-          <ref role="oTUVg" node="3XLpsf2__9h" />
+          <ref role="oTUVg" node="3XLpsf2__9h" resolve="Braking initiated too late - ASIL A" />
         </node>
         <node concept="19SUe$" id="22e91OCPKdW" role="19SJt6">
           <property role="19SUeA" value="&#10;&quot;braking initiated too late&quot; has been mitigated" />
@@ -8483,8 +8483,8 @@
       </node>
     </node>
     <node concept="8gDHL" id="22e91OCPKdX" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPKdN" />
-      <ref role="3VeSjQ" node="22e91OCPKdS" />
+      <ref role="3VeSjP" node="22e91OCPKdN" resolve="S1_EB_Hazard_Risk_Management" />
+      <ref role="3VeSjQ" node="22e91OCPKdS" resolve="G2_EB_Braking_Initiaded_on_time" />
     </node>
     <node concept="FXfxu" id="22e91OCPKdN" role="2vn1q5">
       <property role="TrG5h" value="S1_EB_Hazard_Risk_Management" />
@@ -8493,7 +8493,7 @@
           <property role="19SUeA" value="All hazards from &#10;" />
         </node>
         <node concept="oXkut" id="22e91OCPKdQ" role="19SJt6">
-          <ref role="oTdVe" node="G$XGFsgYdQ" />
+          <ref role="oTdVe" node="G$XGFsgYdQ" resolve="_101_eb_hazard_list_ASIL_B_H03" />
         </node>
         <node concept="19SUe$" id="22e91OCPKdR" role="19SJt6">
           <property role="19SUeA" value="&#10; have been addressed" />
@@ -8513,7 +8513,7 @@
       <node concept="19SGf9" id="22e91OCPKAC" role="2vnaTY">
         <node concept="19SUe$" id="22e91OCPKDN" role="19SJt6" />
         <node concept="oXkut" id="22e91OCPKDM" role="19SJt6">
-          <ref role="oTdVe" node="G$XGFsgYdQ" />
+          <ref role="oTdVe" node="G$XGFsgYdQ" resolve="_101_eb_hazard_list_ASIL_B_H03" />
         </node>
         <node concept="19SUe$" id="22e91OCPKDO" role="19SJt6" />
       </node>
@@ -8527,16 +8527,16 @@
       </node>
     </node>
     <node concept="2vhqFZ" id="22e91OCPKQL" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPKwR" />
-      <ref role="3VeSjQ" node="22e91OCPKGV" />
+      <ref role="3VeSjP" node="22e91OCPKwR" resolve="G1_EB_Risk_Management" />
+      <ref role="3VeSjQ" node="22e91OCPKGV" resolve="C2_EB_Item_Definition" />
     </node>
     <node concept="2vhqFZ" id="22e91OCPKTS" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPKwR" />
-      <ref role="3VeSjQ" node="22e91OCPKAB" />
+      <ref role="3VeSjP" node="22e91OCPKwR" resolve="G1_EB_Risk_Management" />
+      <ref role="3VeSjQ" node="22e91OCPKAB" resolve="C1_EB_Hazards" />
     </node>
     <node concept="3VeUTF" id="22e91OCPLdn" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPKwR" />
-      <ref role="3VeSjQ" node="22e91OCPKdN" />
+      <ref role="3VeSjP" node="22e91OCPKwR" resolve="G1_EB_Risk_Management" />
+      <ref role="3VeSjQ" node="22e91OCPKdN" resolve="S1_EB_Hazard_Risk_Management" />
     </node>
     <node concept="2vmxQI" id="22e91OCPLtx" role="2vn1q5">
       <property role="TrG5h" value="S2_EB_Obstacle_Detection" />
@@ -8565,8 +8565,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="22e91OCPLwV" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPKdS" />
-      <ref role="3VeSjQ" node="22e91OCPLtx" />
+      <ref role="3VeSjP" node="22e91OCPKdS" resolve="G2_EB_Braking_Initiaded_on_time" />
+      <ref role="3VeSjQ" node="22e91OCPLtx" resolve="S2_EB_Obstacle_Detection" />
     </node>
     <node concept="2vn7WC" id="22e91OCPLFe" role="2vn1q5">
       <property role="TrG5h" value="G3_EB_Reliable_Sensors" />
@@ -8587,8 +8587,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="22e91OCPLXN" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPLtx" />
-      <ref role="3VeSjQ" node="22e91OCPLFe" />
+      <ref role="3VeSjP" node="22e91OCPLtx" resolve="S2_EB_Obstacle_Detection" />
+      <ref role="3VeSjQ" node="22e91OCPLFe" resolve="G3_EB_Reliable_Sensors" />
     </node>
     <node concept="2vmhmH" id="22e91OCPM2r" role="2vn1q5">
       <property role="TrG5h" value="Sol1_EB_Sensor_Redundancy" />
@@ -8639,12 +8639,12 @@
       </node>
     </node>
     <node concept="3VeUTF" id="22e91OCPMt7" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPLFe" />
-      <ref role="3VeSjQ" node="22e91OCPM2r" />
+      <ref role="3VeSjP" node="22e91OCPLFe" resolve="G3_EB_Reliable_Sensors" />
+      <ref role="3VeSjQ" node="22e91OCPM2r" resolve="Sol1_EB_Sensor_Redundancy" />
     </node>
     <node concept="3VeUTF" id="22e91OCPMwV" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPLFe" />
-      <ref role="3VeSjQ" node="22e91OCPM6X" />
+      <ref role="3VeSjP" node="22e91OCPLFe" resolve="G3_EB_Reliable_Sensors" />
+      <ref role="3VeSjQ" node="22e91OCPM6X" resolve="Sol2_EB_Voter_Simulation" />
     </node>
     <node concept="2vmhmH" id="22e91OCPMIC" role="2vn1q5">
       <property role="TrG5h" value="Sol4_EB_Simulation_Monitor" />
@@ -8655,12 +8655,12 @@
       </node>
     </node>
     <node concept="3VeUTF" id="22e91OCPMN3" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPLFe" />
-      <ref role="3VeSjQ" node="22e91OCPM42" />
+      <ref role="3VeSjP" node="22e91OCPLFe" resolve="G3_EB_Reliable_Sensors" />
+      <ref role="3VeSjQ" node="22e91OCPM42" resolve="Sol3_EB_Failure_Detection" />
     </node>
     <node concept="3VeUTF" id="22e91OCPMX8" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPLFe" />
-      <ref role="3VeSjQ" node="22e91OCPMIC" />
+      <ref role="3VeSjP" node="22e91OCPLFe" resolve="G3_EB_Reliable_Sensors" />
+      <ref role="3VeSjQ" node="22e91OCPMIC" resolve="Sol4_EB_Simulation_Monitor" />
     </node>
     <node concept="8gVzV" id="22e91OCPNeZ" role="2vn1q5">
       <property role="TrG5h" value="G4_EB_Prevent_Obstacle_Crash" />
@@ -8669,7 +8669,7 @@
           <property role="19SUeA" value="Hazard " />
         </node>
         <node concept="oY6sn" id="22e91OCPNf2" role="19SJt6">
-          <ref role="oTUVg" node="3XLpsf2__9p" />
+          <ref role="oTUVg" node="3XLpsf2__9p" resolve="Car crashes into obstacle - ASIL B" />
         </node>
         <node concept="19SUe$" id="22e91OCPNf3" role="19SJt6">
           <property role="19SUeA" value="&#10;&quot;Crash into obstacle&quot; has been mitigated." />
@@ -8677,8 +8677,8 @@
       </node>
     </node>
     <node concept="8gDHL" id="22e91OCPNkJ" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPKdN" />
-      <ref role="3VeSjQ" node="22e91OCPNeZ" />
+      <ref role="3VeSjP" node="22e91OCPKdN" resolve="S1_EB_Hazard_Risk_Management" />
+      <ref role="3VeSjQ" node="22e91OCPNeZ" resolve="G4_EB_Prevent_Obstacle_Crash" />
     </node>
     <node concept="2vmxSQ" id="22e91OCPNw_" role="2vn1q5">
       <property role="TrG5h" value="C3_EB_ASIL" />
@@ -8689,8 +8689,8 @@
       </node>
     </node>
     <node concept="2vhqFZ" id="22e91OCPNBu" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPKdS" />
-      <ref role="3VeSjQ" node="22e91OCPNw_" />
+      <ref role="3VeSjP" node="22e91OCPKdS" resolve="G2_EB_Braking_Initiaded_on_time" />
+      <ref role="3VeSjQ" node="22e91OCPNw_" resolve="C3_EB_ASIL" />
     </node>
     <node concept="2vmxSQ" id="22e91OCPNJc" role="2vn1q5">
       <property role="TrG5h" value="C4_EB_ASIL" />
@@ -8717,16 +8717,16 @@
       </node>
     </node>
     <node concept="2vhqFZ" id="22e91OCPO6z" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPNeZ" />
-      <ref role="3VeSjQ" node="22e91OCPNWr" />
+      <ref role="3VeSjP" node="22e91OCPNeZ" resolve="G4_EB_Prevent_Obstacle_Crash" />
+      <ref role="3VeSjQ" node="22e91OCPNWr" resolve="A1_EB_Driver_Presence" />
     </node>
     <node concept="2vhqFZ" id="22e91OCPObh" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPNeZ" />
-      <ref role="3VeSjQ" node="22e91OCPNPi" />
+      <ref role="3VeSjP" node="22e91OCPNeZ" resolve="G4_EB_Prevent_Obstacle_Crash" />
+      <ref role="3VeSjQ" node="22e91OCPNPi" resolve="C5_EB_Safe_Distance_Violated" />
     </node>
     <node concept="2vhqFZ" id="22e91OCPOc$" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPNeZ" />
-      <ref role="3VeSjQ" node="22e91OCPNJc" />
+      <ref role="3VeSjP" node="22e91OCPNeZ" resolve="G4_EB_Prevent_Obstacle_Crash" />
+      <ref role="3VeSjQ" node="22e91OCPNJc" resolve="C4_EB_ASIL" />
     </node>
     <node concept="2vmxQI" id="22e91OCPOHJ" role="2vn1q5">
       <property role="TrG5h" value="S3_EB_Driver_Warning" />
@@ -8749,8 +8749,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="22e91OCPOTj" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPNeZ" />
-      <ref role="3VeSjQ" node="22e91OCPOHJ" />
+      <ref role="3VeSjP" node="22e91OCPNeZ" resolve="G4_EB_Prevent_Obstacle_Crash" />
+      <ref role="3VeSjQ" node="22e91OCPOHJ" resolve="S3_EB_Driver_Warning" />
     </node>
     <node concept="2vn7WC" id="22e91OCPOYq" role="2vn1q5">
       <property role="TrG5h" value="G5_EB_Failure_Detection" />
@@ -8765,16 +8765,16 @@
       </node>
     </node>
     <node concept="3VeUTF" id="22e91OCPP6j" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPOHJ" />
-      <ref role="3VeSjQ" node="22e91OCPOYq" />
+      <ref role="3VeSjP" node="22e91OCPOHJ" resolve="S3_EB_Driver_Warning" />
+      <ref role="3VeSjQ" node="22e91OCPOYq" resolve="G5_EB_Failure_Detection" />
     </node>
     <node concept="3VeUTF" id="22e91OCPPbz" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPOYq" />
-      <ref role="3VeSjQ" node="22e91OCPMIC" />
+      <ref role="3VeSjP" node="22e91OCPOYq" resolve="G5_EB_Failure_Detection" />
+      <ref role="3VeSjQ" node="22e91OCPMIC" resolve="Sol4_EB_Simulation_Monitor" />
     </node>
     <node concept="3VeUTF" id="22e91OCPPcU" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPOYq" />
-      <ref role="3VeSjQ" node="22e91OCPM42" />
+      <ref role="3VeSjP" node="22e91OCPOYq" resolve="G5_EB_Failure_Detection" />
+      <ref role="3VeSjQ" node="22e91OCPM42" resolve="Sol3_EB_Failure_Detection" />
     </node>
     <node concept="2vn7WC" id="22e91OCPPsH" role="2vn1q5">
       <property role="TrG5h" value="G6_EB_System_Driver_Communication" />
@@ -8801,12 +8801,12 @@
       </node>
     </node>
     <node concept="3VeUTF" id="22e91OCPPKm" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPOHJ" />
-      <ref role="3VeSjQ" node="22e91OCPPsH" />
+      <ref role="3VeSjP" node="22e91OCPOHJ" resolve="S3_EB_Driver_Warning" />
+      <ref role="3VeSjQ" node="22e91OCPPsH" resolve="G6_EB_System_Driver_Communication" />
     </node>
     <node concept="3VeUTF" id="22e91OCPPWX" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPPsH" />
-      <ref role="3VeSjQ" node="22e91OCPPv3" />
+      <ref role="3VeSjP" node="22e91OCPPsH" resolve="G6_EB_System_Driver_Communication" />
+      <ref role="3VeSjQ" node="22e91OCPPv3" resolve="Sol5_EB_Display_Error" />
     </node>
     <node concept="2vn7WC" id="22e91OCPQ3M" role="2vn1q5">
       <property role="TrG5h" value="G7_EB_Warn_Collision" />
@@ -8821,8 +8821,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="22e91OCPQgq" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPOHJ" />
-      <ref role="3VeSjQ" node="22e91OCPQ3M" />
+      <ref role="3VeSjP" node="22e91OCPOHJ" resolve="S3_EB_Driver_Warning" />
+      <ref role="3VeSjQ" node="22e91OCPQ3M" resolve="G7_EB_Warn_Collision" />
     </node>
     <node concept="2vmhmH" id="22e91OCPQ$L" role="2vn1q5">
       <property role="TrG5h" value="Sol6_EB_Issue_Warning" />
@@ -8845,8 +8845,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="22e91OCPQPk" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPQ3M" />
-      <ref role="3VeSjQ" node="22e91OCPQ$L" />
+      <ref role="3VeSjP" node="22e91OCPQ3M" resolve="G7_EB_Warn_Collision" />
+      <ref role="3VeSjQ" node="22e91OCPQ$L" resolve="Sol6_EB_Issue_Warning" />
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     <node concept="8gVzV" id="22e91OCPQVs" role="2vn1q5">
       <property role="TrG5h" value="G8_EB_Avoid_RearEnd_Collision" />
@@ -8855,7 +8855,7 @@
           <property role="19SUeA" value="Hazard " />
         </node>
         <node concept="oY6sn" id="22e91OCPQVv" role="19SJt6">
-          <ref role="oTUVg" node="3XLpsf2__9X" />
+          <ref role="oTUVg" node="3XLpsf2__9X" resolve="Strong breaking leads to rear end collision - ASIL A" />
         </node>
         <node concept="19SUe$" id="22e91OCPQVw" role="19SJt6">
           <property role="19SUeA" value="&#10;&quot;Read-end collision&quot; has been mitigated" />
@@ -8863,8 +8863,8 @@
       </node>
     </node>
     <node concept="8gDHL" id="22e91OCPR3H" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPKdN" />
-      <ref role="3VeSjQ" node="22e91OCPQVs" />
+      <ref role="3VeSjP" node="22e91OCPKdN" resolve="S1_EB_Hazard_Risk_Management" />
+      <ref role="3VeSjQ" node="22e91OCPQVs" resolve="G8_EB_Avoid_RearEnd_Collision" />
     </node>
     <node concept="2vmxSQ" id="22e91OCPRnk" role="2vn1q5">
       <property role="TrG5h" value="C5_EB_ASIL" />
@@ -8875,12 +8875,12 @@
       </node>
     </node>
     <node concept="2vhqFZ" id="22e91OCPR_n" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPQVs" />
-      <ref role="3VeSjQ" node="22e91OCPNWr" />
+      <ref role="3VeSjP" node="22e91OCPQVs" resolve="G8_EB_Avoid_RearEnd_Collision" />
+      <ref role="3VeSjQ" node="22e91OCPNWr" resolve="A1_EB_Driver_Presence" />
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     <node concept="2vhqFZ" id="22e91OCPRIX" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPQVs" />
-      <ref role="3VeSjQ" node="22e91OCPRnk" />
+      <ref role="3VeSjP" node="22e91OCPQVs" resolve="G8_EB_Avoid_RearEnd_Collision" />
+      <ref role="3VeSjQ" node="22e91OCPRnk" resolve="C5_EB_ASIL" />
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     <node concept="2vmxSQ" id="22e91OCPRWe" role="2vn1q5">
       <property role="TrG5h" value="C6_EB_Sensor_Reliability_ok" />
@@ -8891,8 +8891,8 @@
       </node>
     </node>
     <node concept="2vhqFZ" id="22e91OCPS5X" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPQVs" />
-      <ref role="3VeSjQ" node="22e91OCPRWe" />
+      <ref role="3VeSjP" node="22e91OCPQVs" resolve="G8_EB_Avoid_RearEnd_Collision" />
+      <ref role="3VeSjQ" node="22e91OCPRWe" resolve="C6_EB_Sensor_Reliability_ok" />
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     <node concept="2vmxQI" id="22e91OCPSfK" role="2vn1q5">
       <property role="TrG5h" value="S4_EB_Avoid_RearEnd_Collision" />
@@ -8917,12 +8917,12 @@
       </node>
     </node>
     <node concept="2vhqFZ" id="22e91OCPSxF" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPQVs" />
-      <ref role="3VeSjQ" node="22e91OCPSnH" />
+      <ref role="3VeSjP" node="22e91OCPQVs" resolve="G8_EB_Avoid_RearEnd_Collision" />
+      <ref role="3VeSjQ" node="22e91OCPSnH" resolve="C7_EB_Avoid_unnecessary_braking" />
     </node>
     <node concept="3VeUTF" id="22e91OCPSJP" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPQVs" />
-      <ref role="3VeSjQ" node="22e91OCPSfK" />
+      <ref role="3VeSjP" node="22e91OCPQVs" resolve="G8_EB_Avoid_RearEnd_Collision" />
+      <ref role="3VeSjQ" node="22e91OCPSfK" resolve="S4_EB_Avoid_RearEnd_Collision" />
     </node>
     <node concept="2vn7WC" id="22e91OCPSLh" role="2vn1q5">
       <property role="TrG5h" value="G8_EB_Driver_Override" />
@@ -8933,8 +8933,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="22e91OCPSVS" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPSfK" />
-      <ref role="3VeSjQ" node="22e91OCPSLh" />
+      <ref role="3VeSjP" node="22e91OCPSfK" resolve="S4_EB_Avoid_RearEnd_Collision" />
+      <ref role="3VeSjQ" node="22e91OCPSLh" resolve="G8_EB_Driver_Override" />
     </node>
     <node concept="2vmhmH" id="22e91OCPT34" role="2vn1q5">
       <property role="TrG5h" value="Sol9_EB_Driver_Reaction" />
@@ -8951,8 +8951,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="22e91OCPThw" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPSLh" />
-      <ref role="3VeSjQ" node="22e91OCPT34" />
+      <ref role="3VeSjP" node="22e91OCPSLh" resolve="G8_EB_Driver_Override" />
+      <ref role="3VeSjQ" node="22e91OCPT34" resolve="Sol9_EB_Driver_Reaction" />
     </node>
     <node concept="atroE" id="22e91OCPTqQ" role="2vn1q5">
       <property role="TrG5h" value="G9_EB_Warn_on_time" />
@@ -8961,7 +8961,7 @@
           <property role="19SUeA" value="Risk associated with hazard " />
         </node>
         <node concept="oY6sn" id="22e91OCPTqT" role="19SJt6">
-          <ref role="oTUVg" node="G$XGFsgYdV" />
+          <ref role="oTUVg" node="G$XGFsgYdV" resolve="Warning issued too late - ASIL QM" />
         </node>
         <node concept="19SUe$" id="22e91OCPTqU" role="19SJt6">
           <property role="19SUeA" value="&#10;has been shown negligible." />
@@ -8975,7 +8975,7 @@
           <property role="19SUeA" value="Risk associated with hazard " />
         </node>
         <node concept="oY6sn" id="22e91OCPTIm" role="19SJt6">
-          <ref role="oTUVg" node="3XLpsf2__9J" />
+          <ref role="oTUVg" node="3XLpsf2__9J" resolve="Unnecessary braking - ASIL QM" />
         </node>
         <node concept="19SUe$" id="22e91OCPTIn" role="19SJt6">
           <property role="19SUeA" value="&#10;has been shown negligible" />
@@ -8989,7 +8989,7 @@
           <property role="19SUeA" value="Risk associated with hazard " />
         </node>
         <node concept="oY6sn" id="22e91OCPTLC" role="19SJt6">
-          <ref role="oTUVg" node="3XLpsf2__9z" />
+          <ref role="oTUVg" node="3XLpsf2__9z" resolve="Unnecessary warning - ASIL QM" />
         </node>
         <node concept="19SUe$" id="22e91OCPTLD" role="19SJt6">
           <property role="19SUeA" value="&#10;has been shown negligible" />
@@ -8997,16 +8997,16 @@
       </node>
     </node>
     <node concept="8gDHL" id="22e91OCPUcO" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPKdN" />
-      <ref role="3VeSjQ" node="22e91OCPTIj" />
+      <ref role="3VeSjP" node="22e91OCPKdN" resolve="S1_EB_Hazard_Risk_Management" />
+      <ref role="3VeSjQ" node="22e91OCPTIj" resolve="G11_EB_Brake_only_if_necessary" />
     </node>
     <node concept="8gDHL" id="22e91OCPUep" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPKdN" />
-      <ref role="3VeSjQ" node="22e91OCPTL_" />
+      <ref role="3VeSjP" node="22e91OCPKdN" resolve="S1_EB_Hazard_Risk_Management" />
+      <ref role="3VeSjQ" node="22e91OCPTL_" resolve="G10_EB_Warn_only_if_necessary" />
     </node>
     <node concept="8gDHL" id="22e91OCPUkY" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPKdN" />
-      <ref role="3VeSjQ" node="22e91OCPTqQ" />
+      <ref role="3VeSjP" node="22e91OCPKdN" resolve="S1_EB_Hazard_Risk_Management" />
+      <ref role="3VeSjQ" node="22e91OCPTqQ" resolve="G9_EB_Warn_on_time" />
     </node>
     <node concept="2vmxSQ" id="22e91OCPUFh" role="2vn1q5">
       <property role="TrG5h" value="C7_EB_Low_ASIL" />
@@ -9017,16 +9017,16 @@
       </node>
     </node>
     <node concept="2vhqFZ" id="22e91OCPUQA" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPTqQ" />
-      <ref role="3VeSjQ" node="22e91OCPUFh" />
+      <ref role="3VeSjP" node="22e91OCPTqQ" resolve="G9_EB_Warn_on_time" />
+      <ref role="3VeSjQ" node="22e91OCPUFh" resolve="C7_EB_Low_ASIL" />
     </node>
     <node concept="2vhqFZ" id="22e91OCPUZw" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPTL_" />
-      <ref role="3VeSjQ" node="22e91OCPUFh" />
+      <ref role="3VeSjP" node="22e91OCPTL_" resolve="G10_EB_Warn_only_if_necessary" />
+      <ref role="3VeSjQ" node="22e91OCPUFh" resolve="C7_EB_Low_ASIL" />
     </node>
     <node concept="2vhqFZ" id="22e91OCPV7z" role="2vhqc$">
-      <ref role="3VeSjP" node="22e91OCPTIj" />
-      <ref role="3VeSjQ" node="22e91OCPUFh" />
+      <ref role="3VeSjP" node="22e91OCPTIj" resolve="G11_EB_Brake_only_if_necessary" />
+      <ref role="3VeSjQ" node="22e91OCPUFh" resolve="C7_EB_Low_ASIL" />
     </node>
   </node>
   <node concept="3h3iLa" id="75La0fJyZ18">
diff --git a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._030_adas._010_intersection_handling.ihs.mps b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._030_adas._010_intersection_handling.ihs.mps
index 624681a91..ae0329141 100644
--- a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._030_adas._010_intersection_handling.ihs.mps
+++ b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._030_adas._010_intersection_handling.ihs.mps
@@ -351,74 +351,74 @@
       <property role="0lsPB" value="H01" />
       <property role="TrG5h" value="Vehicle leaves authorised or designated road or highway " />
       <node concept="3Zv_sa" id="3Jn$RV2Vwqc" role="3Zv_sA">
-        <ref role="3Zv_sb" node="3Jn$RV2VwqU" />
+        <ref role="3Zv_sb" node="3Jn$RV2VwqU" resolve="Loss of life or injury of in or out of the vehicle humans" />
       </node>
       <node concept="3Zv_sa" id="3Jn$RV2Vwqd" role="3Zv_sA">
-        <ref role="3Zv_sb" node="3Jn$RV2VwqV" />
+        <ref role="3Zv_sb" node="3Jn$RV2VwqV" resolve="Damage to infrastructure, TPO or ego vehicle" />
       </node>
       <node concept="3Zv_sa" id="3Jn$RV2Vwqe" role="3Zv_sA">
-        <ref role="3Zv_sb" node="3Jn$RV2VwqW" />
+        <ref role="3Zv_sb" node="3Jn$RV2VwqW" resolve="Loss of transportation mission (driving off the road)" />
       </node>
       <node concept="3h3uym" id="55oVyA0mRah" role="3h3uzw">
-        <ref role="3h3iM1" node="55oVyA0mRab" />
+        <ref role="3h3iM1" node="55oVyA0mRab" resolve="OS1" />
       </node>
     </node>
     <node concept="1a6Z8w" id="3Jn$RV2Vwq7" role="8gIbH">
       <property role="0lsPB" value="H02" />
       <property role="TrG5h" value="Vehicle does not maintain safe distance to other vehicles or objects while handling an intersection" />
       <node concept="3Zv_sa" id="3Jn$RV2Vwqf" role="3Zv_sA">
-        <ref role="3Zv_sb" node="3Jn$RV2VwqU" />
+        <ref role="3Zv_sb" node="3Jn$RV2VwqU" resolve="Loss of life or injury of in or out of the vehicle humans" />
       </node>
       <node concept="3Zv_sa" id="3Jn$RV2Vwqg" role="3Zv_sA">
-        <ref role="3Zv_sb" node="3Jn$RV2VwqV" />
+        <ref role="3Zv_sb" node="3Jn$RV2VwqV" resolve="Damage to infrastructure, TPO or ego vehicle" />
       </node>
       <node concept="3Zv_sa" id="3Jn$RV2Vwqh" role="3Zv_sA">
-        <ref role="3Zv_sb" node="3Jn$RV2VwqW" />
+        <ref role="3Zv_sb" node="3Jn$RV2VwqW" resolve="Loss of transportation mission (driving off the road)" />
       </node>
       <node concept="3h3uym" id="55oVyA0mRal" role="3h3uzw">
-        <ref role="3h3iM1" node="55oVyA0mRab" />
+        <ref role="3h3iM1" node="55oVyA0mRab" resolve="OS1" />
       </node>
     </node>
     <node concept="1a6Z8w" id="3Jn$RV2Vwqa" role="8gIbH">
       <property role="0lsPB" value="H03" />
       <property role="TrG5h" value="The Intersection Assistant controls the vehicle with too high longitudinal or lateral accelerations or too low decceleration while handling an intersection" />
       <node concept="3Zv_sa" id="3Jn$RV2Vwqn" role="3Zv_sA">
-        <ref role="3Zv_sb" node="3Jn$RV2VwqU" />
+        <ref role="3Zv_sb" node="3Jn$RV2VwqU" resolve="Loss of life or injury of in or out of the vehicle humans" />
       </node>
       <node concept="3Zv_sa" id="3Jn$RV2Vwqo" role="3Zv_sA">
-        <ref role="3Zv_sb" node="3Jn$RV2VwqV" />
+        <ref role="3Zv_sb" node="3Jn$RV2VwqV" resolve="Damage to infrastructure, TPO or ego vehicle" />
       </node>
       <node concept="3h3uym" id="55oVyA0mRao" role="3h3uzw">
-        <ref role="3h3iM1" node="55oVyA0mRab" />
+        <ref role="3h3iM1" node="55oVyA0mRab" resolve="OS1" />
       </node>
     </node>
     <node concept="1a6Z8w" id="3Jn$RV2Vwqb" role="8gIbH">
       <property role="0lsPB" value="H04" />
       <property role="TrG5h" value="Inappropriate vehicle behavior while operating outside the operational environment " />
       <node concept="3Zv_sa" id="3Jn$RV2Vwqp" role="3Zv_sA">
-        <ref role="3Zv_sb" node="3Jn$RV2VwqU" />
+        <ref role="3Zv_sb" node="3Jn$RV2VwqU" resolve="Loss of life or injury of in or out of the vehicle humans" />
       </node>
       <node concept="3Zv_sa" id="3Jn$RV2Vwqq" role="3Zv_sA">
-        <ref role="3Zv_sb" node="3Jn$RV2VwqV" />
+        <ref role="3Zv_sb" node="3Jn$RV2VwqV" resolve="Damage to infrastructure, TPO or ego vehicle" />
       </node>
       <node concept="3Zv_sa" id="3Jn$RV2Vwqr" role="3Zv_sA">
-        <ref role="3Zv_sb" node="3Jn$RV2VwqW" />
+        <ref role="3Zv_sb" node="3Jn$RV2VwqW" resolve="Loss of transportation mission (driving off the road)" />
       </node>
       <node concept="3Zv_sa" id="3Jn$RV2Vwqs" role="3Zv_sA">
-        <ref role="3Zv_sb" node="3Jn$RV2VwqX" />
+        <ref role="3Zv_sb" node="3Jn$RV2VwqX" resolve="Loss of service" />
       </node>
       <node concept="3h3uym" id="55oVyA0mRar" role="3h3uzw">
-        <ref role="3h3iM1" node="55oVyA0mRab" />
+        <ref role="3h3iM1" node="55oVyA0mRab" resolve="OS1" />
       </node>
     </node>
     <node concept="1a6Z8w" id="ZH03rPhNNr" role="8gIbH">
       <property role="0lsPB" value="H05" />
       <property role="TrG5h" value="Vehicle does not complete route and arrives at incorrect destination" />
       <node concept="3Zv_sa" id="ZH03rPhNNI" role="3Zv_sA">
-        <ref role="3Zv_sb" node="3Jn$RV2VwqX" />
+        <ref role="3Zv_sb" node="3Jn$RV2VwqX" resolve="Loss of service" />
       </node>
       <node concept="3h3uym" id="55oVyA0mRau" role="3h3uzw">
-        <ref role="3h3iM1" node="55oVyA0mRab" />
+        <ref role="3h3iM1" node="55oVyA0mRab" resolve="OS1" />
       </node>
     </node>
   </node>
@@ -447,10 +447,10 @@
       </node>
       <node concept="2iDXIW" id="3Jn$RV2Vwqz" role="0nOlf">
         <node concept="DABN8" id="3Jn$RV2VwqE" role="DABNk">
-          <ref role="DABNb" node="3Jn$RV2Vwq6" />
+          <ref role="DABNb" node="3Jn$RV2Vwq6" resolve="Vehicle leaves authorised or designated road or highway " />
         </node>
         <node concept="DABN8" id="3Jn$RV2VwqH" role="DABNk">
-          <ref role="DABNb" node="3Jn$RV2Vwqa" />
+          <ref role="DABNb" node="3Jn$RV2Vwqa" resolve="The Intersection Assistant controls the vehicle with too high longitudinal or lateral accelerations or too low decceleration while handling an intersection" />
         </node>
       </node>
     </node>
@@ -476,7 +476,7 @@
       </node>
       <node concept="2iDXIW" id="3Jn$RV2VwqB" role="0nOlf">
         <node concept="DABN8" id="3Jn$RV2VwqL" role="DABNk">
-          <ref role="DABNb" node="3Jn$RV2Vwq7" />
+          <ref role="DABNb" node="3Jn$RV2Vwq7" resolve="Vehicle does not maintain safe distance to other vehicles or objects while handling an intersection" />
         </node>
       </node>
     </node>
@@ -485,7 +485,7 @@
       <property role="0ke_I" value="Carmen C." />
       <node concept="2iDXIW" id="K_MCpHhFGh" role="0nOlf">
         <node concept="DABN8" id="K_MCpHhFGk" role="DABNk">
-          <ref role="DABNb" node="3Jn$RV2Vwqb" />
+          <ref role="DABNb" node="3Jn$RV2Vwqb" resolve="Inappropriate vehicle behavior while operating outside the operational environment " />
         </node>
       </node>
       <node concept="19SGf9" id="K_MCpHhFFP" role="1QQeG9">
@@ -618,7 +618,7 @@
           <property role="19SUeA" value="Hazard " />
         </node>
         <node concept="oY6sn" id="3Jn$RV2VwsU" role="19SJt6">
-          <ref role="oTUVg" node="3Jn$RV2Vwqa" />
+          <ref role="oTUVg" node="3Jn$RV2Vwqa" resolve="The Intersection Assistant controls the vehicle with too high longitudinal or lateral accelerations or too low decceleration while handling an intersection" />
         </node>
         <node concept="19SUe$" id="3Jn$RV2VwsV" role="19SJt6">
           <property role="19SUeA" value="&#10;has been mitigated" />
@@ -633,13 +633,13 @@
           <property role="19SUeA" value="Hazard " />
         </node>
         <node concept="oY6sn" id="3Jn$RV2VwsX" role="19SJt6">
-          <ref role="oTUVg" node="3Jn$RV2Vwq7" />
+          <ref role="oTUVg" node="3Jn$RV2Vwq7" resolve="Vehicle does not maintain safe distance to other vehicles or objects while handling an intersection" />
         </node>
         <node concept="19SUe$" id="3Jn$RV2VwsY" role="19SJt6">
           <property role="19SUeA" value="&#10;has been substituted &#10;with hazard " />
         </node>
         <node concept="oY6sn" id="3Jn$RV2VwsZ" role="19SJt6">
-          <ref role="oTUVg" node="3Jn$RV2Vwq6" />
+          <ref role="oTUVg" node="3Jn$RV2Vwq6" resolve="Vehicle leaves authorised or designated road or highway " />
         </node>
         <node concept="19SUe$" id="3Jn$RV2Vwt0" role="19SJt6" />
       </node>
@@ -652,7 +652,7 @@
           <property role="19SUeA" value="Hazard " />
         </node>
         <node concept="oY6sn" id="3Jn$RV2Vwt5" role="19SJt6">
-          <ref role="oTUVg" node="3Jn$RV2Vwqb" />
+          <ref role="oTUVg" node="3Jn$RV2Vwqb" resolve="Inappropriate vehicle behavior while operating outside the operational environment " />
         </node>
         <node concept="19SUe$" id="3Jn$RV2Vwt6" role="19SJt6">
           <property role="19SUeA" value=" has been &#10;eliminated and can no longer occur" />
@@ -660,8 +660,8 @@
       </node>
     </node>
     <node concept="8gDHL" id="3Jn$RV2Vwru" role="2vhqc$">
-      <ref role="3VeSjP" node="3Jn$RV2Vwrv" />
-      <ref role="3VeSjQ" node="3Jn$RV2Vwrt" />
+      <ref role="3VeSjP" node="3Jn$RV2Vwrv" resolve="Str2.1" />
+      <ref role="3VeSjQ" node="3Jn$RV2Vwrt" resolve="G2.1.1" />
     </node>
     <node concept="FXfxu" id="3Jn$RV2Vwrv" role="2vn1q5">
       <property role="TrG5h" value="Str2.1" />
@@ -670,7 +670,7 @@
           <property role="19SUeA" value="All hazards from " />
         </node>
         <node concept="oXkut" id="3Jn$RV2Vwt8" role="19SJt6">
-          <ref role="oTdVe" node="3Jn$RV2Vwq5" />
+          <ref role="oTdVe" node="3Jn$RV2Vwq5" resolve="_013_ihs_hazards_list" />
         </node>
         <node concept="19SUe$" id="3Jn$RV2Vwt9" role="19SJt6">
           <property role="19SUeA" value="&#10;have been addressed" />
@@ -2110,8 +2110,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="3Jn$RV2Vwry" role="2vhqc$">
-      <ref role="3VeSjP" node="3Jn$RV2Vwrx" />
-      <ref role="3VeSjQ" node="3Jn$RV2Vwrv" />
+      <ref role="3VeSjP" node="3Jn$RV2Vwrx" resolve="G2" />
+      <ref role="3VeSjQ" node="3Jn$RV2Vwrv" resolve="Str2.1" />
     </node>
     <node concept="2XiGWt" id="3Jn$RV2Vwrz" role="2vn1q5">
       <property role="TrG5h" value="A2" />
@@ -2122,16 +2122,16 @@
       </node>
     </node>
     <node concept="2vhqFZ" id="3Jn$RV2Vwr$" role="2vhqc$">
-      <ref role="3VeSjP" node="3Jn$RV2Vwrv" />
-      <ref role="3VeSjQ" node="3Jn$RV2Vwrz" />
+      <ref role="3VeSjP" node="3Jn$RV2Vwrv" resolve="Str2.1" />
+      <ref role="3VeSjQ" node="3Jn$RV2Vwrz" resolve="A2" />
     </node>
     <node concept="8gDHL" id="3Jn$RV2VwrB" role="2vhqc$">
-      <ref role="3VeSjP" node="3Jn$RV2Vwrv" />
-      <ref role="3VeSjQ" node="3Jn$RV2Vwrq" />
+      <ref role="3VeSjP" node="3Jn$RV2Vwrv" resolve="Str2.1" />
+      <ref role="3VeSjQ" node="3Jn$RV2Vwrq" resolve="G2.1.3" />
     </node>
     <node concept="8gDHL" id="3Jn$RV2VwrC" role="2vhqc$">
-      <ref role="3VeSjP" node="3Jn$RV2Vwrv" />
-      <ref role="3VeSjQ" node="3Jn$RV2Vwrp" />
+      <ref role="3VeSjP" node="3Jn$RV2Vwrv" resolve="Str2.1" />
+      <ref role="3VeSjQ" node="3Jn$RV2Vwrp" resolve="G2.1.4" />
     </node>
     <node concept="2iKOIG" id="3Jn$RV2VwrD" role="2vn1q5">
       <property role="8uqrb" value="true" />
@@ -2147,8 +2147,8 @@
       </node>
     </node>
     <node concept="3g1GAz" id="3Jn$RV2VwrE" role="2vhqc$">
-      <ref role="3VeSjP" node="3Jn$RV2VwrH" />
-      <ref role="3VeSjQ" node="3Jn$RV2VwrD" />
+      <ref role="3VeSjP" node="3Jn$RV2VwrH" resolve="Str2.1.4" />
+      <ref role="3VeSjQ" node="3Jn$RV2VwrD" resolve="AG2.1.4.2" />
     </node>
     <node concept="2iKOIG" id="3Jn$RV2VwrF" role="2vn1q5">
       <property role="8uqrb" value="true" />
@@ -2164,8 +2164,8 @@
       </node>
     </node>
     <node concept="3g1GAz" id="3Jn$RV2VwrG" role="2vhqc$">
-      <ref role="3VeSjP" node="3Jn$RV2VwrH" />
-      <ref role="3VeSjQ" node="3Jn$RV2VwrF" />
+      <ref role="3VeSjP" node="3Jn$RV2VwrH" resolve="Str2.1.4" />
+      <ref role="3VeSjQ" node="3Jn$RV2VwrF" resolve="AG2.1.4.1" />
     </node>
     <node concept="2iK_uI" id="3Jn$RV2VwrH" role="2vn1q5">
       <property role="TrG5h" value="Str2.1.4" />
@@ -2174,7 +2174,7 @@
           <property role="19SUeA" value="All safety goals from " />
         </node>
         <node concept="27blvF" id="3Jn$RV2VwtY" role="19SJt6">
-          <ref role="27blvA" node="3Jn$RV2Vwqt" />
+          <ref role="27blvA" node="3Jn$RV2Vwqt" resolve="_014_ihs_safety_goals" />
         </node>
         <node concept="19SUe$" id="3Jn$RV2VwtZ" role="19SJt6">
           <property role="19SUeA" value="&#10; are satisfied" />
@@ -2182,8 +2182,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="3Jn$RV2VwrI" role="2vhqc$">
-      <ref role="3VeSjP" node="3Jn$RV2Vwrp" />
-      <ref role="3VeSjQ" node="3Jn$RV2VwrH" />
+      <ref role="3VeSjP" node="3Jn$RV2Vwrp" resolve="G2.1.4" />
+      <ref role="3VeSjQ" node="3Jn$RV2VwrH" resolve="Str2.1.4" />
     </node>
     <node concept="2vmxQI" id="3Jn$RV2VwrJ" role="2vn1q5">
       <property role="TrG5h" value="Str3.2" />
@@ -2202,12 +2202,12 @@
       </node>
     </node>
     <node concept="3VeUTF" id="3Jn$RV2VwrL" role="2vhqc$">
-      <ref role="3VeSjP" node="3Jn$RV2VwrJ" />
-      <ref role="3VeSjQ" node="3Jn$RV2VwrK" />
+      <ref role="3VeSjP" node="3Jn$RV2VwrJ" resolve="Str3.2" />
+      <ref role="3VeSjQ" node="3Jn$RV2VwrK" resolve="G3.2.1" />
     </node>
     <node concept="3VeUTF" id="3Jn$RV2VwrM" role="2vhqc$">
-      <ref role="3VeSjP" node="3Jn$RV2Vwrx" />
-      <ref role="3VeSjQ" node="3Jn$RV2VwrJ" />
+      <ref role="3VeSjP" node="3Jn$RV2Vwrx" resolve="G2" />
+      <ref role="3VeSjQ" node="3Jn$RV2VwrJ" resolve="Str3.2" />
     </node>
     <node concept="3t1IcU" id="3Jn$RV2VwrN" role="2vn1q5">
       <property role="TrG5h" value="Sn2.2.1" />
@@ -2218,8 +2218,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="3Jn$RV2VwrO" role="2vhqc$">
-      <ref role="3VeSjP" node="3Jn$RV2VwrK" />
-      <ref role="3VeSjQ" node="3Jn$RV2VwrN" />
+      <ref role="3VeSjP" node="3Jn$RV2VwrK" resolve="G3.2.1" />
+      <ref role="3VeSjQ" node="3Jn$RV2VwrN" resolve="Sn2.2.1" />
     </node>
     <node concept="2vmxQI" id="3Jn$RV2VwrP" role="2vn1q5">
       <property role="TrG5h" value="Str2.2" />
@@ -2246,16 +2246,16 @@
       </node>
     </node>
     <node concept="3VeUTF" id="3Jn$RV2VwrS" role="2vhqc$">
-      <ref role="3VeSjP" node="3Jn$RV2VwrP" />
-      <ref role="3VeSjQ" node="3Jn$RV2VwrQ" />
+      <ref role="3VeSjP" node="3Jn$RV2VwrP" resolve="Str2.2" />
+      <ref role="3VeSjQ" node="3Jn$RV2VwrQ" resolve="G2.2.1" />
     </node>
     <node concept="3VeUTF" id="3Jn$RV2VwrT" role="2vhqc$">
-      <ref role="3VeSjP" node="3Jn$RV2VwrQ" />
-      <ref role="3VeSjQ" node="3Jn$RV2VwrR" />
+      <ref role="3VeSjP" node="3Jn$RV2VwrQ" resolve="G2.2.1" />
+      <ref role="3VeSjQ" node="3Jn$RV2VwrR" resolve="Sn2.2.1" />
     </node>
     <node concept="3VeUTF" id="3Jn$RV2VwrU" role="2vhqc$">
-      <ref role="3VeSjP" node="3Jn$RV2Vwrx" />
-      <ref role="3VeSjQ" node="3Jn$RV2VwrP" />
+      <ref role="3VeSjP" node="3Jn$RV2Vwrx" resolve="G2" />
+      <ref role="3VeSjQ" node="3Jn$RV2VwrP" resolve="Str2.2" />
     </node>
     <node concept="2vn7WC" id="3Jn$RV2VwrV" role="2vn1q5">
       <property role="TrG5h" value="G5.6" />
@@ -2266,8 +2266,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="3Jn$RV2VwrW" role="2vhqc$">
-      <ref role="3VeSjP" node="3Jn$RV2VwrJ" />
-      <ref role="3VeSjQ" node="3Jn$RV2VwrV" />
+      <ref role="3VeSjP" node="3Jn$RV2VwrJ" resolve="Str3.2" />
+      <ref role="3VeSjQ" node="3Jn$RV2VwrV" resolve="G5.6" />
     </node>
     <node concept="2iKOIG" id="55oVyA0rqn3" role="2vn1q5">
       <property role="8uqrb" value="true" />
@@ -2283,8 +2283,8 @@
       </node>
     </node>
     <node concept="8gDHL" id="55oVyA0rqx1" role="2vhqc$">
-      <ref role="3VeSjP" node="3Jn$RV2VwrH" />
-      <ref role="3VeSjQ" node="55oVyA0rqn3" />
+      <ref role="3VeSjP" node="3Jn$RV2VwrH" resolve="Str2.1.4" />
+      <ref role="3VeSjQ" node="55oVyA0rqn3" resolve="AG2.1.4.3" />
     </node>
     <node concept="8gVzV" id="55oVyA0rqHL" role="2vn1q5">
       <property role="8uqrb" value="true" />
@@ -2294,7 +2294,7 @@
           <property role="19SUeA" value="Hazard " />
         </node>
         <node concept="oY6sn" id="55oVyA0rqHO" role="19SJt6">
-          <ref role="oTUVg" node="3Jn$RV2Vwq6" />
+          <ref role="oTUVg" node="3Jn$RV2Vwq6" resolve="Vehicle leaves authorised or designated road or highway " />
         </node>
         <node concept="19SUe$" id="55oVyA0rqHP" role="19SJt6">
           <property role="19SUeA" value="&#10; has been mitigated" />
@@ -2302,8 +2302,8 @@
       </node>
     </node>
     <node concept="8gDHL" id="55oVyA0rqRW" role="2vhqc$">
-      <ref role="3VeSjP" node="3Jn$RV2Vwrv" />
-      <ref role="3VeSjQ" node="55oVyA0rqHL" />
+      <ref role="3VeSjP" node="3Jn$RV2Vwrv" resolve="Str2.1" />
+      <ref role="3VeSjQ" node="55oVyA0rqHL" resolve="G2.1.5" />
     </node>
     <node concept="8gVzV" id="55oVyA0rr64" role="2vn1q5">
       <property role="8uqrb" value="true" />
@@ -2313,7 +2313,7 @@
           <property role="19SUeA" value="Hazard " />
         </node>
         <node concept="oY6sn" id="55oVyA0rr67" role="19SJt6">
-          <ref role="oTUVg" node="ZH03rPhNNr" />
+          <ref role="oTUVg" node="ZH03rPhNNr" resolve="Vehicle does not complete route and arrives at incorrect destination" />
         </node>
         <node concept="19SUe$" id="55oVyA0rr68" role="19SJt6">
           <property role="19SUeA" value="&#10; has been mitigated" />
@@ -2321,8 +2321,8 @@
       </node>
     </node>
     <node concept="8gDHL" id="55oVyA0rrht" role="2vhqc$">
-      <ref role="3VeSjP" node="3Jn$RV2Vwrv" />
-      <ref role="3VeSjQ" node="55oVyA0rr64" />
+      <ref role="3VeSjP" node="3Jn$RV2Vwrv" resolve="Str2.1" />
+      <ref role="3VeSjQ" node="55oVyA0rr64" resolve="G2.1.6" />
     </node>
   </node>
   <node concept="2vn7XN" id="3Jn$RV2VwvT">
@@ -2361,7 +2361,7 @@
           <property role="8uqrb" value="true" />
           <property role="TrG5h" value="G1.2" />
           <property role="2QdZbZ" value="true" />
-          <ref role="2QdZa0" node="3Jn$RV2Vwrx" />
+          <ref role="2QdZa0" node="3Jn$RV2Vwrx" resolve="G2" />
           <node concept="19SGf9" id="3Jn$RV2Vwwg" role="2vnaTY">
             <node concept="19SUe$" id="3Jn$RV2Vww_" role="19SJt6">
               <property role="19SUeA" value="" />
@@ -2375,7 +2375,7 @@
               <property role="19SUeA" value="System defined in&#10;" />
             </node>
             <node concept="27blvF" id="3Jn$RV2VwwB" role="19SJt6">
-              <ref role="27blvA" node="3Jn$RV2VwpF" />
+              <ref role="27blvA" node="3Jn$RV2VwpF" resolve="_002_ihs_system_requirements" />
             </node>
             <node concept="19SUe$" id="3Jn$RV2VwwC" role="19SJt6">
               <property role="19SUeA" value="&#10; is sufficiently safe &#10; in the given operating context" />
@@ -2389,31 +2389,31 @@
               <property role="19SUeA" value="Item Definition &#10;" />
             </node>
             <node concept="27blvF" id="3Jn$RV2VwwE" role="19SJt6">
-              <ref role="27blvA" node="3Jn$RV2VwpF" />
+              <ref role="27blvA" node="3Jn$RV2VwpF" resolve="_002_ihs_system_requirements" />
             </node>
             <node concept="19SUe$" id="3Jn$RV2VwwF" role="19SJt6">
               <property role="19SUeA" value="&#10;" />
             </node>
             <node concept="27blvF" id="3Jn$RV2VwwG" role="19SJt6">
-              <ref role="27blvA" node="3Jn$RV2VwH4" />
+              <ref role="27blvA" node="3Jn$RV2VwH4" resolve="_003_ihs_functional_requirements" />
             </node>
             <node concept="19SUe$" id="3Jn$RV2VwwH" role="19SJt6">
               <property role="19SUeA" value="&#10;" />
             </node>
             <node concept="27blvF" id="3Jn$RV2VwwI" role="19SJt6">
-              <ref role="27blvA" node="3Jn$RV2VwJg" />
+              <ref role="27blvA" node="3Jn$RV2VwJg" resolve="_004_ihs_technical_requirements" />
             </node>
             <node concept="19SUe$" id="3Jn$RV2VwwJ" role="19SJt6">
               <property role="19SUeA" value="&#10;" />
             </node>
             <node concept="27blvF" id="3Jn$RV2VwwK" role="19SJt6">
-              <ref role="27blvA" node="3Jn$RV2VwBz" />
+              <ref role="27blvA" node="3Jn$RV2VwBz" resolve="_002_ihs_operational_requirements" />
             </node>
             <node concept="19SUe$" id="3Jn$RV2VwwL" role="19SJt6">
               <property role="19SUeA" value="&#10;" />
             </node>
             <node concept="27blvF" id="3Jn$RV2VwwM" role="19SJt6">
-              <ref role="27blvA" node="3Jn$RV2VwqZ" />
+              <ref role="27blvA" node="3Jn$RV2VwqZ" resolve="_011_ihs_operational_safety_concept" />
             </node>
             <node concept="19SUe$" id="3Jn$RV2VwwN" role="19SJt6">
               <property role="19SUeA" value="&#10;" />
@@ -2421,20 +2421,20 @@
           </node>
         </node>
         <node concept="3VeUTF" id="3Jn$RV2Vww4" role="2vhqc$">
-          <ref role="3VeSjP" node="3Jn$RV2Vww2" />
-          <ref role="3VeSjQ" node="3Jn$RV2Vww0" />
+          <ref role="3VeSjP" node="3Jn$RV2Vww2" resolve="G1.1" />
+          <ref role="3VeSjQ" node="3Jn$RV2Vww0" resolve="Str1.1" />
         </node>
         <node concept="3VeUTF" id="3Jn$RV2Vww5" role="2vhqc$">
-          <ref role="3VeSjP" node="3Jn$RV2Vww2" />
-          <ref role="3VeSjQ" node="3Jn$RV2VwvZ" />
+          <ref role="3VeSjP" node="3Jn$RV2Vww2" resolve="G1.1" />
+          <ref role="3VeSjQ" node="3Jn$RV2VwvZ" resolve="Str1.2" />
         </node>
         <node concept="3VeUTF" id="3Jn$RV2Vww6" role="2vhqc$">
-          <ref role="3VeSjP" node="3Jn$RV2Vww0" />
-          <ref role="3VeSjQ" node="3Jn$RV2Vww1" />
+          <ref role="3VeSjP" node="3Jn$RV2Vww0" resolve="Str1.1" />
+          <ref role="3VeSjQ" node="3Jn$RV2Vww1" resolve="G1.2" />
         </node>
         <node concept="2vhqFZ" id="3Jn$RV2Vww7" role="2vhqc$">
-          <ref role="3VeSjP" node="3Jn$RV2Vww2" />
-          <ref role="3VeSjQ" node="3Jn$RV2Vww3" />
+          <ref role="3VeSjP" node="3Jn$RV2Vww2" resolve="G1.1" />
+          <ref role="3VeSjQ" node="3Jn$RV2Vww3" resolve="C2" />
         </node>
         <node concept="37mRI7" id="3Jn$RV2Vww8" role="lGtFl">
           <node concept="37mRIm" id="3Jn$RV2Vwwj" role="37mRID">
@@ -2857,12 +2857,12 @@
           </node>
         </node>
         <node concept="2vhqFZ" id="3Jn$RV2Vwwa" role="2vhqc$">
-          <ref role="3VeSjP" node="3Jn$RV2VwvZ" />
-          <ref role="3VeSjQ" node="3Jn$RV2Vww9" />
+          <ref role="3VeSjP" node="3Jn$RV2VwvZ" resolve="Str1.2" />
+          <ref role="3VeSjQ" node="3Jn$RV2Vww9" resolve="C1.2" />
         </node>
         <node concept="2vhqFZ" id="3Jn$RV2Vwwb" role="2vhqc$">
-          <ref role="3VeSjP" node="3Jn$RV2Vww2" />
-          <ref role="3VeSjQ" node="3Jn$RV2VwvY" />
+          <ref role="3VeSjP" node="3Jn$RV2Vww2" resolve="G1.1" />
+          <ref role="3VeSjQ" node="3Jn$RV2VwvY" resolve="A1 - Context Assumptions" />
         </node>
       </node>
       <node concept="19SGf9" id="1TD_kqsdgHI" role="2vnaTY">
@@ -4066,7 +4066,7 @@
       <node concept="3UnI9n" id="2vEFX4zn7sP" role="3UnI90">
         <property role="TrG5h" value="vehicleControl" />
         <node concept="1s31w3" id="2vEFX4zn7th" role="3UnI80">
-          <ref role="1s31w2" node="2vEFX4zn7le" />
+          <ref role="1s31w2" node="2vEFX4zn7le" resolve="VEHICLE_MOTION" />
         </node>
       </node>
       <node concept="3UnI9n" id="2Bdpt7mpQ99" role="3UnI90">
@@ -4095,68 +4095,68 @@
       <node concept="3Ug1AV" id="2vEFX4zn7dn" role="3UgYNK">
         <property role="TrG5h" value="engineECU" />
         <node concept="3Ug1AZ" id="2vEFX4zn7dm" role="3Ug1A_">
-          <ref role="3Ug1AY" node="3Jn$RV2VwEd" />
+          <ref role="3Ug1AY" node="3Jn$RV2VwEd" resolve="EngineECU" />
         </node>
       </node>
       <node concept="3Ug1AV" id="2vEFX4zn7dG" role="3UgYNK">
         <property role="TrG5h" value="brakeEcu" />
         <node concept="3Ug1AZ" id="2vEFX4zn7dE" role="3Ug1A_">
-          <ref role="3Ug1AY" node="5Fk_m8PnaSr" />
+          <ref role="3Ug1AY" node="5Fk_m8PnaSr" resolve="BrakeECU" />
         </node>
       </node>
       <node concept="3Ug1AV" id="2vEFX4zn7ee" role="3UgYNK">
         <property role="TrG5h" value="steeringECU" />
         <node concept="3Ug1AZ" id="2vEFX4zn7ec" role="3Ug1A_">
-          <ref role="3Ug1AY" node="5Fk_m8Pnb2h" />
+          <ref role="3Ug1AY" node="5Fk_m8Pnb2h" resolve="SteeringECU" />
         </node>
       </node>
       <node concept="3Ug1AV" id="2vEFX4zn7eO" role="3UgYNK">
         <property role="TrG5h" value="gearboxECU" />
         <node concept="3Ug1AZ" id="2vEFX4zn7eM" role="3Ug1A_">
-          <ref role="3Ug1AY" node="5Fk_m8Pnbcb" />
+          <ref role="3Ug1AY" node="5Fk_m8Pnbcb" resolve="GearBoxECU" />
         </node>
       </node>
       <node concept="3Ug1$w" id="2Bdpt7mpQPX" role="3UgYNK">
         <node concept="3Ug1Ap" id="2Bdpt7mpQQ_" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="2Bdpt7mpQ99" />
+          <ref role="3Ug1Ao" node="2Bdpt7mpQ99" resolve="rpm" />
         </node>
         <node concept="3Ug1GC" id="2Bdpt7mpQQR" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="3Jn$RV2VwEL" />
+          <ref role="3Ug1Ha" node="3Jn$RV2VwEL" resolve="desiredRPM" />
           <node concept="3Ug1GJ" id="2Bdpt7mpQQQ" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="2vEFX4zn7dn" />
+            <ref role="3Ug1GI" node="2vEFX4zn7dn" resolve="engineECU" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="2Bdpt7mpQUj" role="3UgYNK">
         <node concept="3Ug1GC" id="2Bdpt7mpQV0" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="2Bdpt7mpIiv" />
+          <ref role="3Ug1Ha" node="2Bdpt7mpIiv" resolve="brakingForce" />
           <node concept="3Ug1GJ" id="2Bdpt7mpQUZ" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="2vEFX4zn7dG" />
+            <ref role="3Ug1GI" node="2vEFX4zn7dG" resolve="brakeEcu" />
           </node>
         </node>
         <node concept="3Ug1Ap" id="2Bdpt7mpQV9" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="2Bdpt7mpQ9d" />
+          <ref role="3Ug1Ao" node="2Bdpt7mpQ9d" resolve="brakingForce" />
         </node>
       </node>
       <node concept="3Ug1$w" id="2Bdpt7mpQWk" role="3UgYNK">
         <node concept="3Ug1Ap" id="2Bdpt7mpQX4" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="2Bdpt7mpQ9f" />
+          <ref role="3Ug1Ao" node="2Bdpt7mpQ9f" resolve="desiredGear" />
         </node>
         <node concept="3Ug1GC" id="2Bdpt7mpQXa" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="2Bdpt7mpIxY" />
+          <ref role="3Ug1Ha" node="2Bdpt7mpIxY" resolve="desiredGear" />
           <node concept="3Ug1GJ" id="2Bdpt7mpQX9" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="2vEFX4zn7eO" />
+            <ref role="3Ug1GI" node="2vEFX4zn7eO" resolve="gearboxECU" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="2Bdpt7mpQYA" role="3UgYNK">
         <node concept="3Ug1Ap" id="2Bdpt7mpQZq" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="2Bdpt7mpQ9h" />
+          <ref role="3Ug1Ao" node="2Bdpt7mpQ9h" resolve="steeringAngle" />
         </node>
         <node concept="3Ug1GC" id="2Bdpt7mpQZw" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="2Bdpt7mpIyj" />
+          <ref role="3Ug1Ha" node="2Bdpt7mpIyj" resolve="steeringAngle" />
           <node concept="3Ug1GJ" id="2Bdpt7mpQZv" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="2vEFX4zn7ee" />
+            <ref role="3Ug1GI" node="2vEFX4zn7ee" resolve="steeringECU" />
           </node>
         </node>
       </node>
@@ -4388,13 +4388,13 @@
       <node concept="3UnI81" id="2vEFX4zn8rs" role="3UnI9m">
         <property role="TrG5h" value="ihsInfo" />
         <node concept="1s31w3" id="2vEFX4zn8rX" role="3UnI80">
-          <ref role="1s31w2" node="2vEFX4zn8lH" />
+          <ref role="1s31w2" node="2vEFX4zn8lH" resolve="IHS_STATUS" />
         </node>
       </node>
       <node concept="3UnI9n" id="5Fk_m8Pncos" role="3UnI90">
         <property role="TrG5h" value="userCommands" />
         <node concept="1s31w3" id="2vEFX4zn8fW" role="3UnI80">
-          <ref role="1s31w2" node="2vEFX4zn89N" />
+          <ref role="1s31w2" node="2vEFX4zn89N" resolve="HMI_DATA" />
         </node>
       </node>
     </node>
@@ -4431,11 +4431,11 @@
       <node concept="3UnI81" id="jTtg7cq7a9" role="3UnI9m">
         <property role="TrG5h" value="trajectory" />
         <node concept="1s31w3" id="jTtg7cq7aa" role="3UnI80">
-          <ref role="1s31w2" node="jTtg7cq6rQ" />
+          <ref role="1s31w2" node="jTtg7cq6rQ" resolve="TRAJECTORY" />
         </node>
       </node>
       <node concept="3Ug1AZ" id="jTtg7cq78O" role="2p5x1W">
-        <ref role="3Ug1AY" node="5Fk_m8PnaPa" />
+        <ref role="3Ug1AY" node="5Fk_m8PnaPa" resolve="MotionControl" />
       </node>
       <node concept="37mRI7" id="jTtg7cq78S" role="lGtFl">
         <node concept="37mRIm" id="jTtg7cq78T" role="37mRID">
@@ -4504,7 +4504,7 @@
         <node concept="2Hds6S" id="2Bdpt7mpGia" role="3UnI80" />
       </node>
       <node concept="3Ug1AZ" id="2Bdpt7mpJqU" role="2p5x1W">
-        <ref role="3Ug1AY" node="5Fk_m8PnaPa" />
+        <ref role="3Ug1AY" node="5Fk_m8PnaPa" resolve="MotionControl" />
       </node>
       <node concept="37mRI7" id="2Bdpt7mpRhS" role="lGtFl">
         <node concept="37mRIm" id="2Bdpt7mpRhT" role="37mRID">
@@ -4599,13 +4599,13 @@
       <node concept="3UnI9n" id="2vEFX4zn7sh" role="3UnI90">
         <property role="TrG5h" value="vehicleMotionStatus" />
         <node concept="1s31w3" id="2vEFX4zn7sC" role="3UnI80">
-          <ref role="1s31w2" node="2vEFX4zn7le" />
+          <ref role="1s31w2" node="2vEFX4zn7le" resolve="VEHICLE_MOTION" />
         </node>
       </node>
       <node concept="3UnI81" id="5Fk_m8Pncpz" role="3UnI9m">
         <property role="TrG5h" value="vehicleControl" />
         <node concept="1s31w3" id="2vEFX4zn7s9" role="3UnI80">
-          <ref role="1s31w2" node="2vEFX4zn7le" />
+          <ref role="1s31w2" node="2vEFX4zn7le" resolve="VEHICLE_MOTION" />
         </node>
       </node>
     </node>
@@ -5966,31 +5966,31 @@
       <node concept="3Ug1AV" id="5Fk_m8PnbzE" role="3UgYNK">
         <property role="TrG5h" value="chassis" />
         <node concept="3Ug1AZ" id="5Fk_m8PnbzF" role="3Ug1A_">
-          <ref role="3Ug1AY" node="5Fk_m8Pn9xB" />
+          <ref role="3Ug1AY" node="5Fk_m8Pn9xB" resolve="Chassis" />
         </node>
       </node>
       <node concept="3Ug1AV" id="5Fk_m8Pnb_F" role="3UgYNK">
         <property role="TrG5h" value="driverControl" />
         <node concept="3Ug1AZ" id="2Bdpt7mpJrb" role="3Ug1A_">
-          <ref role="3Ug1AY" node="2Bdpt7mpJjH" />
+          <ref role="3Ug1AY" node="2Bdpt7mpJjH" resolve="DriverControl" />
         </node>
       </node>
       <node concept="3Ug1AV" id="5Fk_m8PnbTe" role="3UgYNK">
         <property role="TrG5h" value="vehiclePlatform" />
         <node concept="3Ug1AZ" id="2vEFX4zn811" role="3Ug1A_">
-          <ref role="3Ug1AY" node="2vEFX4zn77I" />
+          <ref role="3Ug1AY" node="2vEFX4zn77I" resolve="VehiclePlatformManagementSystem" />
         </node>
       </node>
       <node concept="3Ug1AV" id="5Fk_m8PnbVt" role="3UgYNK">
         <property role="TrG5h" value="ui" />
         <node concept="3Ug1AZ" id="5Fk_m8PnbVu" role="3Ug1A_">
-          <ref role="3Ug1AY" node="5Fk_m8Pna_3" />
+          <ref role="3Ug1AY" node="5Fk_m8Pna_3" resolve="UserInterface" />
         </node>
       </node>
       <node concept="3Ug1AV" id="5Fk_m8PnbVH" role="3UgYNK">
         <property role="TrG5h" value="ihs" />
         <node concept="3Ug1AZ" id="6VJDb1ZGa88" role="3Ug1A_">
-          <ref role="3Ug1AY" node="6VJDb1ZGa3_" />
+          <ref role="3Ug1AY" node="6VJDb1ZGa3_" resolve="IntersectionHandlingImpl" />
         </node>
         <node concept="0Sh09" id="ZH03rPhIOR" role="lGtFl">
           <node concept="hnKMr" id="ZH03rPhIPA" role="hnKMk">
@@ -6019,31 +6019,31 @@
       <node concept="3Ug1AV" id="5Fk_m8PnbZV" role="3UgYNK">
         <property role="TrG5h" value="egoVehicleSensors" />
         <node concept="3Ug1AZ" id="5Fk_m8PnbZW" role="3Ug1A_">
-          <ref role="3Ug1AY" node="3Jn$RV2VwE5" />
+          <ref role="3Ug1AY" node="3Jn$RV2VwE5" resolve="EgoVehicleSensors" />
         </node>
       </node>
       <node concept="3Ug1AV" id="5Fk_m8Pnc2m" role="3UgYNK">
         <property role="TrG5h" value="localEnvSensor" />
         <node concept="3Ug1AZ" id="2Bdpt7mpHQg" role="3Ug1A_">
-          <ref role="3Ug1AY" node="3Jn$RV2VwE7" />
+          <ref role="3Ug1AY" node="3Jn$RV2VwE7" resolve="EnvironmentSensor" />
         </node>
       </node>
       <node concept="3Ug1AV" id="5Fk_m8Pnc4M" role="3UgYNK">
         <property role="TrG5h" value="gps" />
         <node concept="3Ug1AZ" id="5Fk_m8Pnc4N" role="3Ug1A_">
-          <ref role="3Ug1AY" node="5Fk_m8Pn9O7" />
+          <ref role="3Ug1AY" node="5Fk_m8Pn9O7" resolve="GlobalPositioningSystem" />
         </node>
       </node>
       <node concept="3Ug1AV" id="5Fk_m8Pnc7f" role="3UgYNK">
         <property role="TrG5h" value="imu" />
         <node concept="3Ug1AZ" id="5Fk_m8Pnc7g" role="3Ug1A_">
-          <ref role="3Ug1AY" node="5Fk_m8Pn9Xt" />
+          <ref role="3Ug1AY" node="5Fk_m8Pn9Xt" resolve="InertialMeasurementUnit" />
         </node>
       </node>
       <node concept="3Ug1AV" id="5Fk_m8Pnc7M" role="3UgYNK">
         <property role="TrG5h" value="infrastructureSensors" />
         <node concept="3Ug1AZ" id="5Fk_m8Pnc7N" role="3Ug1A_">
-          <ref role="3Ug1AY" node="5Fk_m8Pna6T" />
+          <ref role="3Ug1AY" node="5Fk_m8Pna6T" resolve="InfrastructureSensors" />
         </node>
         <node concept="0Sh09" id="2vEFX4zn83R" role="lGtFl">
           <node concept="hnKMr" id="2vEFX4zn83W" role="hnKMk">
@@ -6060,13 +6060,13 @@
       <node concept="3Ug1AV" id="5Fk_m8Pnccu" role="3UgYNK">
         <property role="TrG5h" value="externalEnvSensor" />
         <node concept="3Ug1AZ" id="5Fk_m8Pnccv" role="3Ug1A_">
-          <ref role="3Ug1AY" node="3Jn$RV2VwE7" />
+          <ref role="3Ug1AY" node="3Jn$RV2VwE7" resolve="EnvironmentSensor" />
         </node>
       </node>
       <node concept="3Ug1AV" id="5Fk_m8Pncfa" role="3UgYNK">
         <property role="TrG5h" value="lidarSensors_2" />
         <node concept="3Ug1AZ" id="2vEFX4zn66J" role="3Ug1A_">
-          <ref role="3Ug1AY" node="2vEFX4zn5N2" />
+          <ref role="3Ug1AY" node="2vEFX4zn5N2" resolve="LidarSensingSetup" />
         </node>
         <node concept="0Sh09" id="RyPjVFcf14" role="lGtFl">
           <node concept="hnKMr" id="2vEFX4zn83s" role="hnKMk">
@@ -6077,7 +6077,7 @@
       <node concept="3Ug1AV" id="5Fk_m8Pnci0" role="3UgYNK">
         <property role="TrG5h" value="radarSensors_4" />
         <node concept="3Ug1AZ" id="2vEFX4zn6lB" role="3Ug1A_">
-          <ref role="3Ug1AY" node="2vEFX4zn6gi" />
+          <ref role="3Ug1AY" node="2vEFX4zn6gi" resolve="RadarSensingSetup" />
         </node>
         <node concept="0Sh09" id="2vEFX4zn83z" role="lGtFl">
           <node concept="hnKMr" id="2vEFX4zn83H" role="hnKMk">
@@ -6088,7 +6088,7 @@
       <node concept="3Ug1AV" id="4O8jCOJvAaE" role="3UgYNK">
         <property role="TrG5h" value="cameraSensingSetup" />
         <node concept="3Ug1AZ" id="4O8jCOJvAaF" role="3Ug1A_">
-          <ref role="3Ug1AY" node="2vEFX4zn6AY" />
+          <ref role="3Ug1AY" node="2vEFX4zn6AY" resolve="CameraSensingSetup" />
         </node>
         <node concept="0Sh09" id="ZH03rPhKi2" role="lGtFl">
           <node concept="hnKMr" id="ZH03rPhKid" role="hnKMk">
@@ -6098,407 +6098,407 @@
       </node>
       <node concept="3Ug1$w" id="2vEFX4zn7tY" role="3UgYNK">
         <node concept="3Ug1GC" id="2vEFX4zn7uO" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="2vEFX4zn7sP" />
+          <ref role="3Ug1Ha" node="2vEFX4zn7sP" resolve="vehicleControl" />
           <node concept="3Ug1GJ" id="2vEFX4zn7uN" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5Fk_m8PnbTe" />
+            <ref role="3Ug1GI" node="5Fk_m8PnbTe" resolve="vehiclePlatform" />
           </node>
         </node>
         <node concept="3Ug1GC" id="2vEFX4zn7uY" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="5Fk_m8Pncpz" />
+          <ref role="3Ug1Ha" node="5Fk_m8Pncpz" resolve="vehicleControl" />
           <node concept="3Ug1GJ" id="2vEFX4zn7uX" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5Fk_m8PnbzE" />
+            <ref role="3Ug1GI" node="5Fk_m8PnbzE" resolve="chassis" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="2Bdpt7mpGbq" role="3UgYNK">
         <node concept="3Ug1GC" id="2Bdpt7mpGca" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="2Bdpt7mpG9U" />
+          <ref role="3Ug1Ha" node="2Bdpt7mpG9U" resolve="informUser" />
           <node concept="3Ug1GJ" id="2Bdpt7mpGc9" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5Fk_m8PnbVH" />
+            <ref role="3Ug1GI" node="5Fk_m8PnbVH" resolve="ihs" />
           </node>
         </node>
         <node concept="3Ug1GC" id="2Bdpt7mpGck" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="2vEFX4zn8rs" />
+          <ref role="3Ug1Ha" node="2vEFX4zn8rs" resolve="ihsInfo" />
           <node concept="3Ug1GJ" id="2Bdpt7mpGcj" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5Fk_m8PnbVt" />
+            <ref role="3Ug1GI" node="5Fk_m8PnbVt" resolve="ui" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="2Bdpt7mpGdV" role="3UgYNK">
         <node concept="3Ug1GC" id="2Bdpt7mpGeW" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="5Fk_m8Pncos" />
+          <ref role="3Ug1Ha" node="5Fk_m8Pncos" resolve="userCommands" />
           <node concept="3Ug1GJ" id="2Bdpt7mpGeV" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5Fk_m8PnbVt" />
+            <ref role="3Ug1GI" node="5Fk_m8PnbVt" resolve="ui" />
           </node>
         </node>
         <node concept="3Ug1GC" id="2Bdpt7mpGf6" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="2Bdpt7mpGap" />
+          <ref role="3Ug1Ha" node="2Bdpt7mpGap" resolve="userCommands" />
           <node concept="3Ug1GJ" id="2Bdpt7mpGf5" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5Fk_m8PnbVH" />
+            <ref role="3Ug1GI" node="5Fk_m8PnbVH" resolve="ihs" />
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         </node>
       </node>
       <node concept="3Ug1$w" id="2Bdpt7mpGl2" role="3UgYNK">
         <node concept="3Ug1GC" id="2Bdpt7mpGlW" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="5Fk_m8PncoO" />
+          <ref role="3Ug1Ha" node="5Fk_m8PncoO" resolve="disableDriverControl" />
           <node concept="3Ug1GJ" id="2Bdpt7mpGlV" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5Fk_m8PnbVH" />
+            <ref role="3Ug1GI" node="5Fk_m8PnbVH" resolve="ihs" />
           </node>
         </node>
         <node concept="3Ug1GC" id="2Bdpt7mpGm6" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="2Bdpt7mpGi9" />
+          <ref role="3Ug1Ha" node="2Bdpt7mpGi9" resolve="disableManualControl" />
           <node concept="3Ug1GJ" id="2Bdpt7mpGm5" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5Fk_m8Pnb_F" />
+            <ref role="3Ug1GI" node="5Fk_m8Pnb_F" resolve="driverControl" />
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         </node>
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       <node concept="3Ug1$w" id="2Bdpt7mpGnO" role="3UgYNK">
         <node concept="3Ug1GC" id="2Bdpt7mpGoN" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="2vEFX4zn7sP" />
+          <ref role="3Ug1Ha" node="2vEFX4zn7sP" resolve="vehicleControl" />
           <node concept="3Ug1GJ" id="2Bdpt7mpGoM" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5Fk_m8PnbTe" />
+            <ref role="3Ug1GI" node="5Fk_m8PnbTe" resolve="vehiclePlatform" />
           </node>
         </node>
         <node concept="3Ug1GC" id="2Bdpt7mpGoX" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="5Fk_m8Pncpz" />
+          <ref role="3Ug1Ha" node="5Fk_m8Pncpz" resolve="vehicleControl" />
           <node concept="3Ug1GJ" id="2Bdpt7mpGoW" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5Fk_m8PnbzE" />
+            <ref role="3Ug1GI" node="5Fk_m8PnbzE" resolve="chassis" />
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         <node concept="3Ug1GC" id="2Bdpt7mpGr$" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="2vEFX4zn7sh" />
+          <ref role="3Ug1Ha" node="2vEFX4zn7sh" resolve="vehicleMotionStatus" />
           <node concept="3Ug1GJ" id="2Bdpt7mpGrz" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5Fk_m8PnbzE" />
+            <ref role="3Ug1GI" node="5Fk_m8PnbzE" resolve="chassis" />
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         </node>
         <node concept="3Ug1GC" id="2Bdpt7mpGrI" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="2Bdpt7mpGmv" />
+          <ref role="3Ug1Ha" node="2Bdpt7mpGmv" resolve="vehicleMotionStatus" />
           <node concept="3Ug1GJ" id="2Bdpt7mpGrH" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5Fk_m8PnbZV" />
+            <ref role="3Ug1GI" node="5Fk_m8PnbZV" resolve="egoVehicleSensors" />
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         <node concept="3Ug1GC" id="2Bdpt7mpGun" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="2vEFX4zn7sh" />
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           <node concept="3Ug1GJ" id="2Bdpt7mpGum" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5Fk_m8PnbzE" />
+            <ref role="3Ug1GI" node="5Fk_m8PnbzE" resolve="chassis" />
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         </node>
         <node concept="3Ug1GC" id="2Bdpt7mpGux" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="2Bdpt7mpGmF" />
+          <ref role="3Ug1Ha" node="2Bdpt7mpGmF" resolve="vehicleMotionStatus" />
           <node concept="3Ug1GJ" id="2Bdpt7mpGuw" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5Fk_m8Pnc7f" />
+            <ref role="3Ug1GI" node="5Fk_m8Pnc7f" resolve="imu" />
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-          <ref role="3Ug1Ha" node="3Jn$RV2VwE$" />
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           <node concept="3Ug1GJ" id="2Bdpt7mpP26" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5Fk_m8PnbZV" />
+            <ref role="3Ug1GI" node="5Fk_m8PnbZV" resolve="egoVehicleSensors" />
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         </node>
         <node concept="3Ug1GC" id="2Bdpt7mpP2t" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="2Bdpt7mpP3q" />
+          <ref role="3Ug1Ha" node="2Bdpt7mpP3q" resolve="speed" />
           <node concept="3Ug1GJ" id="2Bdpt7mpP2s" role="3Ug1Hl">
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           <node concept="3Ug1GJ" id="2Bdpt7mpHCW" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5Fk_m8Pnc2m" />
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         <node concept="3Ug1GC" id="2Bdpt7mpHR3" role="3Ug1_r">
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@@ -7160,7 +7160,7 @@
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         <property role="TrG5h" value="fusedPointcloud" />
         <node concept="1s31w3" id="4O8jCOJvuRq" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpII2" />
+          <ref role="1s31w2" node="2Bdpt7mpII2" resolve="POINT_CLOUD" />
         </node>
       </node>
       <node concept="3UnI9n" id="4O8jCOJvuUg" role="3UnI90">
@@ -7170,7 +7170,7 @@
       <node concept="3UnI81" id="4O8jCOJvuPS" role="3UnI9m">
         <property role="TrG5h" value="pointCloud1" />
         <node concept="1s31w3" id="4O8jCOJvuPT" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpII2" />
+          <ref role="1s31w2" node="2Bdpt7mpII2" resolve="POINT_CLOUD" />
         </node>
       </node>
       <node concept="3UnI81" id="4O8jCOJvwoo" role="3UnI9m">
@@ -7180,7 +7180,7 @@
       <node concept="3UnI81" id="4O8jCOJvuQn" role="3UnI9m">
         <property role="TrG5h" value="pointCloud2" />
         <node concept="1s31w3" id="4O8jCOJvuQo" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpII2" />
+          <ref role="1s31w2" node="2Bdpt7mpII2" resolve="POINT_CLOUD" />
         </node>
       </node>
       <node concept="3UnI81" id="4O8jCOJvwpy" role="3UnI9m">
@@ -7192,18 +7192,18 @@
     <node concept="2dDAV0" id="2vEFX4zn5N2" role="2HcuB8">
       <property role="TrG5h" value="LidarSensingSetup" />
       <node concept="3Ug1AZ" id="2vEFX4zn5RE" role="2p5x1W">
-        <ref role="3Ug1AY" node="3Jn$RV2VwDV" />
+        <ref role="3Ug1AY" node="3Jn$RV2VwDV" resolve="Lidar" />
       </node>
       <node concept="3Ug1AV" id="2vEFX4zn5RI" role="3UgYNK">
         <property role="TrG5h" value="lidar_1" />
         <node concept="3Ug1AZ" id="2vEFX4zn5RH" role="3Ug1A_">
-          <ref role="3Ug1AY" node="3Jn$RV2VwDV" />
+          <ref role="3Ug1AY" node="3Jn$RV2VwDV" resolve="Lidar" />
         </node>
       </node>
       <node concept="3Ug1AV" id="2vEFX4zn5RX" role="3UgYNK">
         <property role="TrG5h" value="lidar_2" />
         <node concept="3Ug1AZ" id="2vEFX4zn5RV" role="3Ug1A_">
-          <ref role="3Ug1AY" node="3Jn$RV2VwDV" />
+          <ref role="3Ug1AY" node="3Jn$RV2VwDV" resolve="Lidar" />
         </node>
       </node>
       <node concept="3UgYNU" id="2vEFX4zn5Sb" role="3UgYNK" />
@@ -7404,85 +7404,85 @@
       <node concept="3Ug1AV" id="4O8jCOJvuPa" role="3UgYNK">
         <property role="TrG5h" value="lidarFusion" />
         <node concept="3Ug1AZ" id="4O8jCOJvuPb" role="3Ug1A_">
-          <ref role="3Ug1AY" node="4O8jCOJvutk" />
+          <ref role="3Ug1AY" node="4O8jCOJvutk" resolve="LidarFusion" />
         </node>
       </node>
       <node concept="3Ug1$w" id="4O8jCOJvuRy" role="3UgYNK">
         <node concept="3Ug1GC" id="4O8jCOJvuRz" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="2Bdpt7mpIA$" />
+          <ref role="3Ug1Ha" node="2Bdpt7mpIA$" resolve="pointCloud" />
           <node concept="3Ug1GJ" id="4O8jCOJvuR$" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="2vEFX4zn5RI" />
+            <ref role="3Ug1GI" node="2vEFX4zn5RI" resolve="lidar_1" />
           </node>
         </node>
         <node concept="3Ug1GC" id="4O8jCOJvuR_" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4O8jCOJvuPS" />
+          <ref role="3Ug1Ha" node="4O8jCOJvuPS" resolve="pointCloud1" />
           <node concept="3Ug1GJ" id="4O8jCOJvuRA" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4O8jCOJvuPa" />
+            <ref role="3Ug1GI" node="4O8jCOJvuPa" resolve="lidarFusion" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4O8jCOJvuS4" role="3UgYNK">
         <node concept="3Ug1GC" id="4O8jCOJvuS5" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="2Bdpt7mpIA$" />
+          <ref role="3Ug1Ha" node="2Bdpt7mpIA$" resolve="pointCloud" />
           <node concept="3Ug1GJ" id="4O8jCOJvuS6" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="2vEFX4zn5RX" />
+            <ref role="3Ug1GI" node="2vEFX4zn5RX" resolve="lidar_2" />
           </node>
         </node>
         <node concept="3Ug1GC" id="4O8jCOJvuS7" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4O8jCOJvuQn" />
+          <ref role="3Ug1Ha" node="4O8jCOJvuQn" resolve="pointCloud2" />
           <node concept="3Ug1GJ" id="4O8jCOJvuS8" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4O8jCOJvuPa" />
+            <ref role="3Ug1GI" node="4O8jCOJvuPa" resolve="lidarFusion" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4O8jCOJvuST" role="3UgYNK">
         <node concept="3Ug1GC" id="4O8jCOJvuSU" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4O8jCOJvuQN" />
+          <ref role="3Ug1Ha" node="4O8jCOJvuQN" resolve="fusedPointcloud" />
           <node concept="3Ug1GJ" id="4O8jCOJvuSV" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4O8jCOJvuPa" />
+            <ref role="3Ug1GI" node="4O8jCOJvuPa" resolve="lidarFusion" />
           </node>
         </node>
         <node concept="3Ug1Ap" id="4O8jCOJvuSW" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="2Bdpt7mpIA$" />
+          <ref role="3Ug1Ao" node="2Bdpt7mpIA$" resolve="pointCloud" />
         </node>
       </node>
       <node concept="3Ug1$w" id="4O8jCOJvwqR" role="3UgYNK">
         <node concept="3Ug1GC" id="4O8jCOJvwqS" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4O8jCOJvwmv" />
+          <ref role="3Ug1Ha" node="4O8jCOJvwmv" resolve="uncertaintyLevel" />
           <node concept="3Ug1GJ" id="4O8jCOJvwqT" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="2vEFX4zn5RX" />
+            <ref role="3Ug1GI" node="2vEFX4zn5RX" resolve="lidar_2" />
           </node>
         </node>
         <node concept="3Ug1GC" id="4O8jCOJvwqU" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4O8jCOJvwpy" />
+          <ref role="3Ug1Ha" node="4O8jCOJvwpy" resolve="uncertaintyLevel2" />
           <node concept="3Ug1GJ" id="4O8jCOJvwqV" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4O8jCOJvuPa" />
+            <ref role="3Ug1GI" node="4O8jCOJvuPa" resolve="lidarFusion" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4O8jCOJvwrI" role="3UgYNK">
         <node concept="3Ug1GC" id="4O8jCOJvwrJ" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4O8jCOJvwmv" />
+          <ref role="3Ug1Ha" node="4O8jCOJvwmv" resolve="uncertaintyLevel" />
           <node concept="3Ug1GJ" id="4O8jCOJvwrK" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="2vEFX4zn5RI" />
+            <ref role="3Ug1GI" node="2vEFX4zn5RI" resolve="lidar_1" />
           </node>
         </node>
         <node concept="3Ug1GC" id="4O8jCOJvwrL" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4O8jCOJvwoo" />
+          <ref role="3Ug1Ha" node="4O8jCOJvwoo" resolve="uncertaintyLevel1" />
           <node concept="3Ug1GJ" id="4O8jCOJvwrM" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4O8jCOJvuPa" />
+            <ref role="3Ug1GI" node="4O8jCOJvuPa" resolve="lidarFusion" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4O8jCOJvwKM" role="3UgYNK">
         <node concept="3Ug1GC" id="4O8jCOJvwKN" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4O8jCOJvuUg" />
+          <ref role="3Ug1Ha" node="4O8jCOJvuUg" resolve="lidarUncertaintyLevel" />
           <node concept="3Ug1GJ" id="4O8jCOJvwKO" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4O8jCOJvuPa" />
+            <ref role="3Ug1GI" node="4O8jCOJvuPa" resolve="lidarFusion" />
           </node>
         </node>
         <node concept="3Ug1Ap" id="4O8jCOJvwKP" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="4O8jCOJvwmv" />
+          <ref role="3Ug1Ao" node="4O8jCOJvwmv" resolve="uncertaintyLevel" />
         </node>
       </node>
     </node>
@@ -7492,7 +7492,7 @@
       <node concept="3UnI9n" id="2Bdpt7mpO$o" role="3UnI90">
         <property role="TrG5h" value="objectList" />
         <node concept="1s31w3" id="2Bdpt7mpO$V" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpOqk" />
+          <ref role="1s31w2" node="2Bdpt7mpOqk" resolve="OBJECT_LIST" />
         </node>
       </node>
       <node concept="3UnI9n" id="4O8jCOJvwvX" role="3UnI90">
@@ -7506,7 +7506,7 @@
       <node concept="3UnI9n" id="4O8jCOJvwbN" role="3UnI90">
         <property role="TrG5h" value="fusedObjectList" />
         <node concept="1s31w3" id="4O8jCOJvwbO" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpOqk" />
+          <ref role="1s31w2" node="2Bdpt7mpOqk" resolve="OBJECT_LIST" />
         </node>
       </node>
       <node concept="3UnI9n" id="4O8jCOJvwca" role="3UnI90">
@@ -7516,7 +7516,7 @@
       <node concept="3UnI81" id="4O8jCOJvwam" role="3UnI9m">
         <property role="TrG5h" value="objectList1" />
         <node concept="1s31w3" id="4O8jCOJvwan" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpOqk" />
+          <ref role="1s31w2" node="2Bdpt7mpOqk" resolve="OBJECT_LIST" />
         </node>
       </node>
       <node concept="3UnI81" id="4O8jCOJvwxX" role="3UnI9m">
@@ -7526,7 +7526,7 @@
       <node concept="3UnI81" id="4O8jCOJvwaJ" role="3UnI9m">
         <property role="TrG5h" value="objectList2" />
         <node concept="1s31w3" id="4O8jCOJvwaK" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpOqk" />
+          <ref role="1s31w2" node="2Bdpt7mpOqk" resolve="OBJECT_LIST" />
         </node>
       </node>
       <node concept="3UnI81" id="4O8jCOJvwz3" role="3UnI9m">
@@ -7536,7 +7536,7 @@
       <node concept="3UnI81" id="4O8jCOJvwaW" role="3UnI9m">
         <property role="TrG5h" value="objectList3" />
         <node concept="1s31w3" id="4O8jCOJvwaX" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpOqk" />
+          <ref role="1s31w2" node="2Bdpt7mpOqk" resolve="OBJECT_LIST" />
         </node>
       </node>
       <node concept="3UnI81" id="4O8jCOJvw$h" role="3UnI9m">
@@ -7546,7 +7546,7 @@
       <node concept="3UnI81" id="4O8jCOJvwbb" role="3UnI9m">
         <property role="TrG5h" value="objectList4" />
         <node concept="1s31w3" id="4O8jCOJvwbc" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpOqk" />
+          <ref role="1s31w2" node="2Bdpt7mpOqk" resolve="OBJECT_LIST" />
         </node>
       </node>
       <node concept="3UnI81" id="4O8jCOJvw_B" role="3UnI9m">
@@ -7558,30 +7558,30 @@
     <node concept="2dDAV0" id="2vEFX4zn6gi" role="2HcuB8">
       <property role="TrG5h" value="RadarSensingSetup" />
       <node concept="3Ug1AZ" id="2vEFX4zn6lr" role="2p5x1W">
-        <ref role="3Ug1AY" node="3Jn$RV2VwDX" />
+        <ref role="3Ug1AY" node="3Jn$RV2VwDX" resolve="Radar" />
       </node>
       <node concept="3Ug1AV" id="2vEFX4zn6gk" role="3UgYNK">
         <property role="TrG5h" value="radar_1" />
         <node concept="3Ug1AZ" id="2vEFX4zn6lu" role="3Ug1A_">
-          <ref role="3Ug1AY" node="3Jn$RV2VwDX" />
+          <ref role="3Ug1AY" node="3Jn$RV2VwDX" resolve="Radar" />
         </node>
       </node>
       <node concept="3Ug1AV" id="2vEFX4zn6m2" role="3UgYNK">
         <property role="TrG5h" value="radar_2" />
         <node concept="3Ug1AZ" id="2vEFX4zn6m3" role="3Ug1A_">
-          <ref role="3Ug1AY" node="3Jn$RV2VwDX" />
+          <ref role="3Ug1AY" node="3Jn$RV2VwDX" resolve="Radar" />
         </node>
       </node>
       <node concept="3Ug1AV" id="2vEFX4zn6mv" role="3UgYNK">
         <property role="TrG5h" value="radar_3" />
         <node concept="3Ug1AZ" id="2vEFX4zn6mw" role="3Ug1A_">
-          <ref role="3Ug1AY" node="3Jn$RV2VwDX" />
+          <ref role="3Ug1AY" node="3Jn$RV2VwDX" resolve="Radar" />
         </node>
       </node>
       <node concept="3Ug1AV" id="2vEFX4zn6n2" role="3UgYNK">
         <property role="TrG5h" value="radar_4" />
         <node concept="3Ug1AZ" id="2vEFX4zn6n3" role="3Ug1A_">
-          <ref role="3Ug1AY" node="3Jn$RV2VwDX" />
+          <ref role="3Ug1AY" node="3Jn$RV2VwDX" resolve="Radar" />
         </node>
       </node>
       <node concept="3UgYNU" id="2vEFX4zn6gq" role="3UgYNK" />
@@ -7895,141 +7895,141 @@
       <node concept="3Ug1AV" id="4O8jCOJvwef" role="3UgYNK">
         <property role="TrG5h" value="radarFusion" />
         <node concept="3Ug1AZ" id="4O8jCOJvweg" role="3Ug1A_">
-          <ref role="3Ug1AY" node="4O8jCOJvvLH" />
+          <ref role="3Ug1AY" node="4O8jCOJvvLH" resolve="RadarFusion" />
         </node>
       </node>
       <node concept="3Ug1$w" id="4O8jCOJvwff" role="3UgYNK">
         <node concept="3Ug1GC" id="4O8jCOJvwfg" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="2Bdpt7mpO$o" />
+          <ref role="3Ug1Ha" node="2Bdpt7mpO$o" resolve="objectList" />
           <node concept="3Ug1GJ" id="4O8jCOJvwfh" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="2vEFX4zn6gk" />
+            <ref role="3Ug1GI" node="2vEFX4zn6gk" resolve="radar_1" />
           </node>
         </node>
         <node concept="3Ug1GC" id="4O8jCOJvwfi" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4O8jCOJvwam" />
+          <ref role="3Ug1Ha" node="4O8jCOJvwam" resolve="objectList1" />
           <node concept="3Ug1GJ" id="4O8jCOJvwfj" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4O8jCOJvwef" />
+            <ref role="3Ug1GI" node="4O8jCOJvwef" resolve="radarFusion" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4O8jCOJvwfP" role="3UgYNK">
         <node concept="3Ug1GC" id="4O8jCOJvwfQ" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="2Bdpt7mpO$o" />
+          <ref role="3Ug1Ha" node="2Bdpt7mpO$o" resolve="objectList" />
           <node concept="3Ug1GJ" id="4O8jCOJvwfR" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="2vEFX4zn6m2" />
+            <ref role="3Ug1GI" node="2vEFX4zn6m2" resolve="radar_2" />
           </node>
         </node>
         <node concept="3Ug1GC" id="4O8jCOJvwfS" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4O8jCOJvwaJ" />
+          <ref role="3Ug1Ha" node="4O8jCOJvwaJ" resolve="objectList2" />
           <node concept="3Ug1GJ" id="4O8jCOJvwfT" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4O8jCOJvwef" />
+            <ref role="3Ug1GI" node="4O8jCOJvwef" resolve="radarFusion" />
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         </node>
       </node>
       <node concept="3Ug1$w" id="4O8jCOJvwgw" role="3UgYNK">
         <node concept="3Ug1GC" id="4O8jCOJvwgx" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="2Bdpt7mpO$o" />
+          <ref role="3Ug1Ha" node="2Bdpt7mpO$o" resolve="objectList" />
           <node concept="3Ug1GJ" id="4O8jCOJvwgy" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="2vEFX4zn6mv" />
+            <ref role="3Ug1GI" node="2vEFX4zn6mv" resolve="radar_3" />
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         </node>
         <node concept="3Ug1GC" id="4O8jCOJvwgz" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4O8jCOJvwaW" />
+          <ref role="3Ug1Ha" node="4O8jCOJvwaW" resolve="objectList3" />
           <node concept="3Ug1GJ" id="4O8jCOJvwg$" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4O8jCOJvwef" />
+            <ref role="3Ug1GI" node="4O8jCOJvwef" resolve="radarFusion" />
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         </node>
       </node>
       <node concept="3Ug1$w" id="4O8jCOJvwhk" role="3UgYNK">
         <node concept="3Ug1GC" id="4O8jCOJvwhl" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="2Bdpt7mpO$o" />
+          <ref role="3Ug1Ha" node="2Bdpt7mpO$o" resolve="objectList" />
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-            <ref role="3Ug1GI" node="2vEFX4zn6n2" />
+            <ref role="3Ug1GI" node="2vEFX4zn6n2" resolve="radar_4" />
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         </node>
         <node concept="3Ug1GC" id="4O8jCOJvwhn" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4O8jCOJvwbb" />
+          <ref role="3Ug1Ha" node="4O8jCOJvwbb" resolve="objectList4" />
           <node concept="3Ug1GJ" id="4O8jCOJvwho" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4O8jCOJvwef" />
+            <ref role="3Ug1GI" node="4O8jCOJvwef" resolve="radarFusion" />
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         </node>
       </node>
       <node concept="3Ug1$w" id="4O8jCOJvwid" role="3UgYNK">
         <node concept="3Ug1GC" id="4O8jCOJvwie" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4O8jCOJvwbN" />
+          <ref role="3Ug1Ha" node="4O8jCOJvwbN" resolve="fusedObjectList" />
           <node concept="3Ug1GJ" id="4O8jCOJvwif" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4O8jCOJvwef" />
+            <ref role="3Ug1GI" node="4O8jCOJvwef" resolve="radarFusion" />
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         </node>
         <node concept="3Ug1Ap" id="4O8jCOJvwig" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="2Bdpt7mpO$o" />
+          <ref role="3Ug1Ao" node="2Bdpt7mpO$o" resolve="objectList" />
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       <node concept="3Ug1$w" id="4O8jCOJvwDY" role="3UgYNK">
         <node concept="3Ug1GC" id="4O8jCOJvwDZ" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4O8jCOJvwvX" />
+          <ref role="3Ug1Ha" node="4O8jCOJvwvX" resolve="uncertaintyLevel" />
           <node concept="3Ug1GJ" id="4O8jCOJvwE0" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="2vEFX4zn6n2" />
+            <ref role="3Ug1GI" node="2vEFX4zn6n2" resolve="radar_4" />
           </node>
         </node>
         <node concept="3Ug1GC" id="4O8jCOJvwE1" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4O8jCOJvw_B" />
+          <ref role="3Ug1Ha" node="4O8jCOJvw_B" resolve="uncertaintyLevel4" />
           <node concept="3Ug1GJ" id="4O8jCOJvwE2" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4O8jCOJvwef" />
+            <ref role="3Ug1GI" node="4O8jCOJvwef" resolve="radarFusion" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4O8jCOJvwF3" role="3UgYNK">
         <node concept="3Ug1GC" id="4O8jCOJvwF4" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4O8jCOJvwvX" />
+          <ref role="3Ug1Ha" node="4O8jCOJvwvX" resolve="uncertaintyLevel" />
           <node concept="3Ug1GJ" id="4O8jCOJvwF5" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="2vEFX4zn6mv" />
+            <ref role="3Ug1GI" node="2vEFX4zn6mv" resolve="radar_3" />
           </node>
         </node>
         <node concept="3Ug1GC" id="4O8jCOJvwF6" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4O8jCOJvw$h" />
+          <ref role="3Ug1Ha" node="4O8jCOJvw$h" resolve="uncertaintyLevel3" />
           <node concept="3Ug1GJ" id="4O8jCOJvwF7" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4O8jCOJvwef" />
+            <ref role="3Ug1GI" node="4O8jCOJvwef" resolve="radarFusion" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4O8jCOJvwGd" role="3UgYNK">
         <node concept="3Ug1GC" id="4O8jCOJvwGe" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4O8jCOJvwvX" />
+          <ref role="3Ug1Ha" node="4O8jCOJvwvX" resolve="uncertaintyLevel" />
           <node concept="3Ug1GJ" id="4O8jCOJvwGf" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="2vEFX4zn6m2" />
+            <ref role="3Ug1GI" node="2vEFX4zn6m2" resolve="radar_2" />
           </node>
         </node>
         <node concept="3Ug1GC" id="4O8jCOJvwGg" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4O8jCOJvwz3" />
+          <ref role="3Ug1Ha" node="4O8jCOJvwz3" resolve="uncertaintyLevel2" />
           <node concept="3Ug1GJ" id="4O8jCOJvwGh" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4O8jCOJvwef" />
+            <ref role="3Ug1GI" node="4O8jCOJvwef" resolve="radarFusion" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4O8jCOJvwHs" role="3UgYNK">
         <node concept="3Ug1GC" id="4O8jCOJvwHt" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4O8jCOJvwvX" />
+          <ref role="3Ug1Ha" node="4O8jCOJvwvX" resolve="uncertaintyLevel" />
           <node concept="3Ug1GJ" id="4O8jCOJvwHu" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="2vEFX4zn6gk" />
+            <ref role="3Ug1GI" node="2vEFX4zn6gk" resolve="radar_1" />
           </node>
         </node>
         <node concept="3Ug1GC" id="4O8jCOJvwHv" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4O8jCOJvwxX" />
+          <ref role="3Ug1Ha" node="4O8jCOJvwxX" resolve="uncertaintyLevel1" />
           <node concept="3Ug1GJ" id="4O8jCOJvwHw" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4O8jCOJvwef" />
+            <ref role="3Ug1GI" node="4O8jCOJvwef" resolve="radarFusion" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4O8jCOJvwNu" role="3UgYNK">
         <node concept="3Ug1GC" id="4O8jCOJvwNv" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4O8jCOJvwca" />
+          <ref role="3Ug1Ha" node="4O8jCOJvwca" resolve="radarUncertaintyMap" />
           <node concept="3Ug1GJ" id="4O8jCOJvwNw" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4O8jCOJvwef" />
+            <ref role="3Ug1GI" node="4O8jCOJvwef" resolve="radarFusion" />
           </node>
         </node>
         <node concept="3Ug1Ap" id="4O8jCOJvwNx" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="4O8jCOJvwvX" />
+          <ref role="3Ug1Ao" node="4O8jCOJvwvX" resolve="uncertaintyLevel" />
         </node>
       </node>
     </node>
@@ -8039,7 +8039,7 @@
       <node concept="3UnI9n" id="2Bdpt7mpOOd" role="3UnI90">
         <property role="TrG5h" value="cameraData" />
         <node concept="1s31w3" id="2Bdpt7mpOOI" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpOG5" />
+          <ref role="1s31w2" node="2Bdpt7mpOG5" resolve="CAMERA_DATA" />
         </node>
       </node>
     </node>
@@ -8049,7 +8049,7 @@
       <node concept="3UnI9n" id="I19PlZeRrJ" role="3UnI90">
         <property role="TrG5h" value="fusedCameraData" />
         <node concept="1s31w3" id="I19PlZeRxU" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpOG5" />
+          <ref role="1s31w2" node="2Bdpt7mpOG5" resolve="CAMERA_DATA" />
         </node>
       </node>
       <node concept="3UnI9n" id="4O8jCOJv_qE" role="3UnI90">
@@ -8059,31 +8059,31 @@
       <node concept="3UnI81" id="4O8jCOJv_mm" role="3UnI9m">
         <property role="TrG5h" value="acceleration" />
         <node concept="1s31w3" id="4O8jCOJv_n2" role="3UnI80">
-          <ref role="1s31w2" node="I19PlZeOze" />
+          <ref role="1s31w2" node="I19PlZeOze" resolve="ACCELERATION" />
         </node>
       </node>
       <node concept="3UnI81" id="I19PlZeRp2" role="3UnI9m">
         <property role="TrG5h" value="cameraData1" />
         <node concept="1s31w3" id="I19PlZeRpB" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpOG5" />
+          <ref role="1s31w2" node="2Bdpt7mpOG5" resolve="CAMERA_DATA" />
         </node>
       </node>
       <node concept="3UnI81" id="I19PlZeRpJ" role="3UnI9m">
         <property role="TrG5h" value="cameraData2" />
         <node concept="1s31w3" id="I19PlZeRq8" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpOG5" />
+          <ref role="1s31w2" node="2Bdpt7mpOG5" resolve="CAMERA_DATA" />
         </node>
       </node>
       <node concept="3UnI81" id="I19PlZeRqg" role="3UnI9m">
         <property role="TrG5h" value="cameraData3" />
         <node concept="1s31w3" id="I19PlZeRqJ" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpOG5" />
+          <ref role="1s31w2" node="2Bdpt7mpOG5" resolve="CAMERA_DATA" />
         </node>
       </node>
       <node concept="3UnI81" id="I19PlZeRqR" role="3UnI9m">
         <property role="TrG5h" value="cameraData4" />
         <node concept="1s31w3" id="I19PlZeRrA" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpOG5" />
+          <ref role="1s31w2" node="2Bdpt7mpOG5" resolve="CAMERA_DATA" />
         </node>
       </node>
     </node>
@@ -8097,34 +8097,34 @@
       <node concept="3UnI81" id="4O8jCOJv_na" role="3UnI9m">
         <property role="TrG5h" value="acceleration" />
         <node concept="1s31w3" id="4O8jCOJv_nz" role="3UnI80">
-          <ref role="1s31w2" node="I19PlZeOze" />
+          <ref role="1s31w2" node="I19PlZeOze" resolve="ACCELERATION" />
         </node>
       </node>
       <node concept="3Ug1AZ" id="2vEFX4zn6Gz" role="2p5x1W">
-        <ref role="3Ug1AY" node="3Jn$RV2VwDZ" />
+        <ref role="3Ug1AY" node="3Jn$RV2VwDZ" resolve="Camera" />
       </node>
       <node concept="3Ug1AV" id="2vEFX4zn6B0" role="3UgYNK">
         <property role="TrG5h" value="camera_1" />
         <node concept="3Ug1AZ" id="2vEFX4zn6GA" role="3Ug1A_">
-          <ref role="3Ug1AY" node="3Jn$RV2VwDZ" />
+          <ref role="3Ug1AY" node="3Jn$RV2VwDZ" resolve="Camera" />
         </node>
       </node>
       <node concept="3Ug1AV" id="2vEFX4zn6B2" role="3UgYNK">
         <property role="TrG5h" value="camera_2" />
         <node concept="3Ug1AZ" id="2vEFX4zn6GG" role="3Ug1A_">
-          <ref role="3Ug1AY" node="3Jn$RV2VwDZ" />
+          <ref role="3Ug1AY" node="3Jn$RV2VwDZ" resolve="Camera" />
         </node>
       </node>
       <node concept="3Ug1AV" id="2vEFX4zn6B4" role="3UgYNK">
         <property role="TrG5h" value="camera_3" />
         <node concept="3Ug1AZ" id="2vEFX4zn6GM" role="3Ug1A_">
-          <ref role="3Ug1AY" node="3Jn$RV2VwDZ" />
+          <ref role="3Ug1AY" node="3Jn$RV2VwDZ" resolve="Camera" />
         </node>
       </node>
       <node concept="3Ug1AV" id="2vEFX4zn6B6" role="3UgYNK">
         <property role="TrG5h" value="camera_4" />
         <node concept="3Ug1AZ" id="2vEFX4zn6GS" role="3Ug1A_">
-          <ref role="3Ug1AY" node="3Jn$RV2VwDZ" />
+          <ref role="3Ug1AY" node="3Jn$RV2VwDZ" resolve="Camera" />
         </node>
       </node>
       <node concept="3UgYNU" id="I19PlZeP4N" role="3UgYNK" />
@@ -8353,96 +8353,96 @@
       <node concept="3Ug1AV" id="I19PlZeRs6" role="3UgYNK">
         <property role="TrG5h" value="imageFusion" />
         <node concept="3Ug1AZ" id="I19PlZeRs7" role="3Ug1A_">
-          <ref role="3Ug1AY" node="I19PlZeRad" />
+          <ref role="3Ug1AY" node="I19PlZeRad" resolve="ImageFusion" />
         </node>
       </node>
       <node concept="3Ug1$w" id="I19PlZeRt3" role="3UgYNK">
         <node concept="3Ug1GC" id="I19PlZeRt4" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="2Bdpt7mpOOd" />
+          <ref role="3Ug1Ha" node="2Bdpt7mpOOd" resolve="cameraData" />
           <node concept="3Ug1GJ" id="I19PlZeRt5" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="2vEFX4zn6B0" />
+            <ref role="3Ug1GI" node="2vEFX4zn6B0" resolve="camera_1" />
           </node>
         </node>
         <node concept="3Ug1GC" id="I19PlZeRt6" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="I19PlZeRp2" />
+          <ref role="3Ug1Ha" node="I19PlZeRp2" resolve="cameraData1" />
           <node concept="3Ug1GJ" id="I19PlZeRt7" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="I19PlZeRs6" />
+            <ref role="3Ug1GI" node="I19PlZeRs6" resolve="imageFusion" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="I19PlZeRt_" role="3UgYNK">
         <node concept="3Ug1GC" id="I19PlZeRtA" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="2Bdpt7mpOOd" />
+          <ref role="3Ug1Ha" node="2Bdpt7mpOOd" resolve="cameraData" />
           <node concept="3Ug1GJ" id="I19PlZeRtB" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="2vEFX4zn6B4" />
+            <ref role="3Ug1GI" node="2vEFX4zn6B4" resolve="camera_3" />
           </node>
         </node>
         <node concept="3Ug1GC" id="I19PlZeRtC" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="I19PlZeRqg" />
+          <ref role="3Ug1Ha" node="I19PlZeRqg" resolve="cameraData3" />
           <node concept="3Ug1GJ" id="I19PlZeRtD" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="I19PlZeRs6" />
+            <ref role="3Ug1GI" node="I19PlZeRs6" resolve="imageFusion" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="I19PlZeRuk" role="3UgYNK">
         <node concept="3Ug1GC" id="I19PlZeRul" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="2Bdpt7mpOOd" />
+          <ref role="3Ug1Ha" node="2Bdpt7mpOOd" resolve="cameraData" />
           <node concept="3Ug1GJ" id="I19PlZeRum" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="2vEFX4zn6B2" />
+            <ref role="3Ug1GI" node="2vEFX4zn6B2" resolve="camera_2" />
           </node>
         </node>
         <node concept="3Ug1GC" id="I19PlZeRun" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="I19PlZeRpJ" />
+          <ref role="3Ug1Ha" node="I19PlZeRpJ" resolve="cameraData2" />
           <node concept="3Ug1GJ" id="I19PlZeRuo" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="I19PlZeRs6" />
+            <ref role="3Ug1GI" node="I19PlZeRs6" resolve="imageFusion" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="I19PlZeRv2" role="3UgYNK">
         <node concept="3Ug1GC" id="I19PlZeRv3" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="2Bdpt7mpOOd" />
+          <ref role="3Ug1Ha" node="2Bdpt7mpOOd" resolve="cameraData" />
           <node concept="3Ug1GJ" id="I19PlZeRv4" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="2vEFX4zn6B6" />
+            <ref role="3Ug1GI" node="2vEFX4zn6B6" resolve="camera_4" />
           </node>
         </node>
         <node concept="3Ug1GC" id="I19PlZeRv5" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="I19PlZeRqR" />
+          <ref role="3Ug1Ha" node="I19PlZeRqR" resolve="cameraData4" />
           <node concept="3Ug1GJ" id="I19PlZeRv6" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="I19PlZeRs6" />
+            <ref role="3Ug1GI" node="I19PlZeRs6" resolve="imageFusion" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="I19PlZeRy2" role="3UgYNK">
         <node concept="3Ug1GC" id="I19PlZeRy3" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="I19PlZeRrJ" />
+          <ref role="3Ug1Ha" node="I19PlZeRrJ" resolve="fusedCameraData" />
           <node concept="3Ug1GJ" id="I19PlZeRy4" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="I19PlZeRs6" />
+            <ref role="3Ug1GI" node="I19PlZeRs6" resolve="imageFusion" />
           </node>
         </node>
         <node concept="3Ug1Ap" id="I19PlZeRy5" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="2Bdpt7mpOOd" />
+          <ref role="3Ug1Ao" node="2Bdpt7mpOOd" resolve="cameraData" />
         </node>
       </node>
       <node concept="3Ug1$w" id="4O8jCOJv_ol" role="3UgYNK">
         <node concept="3Ug1Ap" id="4O8jCOJv_om" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="4O8jCOJv_na" />
+          <ref role="3Ug1Ao" node="4O8jCOJv_na" resolve="acceleration" />
         </node>
         <node concept="3Ug1GC" id="4O8jCOJv_on" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4O8jCOJv_mm" />
+          <ref role="3Ug1Ha" node="4O8jCOJv_mm" resolve="acceleration" />
           <node concept="3Ug1GJ" id="4O8jCOJv_oo" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="I19PlZeRs6" />
+            <ref role="3Ug1GI" node="I19PlZeRs6" resolve="imageFusion" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4O8jCOJv_tf" role="3UgYNK">
         <node concept="3Ug1GC" id="4O8jCOJv_tg" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="4O8jCOJv_qE" />
+          <ref role="3Ug1Ha" node="4O8jCOJv_qE" resolve="uncertaintyLevel" />
           <node concept="3Ug1GJ" id="4O8jCOJv_th" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="I19PlZeRs6" />
+            <ref role="3Ug1GI" node="I19PlZeRs6" resolve="imageFusion" />
           </node>
         </node>
         <node concept="3Ug1Ap" id="4O8jCOJv_ti" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="4O8jCOJv_s5" />
+          <ref role="3Ug1Ao" node="4O8jCOJv_s5" resolve="uncertaintyLevel" />
         </node>
       </node>
     </node>
@@ -8452,7 +8452,7 @@
       <node concept="3UnI81" id="2Bdpt7mpGmv" role="3UnI9m">
         <property role="TrG5h" value="vehicleMotionStatus" />
         <node concept="1s31w3" id="2Bdpt7mpGmw" role="3UnI80">
-          <ref role="1s31w2" node="2vEFX4zn7le" />
+          <ref role="1s31w2" node="2vEFX4zn7le" resolve="VEHICLE_MOTION" />
         </node>
       </node>
       <node concept="3UnI9n" id="3Jn$RV2VwE$" role="3UnI90">
@@ -8473,7 +8473,7 @@
       <node concept="3UnI9n" id="2Bdpt7mpHUF" role="3UnI90">
         <property role="TrG5h" value="egoPosition" />
         <node concept="1s31w3" id="2Bdpt7mpI9x" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpI1O" />
+          <ref role="1s31w2" node="2Bdpt7mpI1O" resolve="GPS_COORDINATES" />
         </node>
       </node>
     </node>
@@ -8483,13 +8483,13 @@
       <node concept="3UnI9n" id="I19PlZeO25" role="3UnI90">
         <property role="TrG5h" value="acceleration" />
         <node concept="1s31w3" id="I19PlZeOMQ" role="3UnI80">
-          <ref role="1s31w2" node="I19PlZeOze" />
+          <ref role="1s31w2" node="I19PlZeOze" resolve="ACCELERATION" />
         </node>
       </node>
       <node concept="3UnI81" id="2Bdpt7mpGmF" role="3UnI9m">
         <property role="TrG5h" value="vehicleMotionStatus" />
         <node concept="1s31w3" id="2Bdpt7mpGmG" role="3UnI80">
-          <ref role="1s31w2" node="2vEFX4zn7le" />
+          <ref role="1s31w2" node="2vEFX4zn7le" resolve="VEHICLE_MOTION" />
         </node>
       </node>
     </node>
@@ -8499,7 +8499,7 @@
       <node concept="3UnI9n" id="2Bdpt7mpGv2" role="3UnI90">
         <property role="TrG5h" value="infrData" />
         <node concept="1s31w3" id="2Bdpt7mpH60" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpGMw" />
+          <ref role="1s31w2" node="2Bdpt7mpGMw" resolve="INFRASTRUCTURE_DATA" />
         </node>
       </node>
     </node>
@@ -8509,7 +8509,7 @@
       <node concept="3UnI9n" id="2Bdpt7mpH_f" role="3UnI90">
         <property role="TrG5h" value="envData" />
         <node concept="1s31w3" id="2Bdpt7mpH_Z" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpHjx" />
+          <ref role="1s31w2" node="2Bdpt7mpHjx" resolve="ENVIRONMENT_DATA" />
         </node>
       </node>
     </node>
@@ -8533,25 +8533,25 @@
       <node concept="3UnI81" id="I19PlZeXmo" role="3UnI9m">
         <property role="TrG5h" value="infrData" />
         <node concept="1s31w3" id="I19PlZeXmp" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpGMw" />
+          <ref role="1s31w2" node="2Bdpt7mpGMw" resolve="INFRASTRUCTURE_DATA" />
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       </node>
       <node concept="3UnI81" id="I19PlZeXmq" role="3UnI9m">
         <property role="TrG5h" value="envData" />
         <node concept="1s31w3" id="I19PlZeXmr" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpHjx" />
+          <ref role="1s31w2" node="2Bdpt7mpHjx" resolve="ENVIRONMENT_DATA" />
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       <node concept="3UnI81" id="I19PlZeXms" role="3UnI9m">
         <property role="TrG5h" value="egoPosition" />
         <node concept="1s31w3" id="I19PlZeXmt" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpI1O" />
+          <ref role="1s31w2" node="2Bdpt7mpI1O" resolve="GPS_COORDINATES" />
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       </node>
       <node concept="3UnI81" id="I19PlZeXmu" role="3UnI9m">
         <property role="TrG5h" value="pointCloud" />
         <node concept="1s31w3" id="I19PlZeXmv" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpII2" />
+          <ref role="1s31w2" node="2Bdpt7mpII2" resolve="POINT_CLOUD" />
         </node>
       </node>
       <node concept="3UnI81" id="4O8jCOJvxQU" role="3UnI9m">
@@ -8561,7 +8561,7 @@
       <node concept="3UnI81" id="I19PlZeXmw" role="3UnI9m">
         <property role="TrG5h" value="objectList" />
         <node concept="1s31w3" id="I19PlZeXmx" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpOqk" />
+          <ref role="1s31w2" node="2Bdpt7mpOqk" resolve="OBJECT_LIST" />
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       <node concept="3UnI81" id="4O8jCOJvxSr" role="3UnI9m">
@@ -8571,7 +8571,7 @@
       <node concept="3UnI81" id="I19PlZeXmy" role="3UnI9m">
         <property role="TrG5h" value="cameraData" />
         <node concept="1s31w3" id="I19PlZeXmz" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpOG5" />
+          <ref role="1s31w2" node="2Bdpt7mpOG5" resolve="CAMERA_DATA" />
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       </node>
       <node concept="3UnI81" id="4O8jCOJvBio" role="3UnI9m">
@@ -8581,13 +8581,13 @@
       <node concept="3UnI81" id="I19PlZeXm$" role="3UnI9m">
         <property role="TrG5h" value="acceleration" />
         <node concept="1s31w3" id="I19PlZeXm_" role="3UnI80">
-          <ref role="1s31w2" node="I19PlZeOze" />
+          <ref role="1s31w2" node="I19PlZeOze" resolve="ACCELERATION" />
         </node>
       </node>
       <node concept="3UnI81" id="I19PlZeY1y" role="3UnI9m">
         <property role="TrG5h" value="userCommands" />
         <node concept="1s31w3" id="I19PlZeY1z" role="3UnI80">
-          <ref role="1s31w2" node="2vEFX4zn89N" />
+          <ref role="1s31w2" node="2vEFX4zn89N" resolve="HMI_DATA" />
         </node>
       </node>
       <node concept="3UnI9n" id="I19PlZeVGh" role="3UnI90">
@@ -8620,7 +8620,7 @@
       <node concept="3UnI9n" id="I19PlZeVGt" role="3UnI90">
         <property role="TrG5h" value="informUser" />
         <node concept="1s31w3" id="I19PlZeVGu" role="3UnI80">
-          <ref role="1s31w2" node="2vEFX4zn8lH" />
+          <ref role="1s31w2" node="2vEFX4zn8lH" resolve="IHS_STATUS" />
         </node>
       </node>
       <node concept="37mRI7" id="I19PlZeVJK" role="lGtFl">
@@ -8911,7 +8911,7 @@
       <node concept="3UnI81" id="I19PlZeVAo" role="3UnI9m">
         <property role="TrG5h" value="informUser_in" />
         <node concept="1s31w3" id="I19PlZeVAp" role="3UnI80">
-          <ref role="1s31w2" node="2vEFX4zn8lH" />
+          <ref role="1s31w2" node="2vEFX4zn8lH" resolve="IHS_STATUS" />
         </node>
       </node>
       <node concept="3UnI9n" id="I19PlZeUij" role="3UnI90">
@@ -8944,7 +8944,7 @@
       <node concept="3UnI9n" id="I19PlZeUix" role="3UnI90">
         <property role="TrG5h" value="informUser" />
         <node concept="1s31w3" id="I19PlZeUiy" role="3UnI80">
-          <ref role="1s31w2" node="2vEFX4zn8lH" />
+          <ref role="1s31w2" node="2vEFX4zn8lH" resolve="IHS_STATUS" />
         </node>
       </node>
       <node concept="37mRI7" id="I19PlZeURe" role="lGtFl">
@@ -9149,25 +9149,25 @@
       <node concept="3UnI81" id="2Bdpt7mpHcX" role="3UnI9m">
         <property role="TrG5h" value="infrData" />
         <node concept="1s31w3" id="2Bdpt7mpHcY" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpGMw" />
+          <ref role="1s31w2" node="2Bdpt7mpGMw" resolve="INFRASTRUCTURE_DATA" />
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       <node concept="3UnI81" id="2Bdpt7mpHAi" role="3UnI9m">
         <property role="TrG5h" value="envData" />
         <node concept="1s31w3" id="2Bdpt7mpHAj" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpHjx" />
+          <ref role="1s31w2" node="2Bdpt7mpHjx" resolve="ENVIRONMENT_DATA" />
         </node>
       </node>
       <node concept="3UnI81" id="2Bdpt7mpI9Q" role="3UnI9m">
         <property role="TrG5h" value="egoPosition" />
         <node concept="1s31w3" id="2Bdpt7mpI9R" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpI1O" />
+          <ref role="1s31w2" node="2Bdpt7mpI1O" resolve="GPS_COORDINATES" />
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       </node>
       <node concept="3UnI81" id="2Bdpt7mpOXl" role="3UnI9m">
         <property role="TrG5h" value="pointCloud" />
         <node concept="1s31w3" id="2Bdpt7mpOXm" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpII2" />
+          <ref role="1s31w2" node="2Bdpt7mpII2" resolve="POINT_CLOUD" />
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       </node>
       <node concept="3UnI81" id="4O8jCOJvxH_" role="3UnI9m">
@@ -9177,7 +9177,7 @@
       <node concept="3UnI81" id="2Bdpt7mpOYS" role="3UnI9m">
         <property role="TrG5h" value="objectList" />
         <node concept="1s31w3" id="2Bdpt7mpOYT" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpOqk" />
+          <ref role="1s31w2" node="2Bdpt7mpOqk" resolve="OBJECT_LIST" />
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       </node>
       <node concept="3UnI81" id="4O8jCOJvy0x" role="3UnI9m">
@@ -9187,7 +9187,7 @@
       <node concept="3UnI81" id="2Bdpt7mpOXF" role="3UnI9m">
         <property role="TrG5h" value="cameraData" />
         <node concept="1s31w3" id="2Bdpt7mpOXG" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpOG5" />
+          <ref role="1s31w2" node="2Bdpt7mpOG5" resolve="CAMERA_DATA" />
         </node>
       </node>
       <node concept="3UnI81" id="4O8jCOJvAOw" role="3UnI9m">
@@ -9197,13 +9197,13 @@
       <node concept="3UnI81" id="I19PlZeONn" role="3UnI9m">
         <property role="TrG5h" value="acceleration" />
         <node concept="1s31w3" id="I19PlZeONo" role="3UnI80">
-          <ref role="1s31w2" node="I19PlZeOze" />
+          <ref role="1s31w2" node="I19PlZeOze" resolve="ACCELERATION" />
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       </node>
       <node concept="3UnI81" id="2Bdpt7mpGap" role="3UnI9m">
         <property role="TrG5h" value="userCommands" />
         <node concept="1s31w3" id="2Bdpt7mpGaq" role="3UnI80">
-          <ref role="1s31w2" node="2vEFX4zn89N" />
+          <ref role="1s31w2" node="2vEFX4zn89N" resolve="HMI_DATA" />
         </node>
       </node>
       <node concept="3UnI9n" id="2Bdpt7mpIyO" role="3UnI90">
@@ -9236,7 +9236,7 @@
       <node concept="3UnI9n" id="2Bdpt7mpG9U" role="3UnI90">
         <property role="TrG5h" value="informUser" />
         <node concept="1s31w3" id="2Bdpt7mpG9V" role="3UnI80">
-          <ref role="1s31w2" node="2vEFX4zn8lH" />
+          <ref role="1s31w2" node="2vEFX4zn8lH" resolve="IHS_STATUS" />
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       </node>
     </node>
@@ -9244,7 +9244,7 @@
     <node concept="2dDAV0" id="6VJDb1ZGa3_" role="2HcuB8">
       <property role="TrG5h" value="IntersectionHandlingImpl" />
       <node concept="3Ug1AZ" id="6VJDb1ZGa85" role="2p5x1W">
-        <ref role="3Ug1AY" node="3Jn$RV2VwE9" />
+        <ref role="3Ug1AY" node="3Jn$RV2VwE9" resolve="IntersectionHandlingSystem" />
       </node>
       <node concept="37mRI7" id="2Bdpt7mpRnq" role="lGtFl">
         <node concept="37mRIm" id="2Bdpt7mpRnr" role="37mRID">
@@ -10231,19 +10231,19 @@
       <node concept="3Ug1AV" id="I19PlZeTm4" role="3UgYNK">
         <property role="TrG5h" value="missionChannel" />
         <node concept="3Ug1AZ" id="I19PlZeTm5" role="3Ug1A_">
-          <ref role="3Ug1AY" node="I19PlZeSnj" />
+          <ref role="3Ug1AY" node="I19PlZeSnj" resolve="MissionChannel" />
         </node>
       </node>
       <node concept="3Ug1AV" id="I19PlZeTo6" role="3UgYNK">
         <property role="TrG5h" value="complementaryChannel" />
         <node concept="3Ug1AZ" id="I19PlZeTo7" role="3Ug1A_">
-          <ref role="3Ug1AY" node="I19PlZeT6l" />
+          <ref role="3Ug1AY" node="I19PlZeT6l" resolve="ComplementaryChannel" />
         </node>
       </node>
       <node concept="3Ug1AV" id="I19PlZeUcU" role="3UgYNK">
         <property role="TrG5h" value="arbitration" />
         <node concept="3Ug1AZ" id="I19PlZeUcV" role="3Ug1A_">
-          <ref role="3Ug1AY" node="I19PlZeTX1" />
+          <ref role="3Ug1AY" node="I19PlZeTX1" resolve="Arbitration" />
         </node>
         <node concept="0Sh09" id="ZH03rPhL8R" role="lGtFl">
           <node concept="hnKMr" id="ZH03rPhL9w" role="hnKMk">
@@ -10253,499 +10253,499 @@
       </node>
       <node concept="3Ug1$w" id="I19PlZeUqg" role="3UgYNK">
         <node concept="3Ug1GC" id="I19PlZeUqh" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="I19PlZeUij" />
+          <ref role="3Ug1Ha" node="I19PlZeUij" resolve="rpm" />
           <node concept="3Ug1GJ" id="I19PlZeUqi" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="I19PlZeUcU" />
+            <ref role="3Ug1GI" node="I19PlZeUcU" resolve="arbitration" />
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         <node concept="3Ug1Ap" id="I19PlZeUqj" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="2Bdpt7mpIyO" />
+          <ref role="3Ug1Ao" node="2Bdpt7mpIyO" resolve="rpm" />
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       <node concept="3Ug1$w" id="I19PlZeUs8" role="3UgYNK">
         <node concept="3Ug1GC" id="I19PlZeUs9" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="I19PlZeUin" />
+          <ref role="3Ug1Ha" node="I19PlZeUin" resolve="brakingForce" />
           <node concept="3Ug1GJ" id="I19PlZeUsa" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="I19PlZeUcU" />
+            <ref role="3Ug1GI" node="I19PlZeUcU" resolve="arbitration" />
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         </node>
         <node concept="3Ug1Ap" id="I19PlZeUsb" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="2Bdpt7mpIyS" />
+          <ref role="3Ug1Ao" node="2Bdpt7mpIyS" resolve="brakingForce" />
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         <node concept="3Ug1GC" id="I19PlZeUtH" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="I19PlZeUip" />
+          <ref role="3Ug1Ha" node="I19PlZeUip" resolve="desiredGear" />
           <node concept="3Ug1GJ" id="I19PlZeUtI" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="I19PlZeUcU" />
+            <ref role="3Ug1GI" node="I19PlZeUcU" resolve="arbitration" />
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         <node concept="3Ug1Ap" id="I19PlZeUtJ" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="2Bdpt7mpIyU" />
+          <ref role="3Ug1Ao" node="2Bdpt7mpIyU" resolve="desiredGear" />
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         <node concept="3Ug1GC" id="I19PlZeUvl" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="I19PlZeUir" />
+          <ref role="3Ug1Ha" node="I19PlZeUir" resolve="steeringAngle" />
           <node concept="3Ug1GJ" id="I19PlZeUvm" role="3Ug1Hl">
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-          <ref role="3Ug1Ao" node="2Bdpt7mpIyW" />
+          <ref role="3Ug1Ao" node="2Bdpt7mpIyW" resolve="steeringAngle" />
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         <node concept="3Ug1GC" id="I19PlZeUyL" role="3Ug1$A">
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-            <ref role="3Ug1GI" node="I19PlZeUcU" />
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-          <ref role="3Ug1Ao" node="5Fk_m8PncoO" />
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         <node concept="3Ug1GC" id="I19PlZeW8r" role="3Ug1_r">
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-          <ref role="3Ug1Ha" node="I19PlZeXYT" />
+          <ref role="3Ug1Ha" node="I19PlZeXYT" resolve="userCommands" />
           <node concept="3Ug1GJ" id="I19PlZeY3M" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="I19PlZeTm4" />
+            <ref role="3Ug1GI" node="I19PlZeTm4" resolve="missionChannel" />
           </node>
         </node>
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       <node concept="3Ug1$w" id="I19PlZeY7Y" role="3UgYNK">
         <node concept="3Ug1Ap" id="I19PlZeY7Z" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="2Bdpt7mpGap" />
+          <ref role="3Ug1Ao" node="2Bdpt7mpGap" resolve="userCommands" />
         </node>
         <node concept="3Ug1GC" id="I19PlZeY80" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="I19PlZeY1y" />
+          <ref role="3Ug1Ha" node="I19PlZeY1y" resolve="userCommands" />
           <node concept="3Ug1GJ" id="I19PlZeY81" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="I19PlZeTo6" />
+            <ref role="3Ug1GI" node="I19PlZeTo6" resolve="complementaryChannel" />
           </node>
         </node>
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       <node concept="3Ug1$w" id="4O8jCOJvydI" role="3UgYNK">
         <node concept="3Ug1Ap" id="4O8jCOJvydJ" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="4O8jCOJvxH_" />
+          <ref role="3Ug1Ao" node="4O8jCOJvxH_" resolve="lidarUncertaintyMap" />
         </node>
         <node concept="3Ug1GC" id="4O8jCOJvydK" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4O8jCOJvxQU" />
+          <ref role="3Ug1Ha" node="4O8jCOJvxQU" resolve="lidarUncertaintyMap" />
           <node concept="3Ug1GJ" id="4O8jCOJvydL" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="I19PlZeTo6" />
+            <ref role="3Ug1GI" node="I19PlZeTo6" resolve="complementaryChannel" />
           </node>
         </node>
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       <node concept="3Ug1$w" id="4O8jCOJvyid" role="3UgYNK">
         <node concept="3Ug1Ap" id="4O8jCOJvyie" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="4O8jCOJvy0x" />
+          <ref role="3Ug1Ao" node="4O8jCOJvy0x" resolve="radarUncertaintyMap" />
         </node>
         <node concept="3Ug1GC" id="4O8jCOJvyif" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4O8jCOJvxSr" />
+          <ref role="3Ug1Ha" node="4O8jCOJvxSr" resolve="radarUncertaintyMap" />
           <node concept="3Ug1GJ" id="4O8jCOJvyig" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="I19PlZeTo6" />
+            <ref role="3Ug1GI" node="I19PlZeTo6" resolve="complementaryChannel" />
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       <node concept="3Ug1$w" id="4O8jCOJvB0M" role="3UgYNK">
         <node concept="3Ug1Ap" id="4O8jCOJvB0N" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="4O8jCOJvxH_" />
+          <ref role="3Ug1Ao" node="4O8jCOJvxH_" resolve="lidarUncertaintyMap" />
         </node>
         <node concept="3Ug1GC" id="4O8jCOJvB0O" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4O8jCOJvxUW" />
+          <ref role="3Ug1Ha" node="4O8jCOJvxUW" resolve="lidarUncertaintyMap" />
           <node concept="3Ug1GJ" id="4O8jCOJvB0P" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="I19PlZeTm4" />
+            <ref role="3Ug1GI" node="I19PlZeTm4" resolve="missionChannel" />
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       <node concept="3Ug1$w" id="4O8jCOJvB6B" role="3UgYNK">
         <node concept="3Ug1Ap" id="4O8jCOJvB6C" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="4O8jCOJvy0x" />
+          <ref role="3Ug1Ao" node="4O8jCOJvy0x" resolve="radarUncertaintyMap" />
         </node>
         <node concept="3Ug1GC" id="4O8jCOJvB6D" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4O8jCOJvxXN" />
+          <ref role="3Ug1Ha" node="4O8jCOJvxXN" resolve="radarUncertaintyMap" />
           <node concept="3Ug1GJ" id="4O8jCOJvB6E" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="I19PlZeTm4" />
+            <ref role="3Ug1GI" node="I19PlZeTm4" resolve="missionChannel" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4O8jCOJvBdx" role="3UgYNK">
         <node concept="3Ug1Ap" id="4O8jCOJvBdy" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="4O8jCOJvAOw" />
+          <ref role="3Ug1Ao" node="4O8jCOJvAOw" resolve="cameraUncertaintyLevel" />
         </node>
         <node concept="3Ug1GC" id="4O8jCOJvBdz" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4O8jCOJvBbX" />
+          <ref role="3Ug1Ha" node="4O8jCOJvBbX" resolve="cameraUncertaintyLevel" />
           <node concept="3Ug1GJ" id="4O8jCOJvBd$" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="I19PlZeTm4" />
+            <ref role="3Ug1GI" node="I19PlZeTm4" resolve="missionChannel" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4O8jCOJvBkq" role="3UgYNK">
         <node concept="3Ug1Ap" id="4O8jCOJvBkr" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="4O8jCOJvAOw" />
+          <ref role="3Ug1Ao" node="4O8jCOJvAOw" resolve="cameraUncertaintyLevel" />
         </node>
         <node concept="3Ug1GC" id="4O8jCOJvBks" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4O8jCOJvBio" />
+          <ref role="3Ug1Ha" node="4O8jCOJvBio" resolve="cameraUncertaintyLevel" />
           <node concept="3Ug1GJ" id="4O8jCOJvBkt" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="I19PlZeTo6" />
+            <ref role="3Ug1GI" node="I19PlZeTo6" resolve="complementaryChannel" />
           </node>
         </node>
       </node>
@@ -10783,7 +10783,7 @@
       <node concept="1s31WS" id="ZH03rPhRXr" role="1s31w6">
         <property role="TrG5h" value="position" />
         <node concept="1s31w3" id="55oVyA0mPbQ" role="1s31WO">
-          <ref role="1s31w2" node="55oVyA0mP5x" />
+          <ref role="1s31w2" node="55oVyA0mP5x" resolve="POSITION" />
         </node>
       </node>
       <node concept="1s31WS" id="ZH03rPhRXA" role="1s31w6">
@@ -10797,7 +10797,7 @@
       <node concept="1s31WS" id="ZH03rPhRY8" role="1s31w6">
         <property role="TrG5h" value="type" />
         <node concept="2XJXdx" id="ZH03rPhSe$" role="1s31WO">
-          <ref role="2XJXdw" node="ZH03rPhS9a" />
+          <ref role="2XJXdw" node="ZH03rPhS9a" resolve="OBJECT_TYPE" />
         </node>
       </node>
     </node>
@@ -10815,19 +10815,19 @@
       <node concept="1s31WS" id="5tEenuYOKgG" role="1s31w6">
         <property role="TrG5h" value="trackedObjects" />
         <node concept="1s31w3" id="55oVyA0mPS1" role="1s31WO">
-          <ref role="1s31w2" node="ZH03rPhRSh" />
+          <ref role="1s31w2" node="ZH03rPhRSh" resolve="TRACKED_OBJECTS" />
         </node>
       </node>
       <node concept="1s31WS" id="5tEenuYOKhe" role="1s31w6">
         <property role="TrG5h" value="predictedTrajectoriesTimeFrame1" />
         <node concept="1s31w3" id="55oVyA0mPUX" role="1s31WO">
-          <ref role="1s31w2" node="ZH03rPhRSh" />
+          <ref role="1s31w2" node="ZH03rPhRSh" resolve="TRACKED_OBJECTS" />
         </node>
       </node>
       <node concept="1s31WS" id="55oVyA0mPVw" role="1s31w6">
         <property role="TrG5h" value="predictedTrajectoriesTimeFrame2" />
         <node concept="1s31w3" id="55oVyA0mPVx" role="1s31WO">
-          <ref role="1s31w2" node="ZH03rPhRSh" />
+          <ref role="1s31w2" node="ZH03rPhRSh" resolve="TRACKED_OBJECTS" />
         </node>
       </node>
     </node>
@@ -10837,7 +10837,7 @@
       <node concept="3UnI9n" id="4O8jCOJvzX7" role="3UnI90">
         <property role="TrG5h" value="fusedMediumRangeObjectList" />
         <node concept="1s31w3" id="4O8jCOJvzYc" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpOqk" />
+          <ref role="1s31w2" node="2Bdpt7mpOqk" resolve="OBJECT_LIST" />
         </node>
       </node>
       <node concept="3UnI9n" id="4O8jCOJvzYx" role="3UnI90">
@@ -10847,7 +10847,7 @@
       <node concept="3UnI81" id="4O8jCOJvzWz" role="3UnI9m">
         <property role="TrG5h" value="pointCloud" />
         <node concept="1s31w3" id="4O8jCOJvzW$" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpII2" />
+          <ref role="1s31w2" node="2Bdpt7mpII2" resolve="POINT_CLOUD" />
         </node>
       </node>
       <node concept="3UnI81" id="4O8jCOJvzW_" role="3UnI9m">
@@ -10857,7 +10857,7 @@
       <node concept="3UnI81" id="4O8jCOJvzWB" role="3UnI9m">
         <property role="TrG5h" value="objectList" />
         <node concept="1s31w3" id="4O8jCOJvzWC" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpOqk" />
+          <ref role="1s31w2" node="2Bdpt7mpOqk" resolve="OBJECT_LIST" />
         </node>
       </node>
       <node concept="3UnI81" id="4O8jCOJvzWD" role="3UnI9m">
@@ -10871,7 +10871,7 @@
       <node concept="3UnI9n" id="4O8jCOJv_kj" role="3UnI90">
         <property role="TrG5h" value="fusedShortRangeObjectList" />
         <node concept="1s31w3" id="4O8jCOJv_kk" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpOqk" />
+          <ref role="1s31w2" node="2Bdpt7mpOqk" resolve="OBJECT_LIST" />
         </node>
       </node>
       <node concept="3UnI9n" id="4O8jCOJv_yb" role="3UnI90">
@@ -10881,7 +10881,7 @@
       <node concept="3UnI81" id="4O8jCOJv_ka" role="3UnI9m">
         <property role="TrG5h" value="cameraData" />
         <node concept="1s31w3" id="4O8jCOJv_kb" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpOG5" />
+          <ref role="1s31w2" node="2Bdpt7mpOG5" resolve="CAMERA_DATA" />
         </node>
       </node>
       <node concept="3UnI81" id="4O8jCOJv_wl" role="3UnI9m">
@@ -10891,7 +10891,7 @@
       <node concept="3UnI81" id="4O8jCOJv_xl" role="3UnI9m">
         <property role="TrG5h" value="pointCloud" />
         <node concept="1s31w3" id="4O8jCOJv_xm" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpII2" />
+          <ref role="1s31w2" node="2Bdpt7mpII2" resolve="POINT_CLOUD" />
         </node>
       </node>
       <node concept="3UnI81" id="4O8jCOJv_xn" role="3UnI9m">
@@ -10901,7 +10901,7 @@
       <node concept="3UnI81" id="4O8jCOJv_xp" role="3UnI9m">
         <property role="TrG5h" value="objectList" />
         <node concept="1s31w3" id="4O8jCOJv_xq" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpOqk" />
+          <ref role="1s31w2" node="2Bdpt7mpOqk" resolve="OBJECT_LIST" />
         </node>
       </node>
       <node concept="3UnI81" id="4O8jCOJv_xr" role="3UnI9m">
@@ -10915,13 +10915,13 @@
       <node concept="3UnI9n" id="ZH03rPhRrl" role="3UnI90">
         <property role="TrG5h" value="trackedObjects" />
         <node concept="1s31w3" id="ZH03rPhStW" role="3UnI80">
-          <ref role="1s31w2" node="ZH03rPhRSh" />
+          <ref role="1s31w2" node="ZH03rPhRSh" resolve="TRACKED_OBJECTS" />
         </node>
       </node>
       <node concept="3UnI81" id="ZH03rPhRpj" role="3UnI9m">
         <property role="TrG5h" value="longRangePointCloud" />
         <node concept="1s31w3" id="ZH03rPhRpk" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpII2" />
+          <ref role="1s31w2" node="2Bdpt7mpII2" resolve="POINT_CLOUD" />
         </node>
       </node>
       <node concept="3UnI81" id="ZH03rPhRpl" role="3UnI9m">
@@ -10931,7 +10931,7 @@
       <node concept="3UnI81" id="ZH03rPhRqc" role="3UnI9m">
         <property role="TrG5h" value="fusedMediumRangeObjectList" />
         <node concept="1s31w3" id="ZH03rPhRqd" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpOqk" />
+          <ref role="1s31w2" node="2Bdpt7mpOqk" resolve="OBJECT_LIST" />
         </node>
       </node>
       <node concept="3UnI81" id="ZH03rPhRqe" role="3UnI9m">
@@ -10941,7 +10941,7 @@
       <node concept="3UnI81" id="ZH03rPhRqB" role="3UnI9m">
         <property role="TrG5h" value="fusedShortRangeObjectList" />
         <node concept="1s31w3" id="ZH03rPhRqC" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpOqk" />
+          <ref role="1s31w2" node="2Bdpt7mpOqk" resolve="OBJECT_LIST" />
         </node>
       </node>
       <node concept="3UnI81" id="ZH03rPhRqD" role="3UnI9m">
@@ -10951,13 +10951,13 @@
       <node concept="3UnI81" id="jTtg7cq1jr" role="3UnI9m">
         <property role="TrG5h" value="infrData" />
         <node concept="1s31w3" id="jTtg7cq1js" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpGMw" />
+          <ref role="1s31w2" node="2Bdpt7mpGMw" resolve="INFRASTRUCTURE_DATA" />
         </node>
       </node>
       <node concept="3UnI81" id="jTtg7cq1jt" role="3UnI9m">
         <property role="TrG5h" value="envData" />
         <node concept="1s31w3" id="jTtg7cq1ju" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpHjx" />
+          <ref role="1s31w2" node="2Bdpt7mpHjx" resolve="ENVIRONMENT_DATA" />
         </node>
       </node>
     </node>
@@ -10967,13 +10967,13 @@
       <node concept="3UnI9n" id="55oVyA0mPrk" role="3UnI90">
         <property role="TrG5h" value="predictedObjects" />
         <node concept="1s31w3" id="55oVyA0mPSl" role="3UnI80">
-          <ref role="1s31w2" node="55oVyA0mPLA" />
+          <ref role="1s31w2" node="55oVyA0mPLA" resolve="OBJECTS_PREDICTION" />
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       <node concept="3UnI81" id="ZH03rPhSu4" role="3UnI9m">
         <property role="TrG5h" value="trackedObjects" />
         <node concept="1s31w3" id="ZH03rPhSu5" role="3UnI80">
-          <ref role="1s31w2" node="ZH03rPhRSh" />
+          <ref role="1s31w2" node="ZH03rPhRSh" resolve="TRACKED_OBJECTS" />
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       </node>
     </node>
@@ -10983,13 +10983,13 @@
       <node concept="3UnI9n" id="jTtg7cq5Rc" role="3UnI90">
         <property role="TrG5h" value="plannedTrajectories" />
         <node concept="1s31w3" id="jTtg7cq5Rd" role="3UnI80">
-          <ref role="1s31w2" node="41_NtXJuHGi" />
+          <ref role="1s31w2" node="41_NtXJuHGi" resolve="TRAJECTORIES_LIST" />
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       </node>
       <node concept="3UnI81" id="jTtg7cq2tq" role="3UnI9m">
         <property role="TrG5h" value="egoAcceleration" />
         <node concept="1s31w3" id="jTtg7cq2tr" role="3UnI80">
-          <ref role="1s31w2" node="I19PlZeOze" />
+          <ref role="1s31w2" node="I19PlZeOze" resolve="ACCELERATION" />
         </node>
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       <node concept="3UnI81" id="jTtg7cq2tO" role="3UnI9m">
@@ -11006,13 +11006,13 @@
       <node concept="3UnI81" id="jTtg7cq2uG" role="3UnI9m">
         <property role="TrG5h" value="egoPosition" />
         <node concept="1s31w3" id="jTtg7cq2uH" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpI1O" />
+          <ref role="1s31w2" node="2Bdpt7mpI1O" resolve="GPS_COORDINATES" />
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       </node>
       <node concept="3UnI81" id="jTtg7cq5UX" role="3UnI9m">
         <property role="TrG5h" value="predictedObjects" />
         <node concept="1s31w3" id="jTtg7cq5UY" role="3UnI80">
-          <ref role="1s31w2" node="55oVyA0mPLA" />
+          <ref role="1s31w2" node="55oVyA0mPLA" resolve="OBJECTS_PREDICTION" />
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     </node>
@@ -11022,19 +11022,19 @@
       <node concept="3UnI81" id="jTtg7cq5PO" role="3UnI9m">
         <property role="TrG5h" value="plannedTrajectories" />
         <node concept="1s31w3" id="jTtg7cq5PP" role="3UnI80">
-          <ref role="1s31w2" node="41_NtXJuHGi" />
+          <ref role="1s31w2" node="41_NtXJuHGi" resolve="TRAJECTORIES_LIST" />
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       </node>
       <node concept="3UnI81" id="jTtg7cq2RZ" role="3UnI9m">
         <property role="TrG5h" value="userCommands" />
         <node concept="1s31w3" id="jTtg7cq2S0" role="3UnI80">
-          <ref role="1s31w2" node="2vEFX4zn89N" />
+          <ref role="1s31w2" node="2vEFX4zn89N" resolve="HMI_DATA" />
         </node>
       </node>
       <node concept="3UnI81" id="jTtg7cq7Pl" role="3UnI9m">
         <property role="TrG5h" value="safeTrajectory" />
         <node concept="1s31w3" id="jTtg7cq7Pm" role="3UnI80">
-          <ref role="1s31w2" node="jTtg7cq6rQ" />
+          <ref role="1s31w2" node="jTtg7cq6rQ" resolve="TRAJECTORY" />
         </node>
       </node>
       <node concept="3UnI9n" id="jTtg7cq2RE" role="3UnI90">
@@ -11044,13 +11044,13 @@
       <node concept="3UnI9n" id="jTtg7cq2RG" role="3UnI90">
         <property role="TrG5h" value="informUser" />
         <node concept="1s31w3" id="jTtg7cq2RH" role="3UnI80">
-          <ref role="1s31w2" node="2vEFX4zn8lH" />
+          <ref role="1s31w2" node="2vEFX4zn8lH" resolve="IHS_STATUS" />
         </node>
       </node>
       <node concept="3UnI9n" id="jTtg7cq6zY" role="3UnI90">
         <property role="TrG5h" value="chosenTrajectory" />
         <node concept="1s31w3" id="jTtg7cq6$V" role="3UnI80">
-          <ref role="1s31w2" node="jTtg7cq6rQ" />
+          <ref role="1s31w2" node="jTtg7cq6rQ" resolve="TRAJECTORY" />
         </node>
       </node>
     </node>
@@ -11060,19 +11060,19 @@
       <node concept="3UnI9n" id="jTtg7cq7AS" role="3UnI90">
         <property role="TrG5h" value="safeTrajectory" />
         <node concept="1s31w3" id="jTtg7cq7Bf" role="3UnI80">
-          <ref role="1s31w2" node="jTtg7cq6rQ" />
+          <ref role="1s31w2" node="jTtg7cq6rQ" resolve="TRAJECTORY" />
         </node>
       </node>
       <node concept="3UnI81" id="jTtg7cq7Aw" role="3UnI9m">
         <property role="TrG5h" value="trackedObjects" />
         <node concept="1s31w3" id="jTtg7cq7OJ" role="3UnI80">
-          <ref role="1s31w2" node="ZH03rPhRSh" />
+          <ref role="1s31w2" node="ZH03rPhRSh" resolve="TRACKED_OBJECTS" />
         </node>
       </node>
       <node concept="3UnI81" id="jTtg7cq8ft" role="3UnI9m">
         <property role="TrG5h" value="envData" />
         <node concept="1s31w3" id="jTtg7cq8fu" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpHjx" />
+          <ref role="1s31w2" node="2Bdpt7mpHjx" resolve="ENVIRONMENT_DATA" />
         </node>
       </node>
     </node>
@@ -11093,25 +11093,25 @@
       <node concept="3UnI81" id="I19PlZeXkn" role="3UnI9m">
         <property role="TrG5h" value="infrData" />
         <node concept="1s31w3" id="I19PlZeXko" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpGMw" />
+          <ref role="1s31w2" node="2Bdpt7mpGMw" resolve="INFRASTRUCTURE_DATA" />
         </node>
       </node>
       <node concept="3UnI81" id="I19PlZeXkp" role="3UnI9m">
         <property role="TrG5h" value="envData" />
         <node concept="1s31w3" id="I19PlZeXkq" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpHjx" />
+          <ref role="1s31w2" node="2Bdpt7mpHjx" resolve="ENVIRONMENT_DATA" />
         </node>
       </node>
       <node concept="3UnI81" id="I19PlZeXkr" role="3UnI9m">
         <property role="TrG5h" value="egoPosition" />
         <node concept="1s31w3" id="I19PlZeXks" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpI1O" />
+          <ref role="1s31w2" node="2Bdpt7mpI1O" resolve="GPS_COORDINATES" />
         </node>
       </node>
       <node concept="3UnI81" id="I19PlZeXkt" role="3UnI9m">
         <property role="TrG5h" value="pointCloud" />
         <node concept="1s31w3" id="I19PlZeXku" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpII2" />
+          <ref role="1s31w2" node="2Bdpt7mpII2" resolve="POINT_CLOUD" />
         </node>
         <node concept="0Sh09" id="ZH03rPhKSQ" role="lGtFl">
           <node concept="hnKMr" id="ZH03rPhKT9" role="hnKMk">
@@ -11126,7 +11126,7 @@
       <node concept="3UnI81" id="I19PlZeXkv" role="3UnI9m">
         <property role="TrG5h" value="objectList" />
         <node concept="1s31w3" id="I19PlZeXkw" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpOqk" />
+          <ref role="1s31w2" node="2Bdpt7mpOqk" resolve="OBJECT_LIST" />
         </node>
       </node>
       <node concept="3UnI81" id="4O8jCOJvxXN" role="3UnI9m">
@@ -11136,7 +11136,7 @@
       <node concept="3UnI81" id="I19PlZeXkx" role="3UnI9m">
         <property role="TrG5h" value="cameraData" />
         <node concept="1s31w3" id="I19PlZeXky" role="3UnI80">
-          <ref role="1s31w2" node="2Bdpt7mpOG5" />
+          <ref role="1s31w2" node="2Bdpt7mpOG5" resolve="CAMERA_DATA" />
         </node>
       </node>
       <node concept="3UnI81" id="4O8jCOJvBbX" role="3UnI9m">
@@ -11146,13 +11146,13 @@
       <node concept="3UnI81" id="I19PlZeXkz" role="3UnI9m">
         <property role="TrG5h" value="egoAcceleration" />
         <node concept="1s31w3" id="I19PlZeXk$" role="3UnI80">
-          <ref role="1s31w2" node="I19PlZeOze" />
+          <ref role="1s31w2" node="I19PlZeOze" resolve="ACCELERATION" />
         </node>
       </node>
       <node concept="3UnI81" id="I19PlZeXYT" role="3UnI9m">
         <property role="TrG5h" value="userCommands" />
         <node concept="1s31w3" id="I19PlZeXYU" role="3UnI80">
-          <ref role="1s31w2" node="2vEFX4zn89N" />
+          <ref role="1s31w2" node="2vEFX4zn89N" resolve="HMI_DATA" />
         </node>
       </node>
       <node concept="3UnI9n" id="I19PlZeVEK" role="3UnI90">
@@ -11185,7 +11185,7 @@
       <node concept="3UnI9n" id="I19PlZeVEW" role="3UnI90">
         <property role="TrG5h" value="informUser" />
         <node concept="1s31w3" id="I19PlZeVEX" role="3UnI80">
-          <ref role="1s31w2" node="2vEFX4zn8lH" />
+          <ref role="1s31w2" node="2vEFX4zn8lH" resolve="IHS_STATUS" />
         </node>
       </node>
       <node concept="37mRI7" id="I19PlZeVHN" role="lGtFl">
@@ -12076,7 +12076,7 @@
       <node concept="3Ug1AV" id="4O8jCOJv_yY" role="3UgYNK">
         <property role="TrG5h" value="mediumRangeSensing" />
         <node concept="3Ug1AZ" id="4O8jCOJv_yZ" role="3Ug1A_">
-          <ref role="3Ug1AY" node="4O8jCOJvzwr" />
+          <ref role="3Ug1AY" node="4O8jCOJvzwr" resolve="MediumRangeSensingVoter" />
         </node>
         <node concept="0Sh09" id="ZH03rPhKRd" role="lGtFl">
           <node concept="hnKMr" id="ZH03rPhKRq" role="hnKMk">
@@ -12086,52 +12086,52 @@
       </node>
       <node concept="3Ug1$w" id="4O8jCOJv_Ag" role="3UgYNK">
         <node concept="3Ug1Ap" id="4O8jCOJv_Ah" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="I19PlZeXkt" />
+          <ref role="3Ug1Ao" node="I19PlZeXkt" resolve="pointCloud" />
         </node>
         <node concept="3Ug1GC" id="4O8jCOJv_Ai" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4O8jCOJvzWz" />
+          <ref role="3Ug1Ha" node="4O8jCOJvzWz" resolve="pointCloud" />
           <node concept="3Ug1GJ" id="4O8jCOJv_Aj" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4O8jCOJv_yY" />
+            <ref role="3Ug1GI" node="4O8jCOJv_yY" resolve="mediumRangeSensing" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4O8jCOJv_B_" role="3UgYNK">
         <node concept="3Ug1Ap" id="4O8jCOJv_BA" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="4O8jCOJvxUW" />
+          <ref role="3Ug1Ao" node="4O8jCOJvxUW" resolve="lidarUncertaintyMap" />
         </node>
         <node concept="3Ug1GC" id="4O8jCOJv_BB" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4O8jCOJvzW_" />
+          <ref role="3Ug1Ha" node="4O8jCOJvzW_" resolve="lidarUncertaintyMap" />
           <node concept="3Ug1GJ" id="4O8jCOJv_BC" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4O8jCOJv_yY" />
+            <ref role="3Ug1GI" node="4O8jCOJv_yY" resolve="mediumRangeSensing" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4O8jCOJv_CY" role="3UgYNK">
         <node concept="3Ug1Ap" id="4O8jCOJv_CZ" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="4O8jCOJvxXN" />
+          <ref role="3Ug1Ao" node="4O8jCOJvxXN" resolve="radarUncertaintyMap" />
         </node>
         <node concept="3Ug1GC" id="4O8jCOJv_D0" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4O8jCOJvzWD" />
+          <ref role="3Ug1Ha" node="4O8jCOJvzWD" resolve="radarUncertaintyMap" />
           <node concept="3Ug1GJ" id="4O8jCOJv_D1" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4O8jCOJv_yY" />
+            <ref role="3Ug1GI" node="4O8jCOJv_yY" resolve="mediumRangeSensing" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="4O8jCOJv_Er" role="3UgYNK">
         <node concept="3Ug1Ap" id="4O8jCOJv_Es" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="I19PlZeXkv" />
+          <ref role="3Ug1Ao" node="I19PlZeXkv" resolve="objectList" />
         </node>
         <node concept="3Ug1GC" id="4O8jCOJv_Et" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4O8jCOJvzWB" />
+          <ref role="3Ug1Ha" node="4O8jCOJvzWB" resolve="objectList" />
           <node concept="3Ug1GJ" id="4O8jCOJv_Eu" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4O8jCOJv_yY" />
+            <ref role="3Ug1GI" node="4O8jCOJv_yY" resolve="mediumRangeSensing" />
           </node>
         </node>
       </node>
       <node concept="3Ug1AV" id="4O8jCOJv_Lo" role="3UgYNK">
         <property role="TrG5h" value="shortRangeSensing" />
         <node concept="3Ug1AZ" id="4O8jCOJv_Lp" role="3Ug1A_">
-          <ref role="3Ug1AY" node="4O8jCOJv$RO" />
+          <ref role="3Ug1AY" node="4O8jCOJv$RO" resolve="ShortRangeSensingVoter" />
         </node>
         <node concept="0Sh09" id="ZH03rPhKRB" role="lGtFl">
           <node concept="hnKMr" id="ZH03rPhKRS" role="hnKMk">
@@ -12141,408 +12141,408 @@
       </node>
       <node concept="3Ug1$w" id="4O8jCOJv_Pj" role="3UgYNK">
         <node concept="3Ug1Ap" id="4O8jCOJv_Pk" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="I19PlZeXkx" />
+          <ref role="3Ug1Ao" node="I19PlZeXkx" resolve="cameraData" />
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         <node concept="3Ug1GC" id="4O8jCOJv_Pl" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4O8jCOJv_ka" />
+          <ref role="3Ug1Ha" node="4O8jCOJv_ka" resolve="cameraData" />
           <node concept="3Ug1GJ" id="4O8jCOJv_Pm" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4O8jCOJv_Lo" />
+            <ref role="3Ug1GI" node="4O8jCOJv_Lo" resolve="shortRangeSensing" />
           </node>
         </node>
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       <node concept="3Ug1$w" id="4O8jCOJv_Sw" role="3UgYNK">
         <node concept="3Ug1Ap" id="4O8jCOJv_Sx" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="I19PlZeXkt" />
+          <ref role="3Ug1Ao" node="I19PlZeXkt" resolve="pointCloud" />
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         <node concept="3Ug1GC" id="4O8jCOJv_Sy" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4O8jCOJv_xl" />
+          <ref role="3Ug1Ha" node="4O8jCOJv_xl" resolve="pointCloud" />
           <node concept="3Ug1GJ" id="4O8jCOJv_Sz" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4O8jCOJv_Lo" />
+            <ref role="3Ug1GI" node="4O8jCOJv_Lo" resolve="shortRangeSensing" />
           </node>
         </node>
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       <node concept="3Ug1$w" id="4O8jCOJv_Ub" role="3UgYNK">
         <node concept="3Ug1Ap" id="4O8jCOJv_Uc" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="4O8jCOJvxUW" />
+          <ref role="3Ug1Ao" node="4O8jCOJvxUW" resolve="lidarUncertaintyMap" />
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         <node concept="3Ug1GC" id="4O8jCOJv_Ud" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4O8jCOJv_xn" />
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           <node concept="3Ug1GJ" id="4O8jCOJv_Ue" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="4O8jCOJv_Lo" />
+            <ref role="3Ug1GI" node="4O8jCOJv_Lo" resolve="shortRangeSensing" />
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       <node concept="3Ug1$w" id="4O8jCOJv_VU" role="3UgYNK">
         <node concept="3Ug1Ap" id="4O8jCOJv_VV" role="3Ug1$A">
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+          <ref role="3Ug1Ao" node="I19PlZeXkv" resolve="objectList" />
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         <node concept="3Ug1GC" id="4O8jCOJv_VW" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="4O8jCOJv_xp" />
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-            <ref role="3Ug1GI" node="4O8jCOJv_Lo" />
+            <ref role="3Ug1GI" node="4O8jCOJv_Lo" resolve="shortRangeSensing" />
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         <node concept="3Ug1GC" id="4O8jCOJv_YN" role="3Ug1_r">
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         <node concept="3Ug1GC" id="4O8jCOJvB_M" role="3Ug1_r">
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         <property role="TrG5h" value="perception" />
         <node concept="3Ug1AZ" id="ZH03rPhRc1" role="3Ug1A_">
-          <ref role="3Ug1AY" node="ZH03rPhPYk" />
+          <ref role="3Ug1AY" node="ZH03rPhPYk" resolve="Perception" />
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-          <ref role="3Ug1AY" node="ZH03rPhQ9s" />
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         <node concept="3Ug1AZ" id="jTtg7cq7bv" role="3Ug1A_">
-          <ref role="3Ug1AY" node="jTtg7cq6Xs" />
+          <ref role="3Ug1AY" node="jTtg7cq6Xs" resolve="AutomatedMotionControl" />
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-          <ref role="3Ug1Ha" node="2Bdpt7mpI_4" />
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-          <ref role="3Ug1Ao" node="I19PlZeVEK" />
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         <node concept="3Ug1GC" id="jTtg7cq1KC" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="2Bdpt7mpI_8" />
+          <ref role="3Ug1Ha" node="2Bdpt7mpI_8" resolve="brakingForce" />
           <node concept="3Ug1GJ" id="jTtg7cq1KD" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="jTtg7cq1C1" />
+            <ref role="3Ug1GI" node="jTtg7cq1C1" resolve="motionControl" />
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-          <ref role="3Ug1Ao" node="I19PlZeVEO" />
+          <ref role="3Ug1Ao" node="I19PlZeVEO" resolve="brakingForce" />
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-          <ref role="3Ug1Ha" node="2Bdpt7mpI_a" />
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-            <ref role="3Ug1GI" node="jTtg7cq1C1" />
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         <node concept="3Ug1Ap" id="jTtg7cq1N8" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="I19PlZeVEQ" />
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         <node concept="3Ug1GC" id="jTtg7cq1PC" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="2Bdpt7mpI_c" />
+          <ref role="3Ug1Ha" node="2Bdpt7mpI_c" resolve="steeringAngle" />
           <node concept="3Ug1GJ" id="jTtg7cq1PD" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="jTtg7cq1C1" />
+            <ref role="3Ug1GI" node="jTtg7cq1C1" resolve="motionControl" />
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         </node>
         <node concept="3Ug1Ap" id="jTtg7cq1PE" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="I19PlZeVES" />
+          <ref role="3Ug1Ao" node="I19PlZeVES" resolve="steeringAngle" />
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         <node concept="3Ug1Ap" id="jTtg7cq2vc" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="I19PlZeXkr" />
+          <ref role="3Ug1Ao" node="I19PlZeXkr" resolve="egoPosition" />
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         <node concept="3Ug1GC" id="jTtg7cq2vd" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="jTtg7cq2uG" />
+          <ref role="3Ug1Ha" node="jTtg7cq2uG" resolve="egoPosition" />
           <node concept="3Ug1GJ" id="jTtg7cq2ve" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="ZH03rPhRdP" />
+            <ref role="3Ug1GI" node="ZH03rPhRdP" resolve="planning" />
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         <node concept="3Ug1Ap" id="jTtg7cq2xL" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="I19PlZeXkj" />
+          <ref role="3Ug1Ao" node="I19PlZeXkj" resolve="egoSpeed" />
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         <node concept="3Ug1GC" id="jTtg7cq2xM" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="jTtg7cq2tO" />
+          <ref role="3Ug1Ha" node="jTtg7cq2tO" resolve="egoSpeed" />
           <node concept="3Ug1GJ" id="jTtg7cq2xN" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="ZH03rPhRdP" />
+            <ref role="3Ug1GI" node="ZH03rPhRdP" resolve="planning" />
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         </node>
       </node>
       <node concept="3Ug1$w" id="jTtg7cq2At" role="3UgYNK">
         <node concept="3Ug1Ap" id="jTtg7cq2Au" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="I19PlZeXkz" />
+          <ref role="3Ug1Ao" node="I19PlZeXkz" resolve="egoAcceleration" />
         </node>
         <node concept="3Ug1GC" id="jTtg7cq2Av" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="jTtg7cq2tq" />
+          <ref role="3Ug1Ha" node="jTtg7cq2tq" resolve="egoAcceleration" />
           <node concept="3Ug1GJ" id="jTtg7cq2Aw" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="ZH03rPhRdP" />
+            <ref role="3Ug1GI" node="ZH03rPhRdP" resolve="planning" />
           </node>
         </node>
       </node>
       <node concept="3Ug1AV" id="jTtg7cq2Il" role="3UgYNK">
         <property role="TrG5h" value="decisionMaking" />
         <node concept="3Ug1AZ" id="jTtg7cq2Im" role="3Ug1A_">
-          <ref role="3Ug1AY" node="jTtg7cq2df" />
+          <ref role="3Ug1AY" node="jTtg7cq2df" resolve="DecisionMaking" />
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       </node>
       <node concept="3Ug1$w" id="jTtg7cq2Z5" role="3UgYNK">
         <node concept="3Ug1GC" id="jTtg7cq2Z6" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="jTtg7cq2RE" />
+          <ref role="3Ug1Ha" node="jTtg7cq2RE" resolve="disableDriverControl" />
           <node concept="3Ug1GJ" id="jTtg7cq2Z7" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="jTtg7cq2Il" />
+            <ref role="3Ug1GI" node="jTtg7cq2Il" resolve="decisionMaking" />
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         </node>
         <node concept="3Ug1Ap" id="jTtg7cq2Z8" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="I19PlZeVEU" />
+          <ref role="3Ug1Ao" node="I19PlZeVEU" resolve="disableDriverControl" />
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       <node concept="3Ug1$w" id="jTtg7cq31S" role="3UgYNK">
         <node concept="3Ug1GC" id="jTtg7cq31T" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="jTtg7cq2RG" />
+          <ref role="3Ug1Ha" node="jTtg7cq2RG" resolve="informUser" />
           <node concept="3Ug1GJ" id="jTtg7cq31U" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="jTtg7cq2Il" />
+            <ref role="3Ug1GI" node="jTtg7cq2Il" resolve="decisionMaking" />
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         </node>
         <node concept="3Ug1Ap" id="jTtg7cq31V" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="I19PlZeVEW" />
+          <ref role="3Ug1Ao" node="I19PlZeVEW" resolve="informUser" />
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       <node concept="3Ug1$w" id="jTtg7cq34J" role="3UgYNK">
         <node concept="3Ug1Ap" id="jTtg7cq34K" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="I19PlZeXYT" />
+          <ref role="3Ug1Ao" node="I19PlZeXYT" resolve="userCommands" />
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         <node concept="3Ug1GC" id="jTtg7cq34L" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="jTtg7cq2RZ" />
+          <ref role="3Ug1Ha" node="jTtg7cq2RZ" resolve="userCommands" />
           <node concept="3Ug1GJ" id="jTtg7cq34M" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="jTtg7cq2Il" />
+            <ref role="3Ug1GI" node="jTtg7cq2Il" resolve="decisionMaking" />
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         <node concept="3Ug1GC" id="jTtg7cq5Rv" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="jTtg7cq5Rc" />
+          <ref role="3Ug1Ha" node="jTtg7cq5Rc" resolve="plannedTrajectories" />
           <node concept="3Ug1GJ" id="jTtg7cq5Rw" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="ZH03rPhRdP" />
+            <ref role="3Ug1GI" node="ZH03rPhRdP" resolve="planning" />
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         <node concept="3Ug1GC" id="jTtg7cq5Rx" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="jTtg7cq5PO" />
+          <ref role="3Ug1Ha" node="jTtg7cq5PO" resolve="plannedTrajectories" />
           <node concept="3Ug1GJ" id="jTtg7cq5Ry" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="jTtg7cq2Il" />
+            <ref role="3Ug1GI" node="jTtg7cq2Il" resolve="decisionMaking" />
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         </node>
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         <node concept="3Ug1GC" id="jTtg7cq5Wl" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="55oVyA0mPrk" />
+          <ref role="3Ug1Ha" node="55oVyA0mPrk" resolve="predictedObjects" />
           <node concept="3Ug1GJ" id="jTtg7cq5Wm" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="ZH03rPhRfC" />
+            <ref role="3Ug1GI" node="ZH03rPhRfC" resolve="prediction" />
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         <node concept="3Ug1GC" id="jTtg7cq5Wn" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="jTtg7cq5UX" />
+          <ref role="3Ug1Ha" node="jTtg7cq5UX" resolve="predictedObjects" />
           <node concept="3Ug1GJ" id="jTtg7cq5Wo" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="ZH03rPhRdP" />
+            <ref role="3Ug1GI" node="ZH03rPhRdP" resolve="planning" />
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       <node concept="3Ug1$w" id="jTtg7cq7bH" role="3UgYNK">
         <node concept="3Ug1GC" id="jTtg7cq7bI" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="jTtg7cq6zY" />
+          <ref role="3Ug1Ha" node="jTtg7cq6zY" resolve="chosenTrajectory" />
           <node concept="3Ug1GJ" id="jTtg7cq7bJ" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="jTtg7cq2Il" />
+            <ref role="3Ug1GI" node="jTtg7cq2Il" resolve="decisionMaking" />
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         </node>
         <node concept="3Ug1GC" id="jTtg7cq7bK" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="jTtg7cq7a9" />
+          <ref role="3Ug1Ha" node="jTtg7cq7a9" resolve="trajectory" />
           <node concept="3Ug1GJ" id="jTtg7cq7bL" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="jTtg7cq1C1" />
+            <ref role="3Ug1GI" node="jTtg7cq1C1" resolve="motionControl" />
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         </node>
       </node>
       <node concept="3Ug1AV" id="jTtg7cq7Bn" role="3UgYNK">
         <property role="TrG5h" value="safetyMonitor" />
         <node concept="3Ug1AZ" id="jTtg7cq7Bo" role="3Ug1A_">
-          <ref role="3Ug1AY" node="jTtg7cq7u9" />
+          <ref role="3Ug1AY" node="jTtg7cq7u9" resolve="SafetyMonitor" />
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         <node concept="3Ug1GC" id="jTtg7cq7Q5" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="jTtg7cq7AS" />
+          <ref role="3Ug1Ha" node="jTtg7cq7AS" resolve="safeTrajectory" />
           <node concept="3Ug1GJ" id="jTtg7cq7Q6" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="jTtg7cq7Bn" />
+            <ref role="3Ug1GI" node="jTtg7cq7Bn" resolve="safetyMonitor" />
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         </node>
         <node concept="3Ug1GC" id="jTtg7cq7Q7" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="jTtg7cq7Pl" />
+          <ref role="3Ug1Ha" node="jTtg7cq7Pl" resolve="safeTrajectory" />
           <node concept="3Ug1GJ" id="jTtg7cq7Q8" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="jTtg7cq2Il" />
+            <ref role="3Ug1GI" node="jTtg7cq2Il" resolve="decisionMaking" />
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       <node concept="3Ug1$w" id="jTtg7cq844" role="3UgYNK">
         <node concept="3Ug1GC" id="jTtg7cq845" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="ZH03rPhRrl" />
+          <ref role="3Ug1Ha" node="ZH03rPhRrl" resolve="trackedObjects" />
           <node concept="3Ug1GJ" id="jTtg7cq846" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="ZH03rPhRc3" />
+            <ref role="3Ug1GI" node="ZH03rPhRc3" resolve="perception" />
           </node>
         </node>
         <node concept="3Ug1GC" id="jTtg7cq847" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="jTtg7cq7Aw" />
+          <ref role="3Ug1Ha" node="jTtg7cq7Aw" resolve="trackedObjects" />
           <node concept="3Ug1GJ" id="jTtg7cq848" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="jTtg7cq7Bn" />
+            <ref role="3Ug1GI" node="jTtg7cq7Bn" resolve="safetyMonitor" />
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         </node>
       </node>
       <node concept="3Ug1$w" id="jTtg7cq8pk" role="3UgYNK">
         <node concept="3Ug1Ap" id="jTtg7cq8sb" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="I19PlZeXkp" />
+          <ref role="3Ug1Ao" node="I19PlZeXkp" resolve="envData" />
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         <node concept="3Ug1GC" id="jTtg7cq8sh" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="jTtg7cq8ft" />
+          <ref role="3Ug1Ha" node="jTtg7cq8ft" resolve="envData" />
           <node concept="3Ug1GJ" id="jTtg7cq8sg" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="jTtg7cq7Bn" />
+            <ref role="3Ug1GI" node="jTtg7cq7Bn" resolve="safetyMonitor" />
           </node>
         </node>
       </node>
diff --git a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._030_adas._020_automated_evasion_maneuver._000_hara.mps b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._030_adas._020_automated_evasion_maneuver._000_hara.mps
index 988d51c4d..3ef6d717d 100644
--- a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._030_adas._020_automated_evasion_maneuver._000_hara.mps
+++ b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._030_adas._020_automated_evasion_maneuver._000_hara.mps
@@ -139,22 +139,22 @@
     <node concept="1XyJaU" id="5tEenuYOMfd" role="1X_0GB">
       <property role="TrG5h" value="CEM Planner" />
       <node concept="1XypPU" id="5tEenuYOMfF" role="2I3o71">
-        <ref role="SrP08" node="5tEenuYOMfd" />
-        <ref role="SrP07" node="5tEenuYOMfq" />
+        <ref role="SrP08" node="5tEenuYOMfd" resolve="CEM Planner" />
+        <ref role="SrP07" node="5tEenuYOMfq" resolve="Motion Control" />
         <node concept="Sqzvu" id="5tEenuYOMfG" role="Sq$B$">
           <property role="TrG5h" value="CEM Trajectory" />
         </node>
       </node>
       <node concept="Sq$B_" id="_wUu$TX726" role="2I3o71">
-        <ref role="SrP08" node="5tEenuYOMfd" />
-        <ref role="SrP07" node="_wUu$TX70r" />
+        <ref role="SrP08" node="5tEenuYOMfd" resolve="CEM Planner" />
+        <ref role="SrP07" node="_wUu$TX70r" resolve="Driver" />
         <node concept="Sqzvu" id="_wUu$TX727" role="Sq$B$">
           <property role="TrG5h" value="CEM Function Active" />
         </node>
       </node>
       <node concept="1XypPU" id="41_NtXJpcYK" role="2I3o71">
-        <ref role="SrP08" node="5tEenuYOMfd" />
-        <ref role="SrP07" node="41_NtXJpcXR" />
+        <ref role="SrP08" node="5tEenuYOMfd" resolve="CEM Planner" />
+        <ref role="SrP07" node="41_NtXJpcXR" resolve="Cloud-based Infos" />
         <node concept="Sqzvu" id="41_NtXJpcYL" role="Sq$B$">
           <property role="TrG5h" value="Vehicle Position" />
         </node>
@@ -366,8 +366,8 @@
     <node concept="1XyJaU" id="_wUu$TX6YW" role="1X_0GB">
       <property role="TrG5h" value="Perception" />
       <node concept="1XypPU" id="_wUu$TX6Zp" role="2I3o71">
-        <ref role="SrP08" node="_wUu$TX6YW" />
-        <ref role="SrP07" node="5tEenuYOMfd" />
+        <ref role="SrP08" node="_wUu$TX6YW" resolve="Perception" />
+        <ref role="SrP07" node="5tEenuYOMfd" resolve="CEM Planner" />
         <node concept="Sqzvu" id="_wUu$TX6Zq" role="Sq$B$">
           <property role="TrG5h" value="Tracked Traffic Actors" />
         </node>
@@ -379,8 +379,8 @@
     <node concept="1XyJaU" id="_wUu$TX70r" role="1X_0GB">
       <property role="TrG5h" value="Driver" />
       <node concept="1XypPU" id="_wUu$TX70T" role="2I3o71">
-        <ref role="SrP08" node="_wUu$TX70r" />
-        <ref role="SrP07" node="5tEenuYOMfd" />
+        <ref role="SrP08" node="_wUu$TX70r" resolve="Driver" />
+        <ref role="SrP07" node="5tEenuYOMfd" resolve="CEM Planner" />
         <node concept="Sqzvu" id="3I9hGreIT7k" role="Sq$B$">
           <property role="TrG5h" value="Activate CEM Function" />
         </node>
@@ -395,8 +395,8 @@
     <node concept="1XyJaU" id="_wUu$U0G1Z" role="1X_0GB">
       <property role="TrG5h" value="Sensing" />
       <node concept="1XypPU" id="_wUu$U0G24" role="2I3o71">
-        <ref role="SrP08" node="_wUu$U0G1Z" />
-        <ref role="SrP07" node="_wUu$TX6YW" />
+        <ref role="SrP08" node="_wUu$U0G1Z" resolve="Sensing" />
+        <ref role="SrP07" node="_wUu$TX6YW" resolve="Perception" />
         <node concept="Sqzvu" id="_wUu$U0G25" role="Sq$B$">
           <property role="TrG5h" value="Camera Data" />
         </node>
@@ -414,8 +414,8 @@
     <node concept="1XyJaU" id="41_NtXJpcXR" role="1X_0GB">
       <property role="TrG5h" value="Cloud-based Infos" />
       <node concept="Sq$B_" id="41_NtXJpd0r" role="2I3o71">
-        <ref role="SrP08" node="41_NtXJpcXR" />
-        <ref role="SrP07" node="5tEenuYOMfd" />
+        <ref role="SrP08" node="41_NtXJpcXR" resolve="Cloud-based Infos" />
+        <ref role="SrP07" node="5tEenuYOMfd" resolve="CEM Planner" />
         <node concept="Sqzvu" id="41_NtXJpd0s" role="Sq$B$">
           <property role="TrG5h" value="Road Construction Info" />
         </node>
@@ -427,15 +427,15 @@
   </node>
   <node concept="1E0nO6" id="5tEenuYOMgt">
     <property role="TrG5h" value="_110_unsafe_control_actions" />
-    <ref role="1E05RL" node="5tEenuYOMfb" />
+    <ref role="1E05RL" node="5tEenuYOMfb" resolve="_100_control_structure" />
     <node concept="1E0nOG" id="5tEenuYOMgu" role="1E0n_e">
-      <ref role="1E0nOH" node="5tEenuYOMfd" />
+      <ref role="1E0nOH" node="5tEenuYOMfd" resolve="CEM Planner" />
       <node concept="1E0nOJ" id="5tEenuYOMgv" role="1E0nOC">
-        <ref role="1E0n_N" node="5tEenuYOMfG" />
+        <ref role="1E0n_N" node="5tEenuYOMfG" resolve="CEM Trajectory" />
         <node concept="3f6qtF" id="6vZMoXu3Mk9" role="3f6qqO">
           <node concept="1E0uc6" id="_wUu$U7zXT" role="3f6qtG">
             <property role="TrG5h" value="UCA_PLAN_CEM_TRAJ_02" />
-            <ref role="3ZrSuL" node="_wUu$U7zXF" />
+            <ref role="3ZrSuL" node="_wUu$U7zXF" resolve="Collision with another vehicle" />
             <node concept="19SGf9" id="_wUu$U7zXU" role="1E0uc7">
               <node concept="19SUe$" id="_wUu$U7zXV" role="19SJt6">
                 <property role="19SUeA" value="when another vehicle drives parallel to the object and ego enters the other lane =&gt; collision" />
@@ -444,7 +444,7 @@
           </node>
           <node concept="1E0uc6" id="_wUu$U7zXM" role="3f6qtG">
             <property role="TrG5h" value="UCA_PLAN_CEM_TRAJ_03" />
-            <ref role="3ZrSuL" node="_wUu$U7zXF" />
+            <ref role="3ZrSuL" node="_wUu$U7zXF" resolve="Collision with another vehicle" />
             <node concept="19SGf9" id="_wUu$U7zXQ" role="1E0uc7">
               <node concept="19SUe$" id="_wUu$U7zXR" role="19SJt6">
                 <property role="19SUeA" value="when another vehicle drives parallel to the object and the other vehicle enters (comes too close to) ego lane =&gt; potential collision" />
@@ -455,7 +455,7 @@
         <node concept="3f6qtF" id="6vZMoXu3Mkb" role="3f6qqO">
           <node concept="1E0uc6" id="_wUu$TYGPy" role="3f6qtG">
             <property role="TrG5h" value="UCA_PLAN_CEM_TRAJ_01" />
-            <ref role="3ZrSuL" node="_wUu$U7zXF" />
+            <ref role="3ZrSuL" node="_wUu$U7zXF" resolve="Collision with another vehicle" />
             <node concept="19SGf9" id="_wUu$TYGP$" role="1E0uc7">
               <node concept="19SUe$" id="_wUu$TYGP_" role="19SJt6">
                 <property role="19SUeA" value="during L3 driving and in presence of an object in ego lane =&gt; potential collision / activation of emergency braking" />
@@ -466,7 +466,7 @@
         <node concept="3f6qtF" id="6vZMoXu3Mkd" role="3f6qqO">
           <node concept="1E0uc6" id="_wUu$TYGP1" role="3f6qtG">
             <property role="TrG5h" value="UCA_PLAN_CEM_TRAJ_04" />
-            <ref role="3ZrSuL" node="_wUu$U7zXF" />
+            <ref role="3ZrSuL" node="_wUu$U7zXF" resolve="Collision with another vehicle" />
             <node concept="19SGf9" id="_wUu$TYGP2" role="1E0uc7">
               <node concept="19SUe$" id="_wUu$TYGP3" role="19SJt6">
                 <property role="19SUeA" value="when computed too late can lead to the necessity of an emergency maneuver =&gt; potential collision" />
@@ -479,11 +479,11 @@
         </node>
       </node>
       <node concept="1E0nOJ" id="_wUu$U7zXZ" role="1E0nOC">
-        <ref role="1E0n_N" node="_wUu$TX727" />
+        <ref role="1E0n_N" node="_wUu$TX727" resolve="CEM Function Active" />
         <node concept="3f6qtF" id="6vZMoXu3Mkg" role="3f6qqO">
           <node concept="1E0uc6" id="_wUu$U7zY1" role="3f6qtG">
             <property role="TrG5h" value="UCA_PLAN_CEM_FUN_ACT_01" />
-            <ref role="3ZrSuL" node="_wUu$U7zXF" />
+            <ref role="3ZrSuL" node="_wUu$U7zXF" resolve="Collision with another vehicle" />
             <node concept="19SGf9" id="_wUu$U7zY2" role="1E0uc7">
               <node concept="19SUe$" id="_wUu$U7zY3" role="19SJt6">
                 <property role="19SUeA" value="during highway L3 mode, false provision leads to driver thinking CEM is executed, if obstacle =&gt; collision" />
@@ -499,13 +499,13 @@
       </node>
     </node>
     <node concept="1E0nOG" id="41_NtXJu_80" role="1E0n_e">
-      <ref role="1E0nOH" node="_wUu$TX70r" />
+      <ref role="1E0nOH" node="_wUu$TX70r" resolve="Driver" />
       <node concept="1E0nOJ" id="41_NtXJu_81" role="1E0nOC">
-        <ref role="1E0n_N" node="41_NtXJu_8J" />
+        <ref role="1E0n_N" node="41_NtXJu_8J" resolve="Deactivate CEM Function" />
         <node concept="3f6qtF" id="6vZMoXu3Mkk" role="3f6qqO">
           <node concept="1E0uc6" id="41_NtXJu_8_" role="3f6qtG">
             <property role="TrG5h" value="UCA_DRIVER_DEACTIVATE_01" />
-            <ref role="3ZrSuL" node="_wUu$U7zXF" />
+            <ref role="3ZrSuL" node="_wUu$U7zXF" resolve="Collision with another vehicle" />
             <node concept="19SGf9" id="41_NtXJu_8E" role="1E0uc7">
               <node concept="19SUe$" id="41_NtXJu_8F" role="19SJt6">
                 <property role="19SUeA" value="when driving on highway, if driver is not aware that L3 mode is abandoned =&gt; collision" />
@@ -520,11 +520,11 @@
         <node concept="3f6qtF" id="6vZMoXu3Mkn" role="3f6qqO" />
       </node>
       <node concept="1E0nOJ" id="41_NtXJu_8O" role="1E0nOC">
-        <ref role="1E0n_N" node="3I9hGreIT7k" />
+        <ref role="1E0n_N" node="3I9hGreIT7k" resolve="Activate CEM Function" />
         <node concept="3f6qtF" id="6vZMoXu3Mko" role="3f6qqO">
           <node concept="1E0uc6" id="41_NtXJu_8P" role="3f6qtG">
             <property role="TrG5h" value="UCA_DRIVER_ACTIVATE_01" />
-            <ref role="3ZrSuL" node="_wUu$U7zXF" />
+            <ref role="3ZrSuL" node="_wUu$U7zXF" resolve="Collision with another vehicle" />
             <node concept="19SGf9" id="41_NtXJu_8Q" role="1E0uc7">
               <node concept="19SUe$" id="41_NtXJu_8R" role="19SJt6">
                 <property role="19SUeA" value="when driving on highway, if driver is not aware but CEM is active =&gt; confusion of the driver possible leading to collision" />
@@ -540,16 +540,16 @@
       </node>
     </node>
     <node concept="1E0nOG" id="_wUu$TYbEo" role="1E0n_e">
-      <ref role="1E0nOH" node="_wUu$TX6YW" />
+      <ref role="1E0nOH" node="_wUu$TX6YW" resolve="Perception" />
       <node concept="1E0nOJ" id="_wUu$TYbEp" role="1E0nOC">
-        <ref role="1E0n_N" node="_wUu$TX6Zq" />
+        <ref role="1E0n_N" node="_wUu$TX6Zq" resolve="Tracked Traffic Actors" />
         <node concept="3f6qtF" id="6vZMoXu3Mks" role="3f6qqO">
           <node concept="3XErhT" id="_wUu$TYbEB" role="3f6qtG" />
         </node>
         <node concept="3f6qtF" id="6vZMoXu3Mkt" role="3f6qqO">
           <node concept="1E0uc6" id="_wUu$TYGP4" role="3f6qtG">
             <property role="TrG5h" value="UCA_PER_TRACKING_01" />
-            <ref role="3ZrSuL" node="_wUu$U7zXF" />
+            <ref role="3ZrSuL" node="_wUu$U7zXF" resolve="Collision with another vehicle" />
             <node concept="19SGf9" id="_wUu$TYGP5" role="1E0uc7">
               <node concept="19SUe$" id="_wUu$TYGP6" role="19SJt6">
                 <property role="19SUeA" value="when driving =&gt; collision" />
@@ -561,11 +561,11 @@
         <node concept="3f6qtF" id="6vZMoXu3Mkv" role="3f6qqO" />
       </node>
       <node concept="1E0nOJ" id="_wUu$TYGP7" role="1E0nOC">
-        <ref role="1E0n_N" node="_wUu$TYGPd" />
+        <ref role="1E0n_N" node="_wUu$TYGPd" resolve="Obstacle Detection" />
         <node concept="3f6qtF" id="6vZMoXu3Mkw" role="3f6qqO">
           <node concept="1E0uc6" id="_wUu$TYGPg" role="3f6qtG">
             <property role="TrG5h" value="UCA_PER_OBST_DET_02" />
-            <ref role="3ZrSuL" node="_wUu$U7zXF" />
+            <ref role="3ZrSuL" node="_wUu$U7zXF" resolve="Collision with another vehicle" />
             <node concept="19SGf9" id="_wUu$TYGPh" role="1E0uc7">
               <node concept="19SUe$" id="_wUu$TYGPi" role="19SJt6">
                 <property role="19SUeA" value="- false positive / imprecise detection during driving =&gt; unnecessary evasion maneuver / &quot;chaotic&quot; behavior of EGO =&gt; potential collision with other participants" />
@@ -576,7 +576,7 @@
         <node concept="3f6qtF" id="6vZMoXu3Mkx" role="3f6qqO">
           <node concept="1E0uc6" id="_wUu$TYGP9" role="3f6qtG">
             <property role="TrG5h" value="UCA_PER_OBST_DET_01" />
-            <ref role="3ZrSuL" node="_wUu$TYbEK" />
+            <ref role="3ZrSuL" node="_wUu$TYbEK" resolve="Collision with another vehicle" />
             <node concept="19SGf9" id="_wUu$TYGPa" role="1E0uc7">
               <node concept="19SUe$" id="_wUu$TYGPb" role="19SJt6">
                 <property role="19SUeA" value="- during L3 driving =&gt; later activation of emergency braking / potential collision" />
@@ -607,108 +607,108 @@
       <property role="0lsPA" value="Hazard_Coll_00" />
       <property role="TrG5h" value="Collision with another vehicle" />
       <node concept="3Zv_sa" id="7ktuJEFhGF" role="3Zv_sA">
-        <ref role="3Zv_sb" node="_wUu$TYbEG" />
+        <ref role="3Zv_sb" node="_wUu$TYbEG" resolve="Vehicle Damage" />
       </node>
       <node concept="3Zv_sa" id="7ktuJEFhGA" role="3Zv_sA">
-        <ref role="3Zv_sb" node="_wUu$TYbEJ" />
+        <ref role="3Zv_sb" node="_wUu$TYbEJ" resolve="Light Injury" />
       </node>
       <node concept="3h3uym" id="55oVyA0sYgI" role="3h3uzw">
         <property role="3h3uzD" value="24PsEXFbNKQ/S2" />
         <property role="3h3uzF" value="24PsEXFbNLp/C2" />
         <property role="3h3uzC" value="24PsEXFbNLe/E4" />
-        <ref role="3h3iM1" node="55oVyA0mSKB" />
+        <ref role="3h3iM1" node="55oVyA0mSKB" resolve="OS3" />
       </node>
     </node>
     <node concept="1a6Z8w" id="_wUu$TYbEE" role="8gIbH">
       <property role="0lsPA" value="Hazard_Coll_01" />
       <property role="TrG5h" value="Collision with another vehicle" />
       <node concept="3Zv_sa" id="_wUu$TYbEL" role="3Zv_sA">
-        <ref role="3Zv_sb" node="_wUu$TYbEI" />
+        <ref role="3Zv_sb" node="_wUu$TYbEI" resolve="Fatal Injury" />
       </node>
       <node concept="3Zv_sa" id="_wUu$TYbEN" role="3Zv_sA">
-        <ref role="3Zv_sb" node="_wUu$TYbEH" />
+        <ref role="3Zv_sb" node="_wUu$TYbEH" resolve="Severe Injury" />
       </node>
       <node concept="3Zv_sa" id="_wUu$TYbEY" role="3Zv_sA">
-        <ref role="3Zv_sb" node="_wUu$TYbEJ" />
+        <ref role="3Zv_sb" node="_wUu$TYbEJ" resolve="Light Injury" />
       </node>
       <node concept="3Zv_sa" id="_wUu$TYbEQ" role="3Zv_sA">
-        <ref role="3Zv_sb" node="_wUu$TYbEG" />
+        <ref role="3Zv_sb" node="_wUu$TYbEG" resolve="Vehicle Damage" />
       </node>
       <node concept="3h3uym" id="55oVyA0sYgQ" role="3h3uzw">
         <property role="3h3uzD" value="24PsEXFbNKU/S3" />
         <property role="3h3uzF" value="24PsEXFbNLt/C3" />
         <property role="3h3uzC" value="24PsEXFbNL9/E3" />
-        <ref role="3h3iM1" node="55oVyA0mSKa" />
+        <ref role="3h3iM1" node="55oVyA0mSKa" resolve="OS1" />
       </node>
     </node>
     <node concept="1a6Z8w" id="_wUu$TYbEK" role="8gIbH">
       <property role="0lsPA" value="Hazard_Coll_02" />
       <property role="TrG5h" value="Collision with another vehicle" />
       <node concept="3Zv_sa" id="_wUu$TYbET" role="3Zv_sA">
-        <ref role="3Zv_sb" node="_wUu$TYbEH" />
+        <ref role="3Zv_sb" node="_wUu$TYbEH" resolve="Severe Injury" />
       </node>
       <node concept="3Zv_sa" id="_wUu$TYbF1" role="3Zv_sA">
-        <ref role="3Zv_sb" node="_wUu$TYbEJ" />
+        <ref role="3Zv_sb" node="_wUu$TYbEJ" resolve="Light Injury" />
       </node>
       <node concept="3Zv_sa" id="_wUu$TYbF7" role="3Zv_sA">
-        <ref role="3Zv_sb" node="_wUu$TYbEG" />
+        <ref role="3Zv_sb" node="_wUu$TYbEG" resolve="Vehicle Damage" />
       </node>
       <node concept="3h3uym" id="55oVyA0sYgS" role="3h3uzw">
         <property role="3h3uzD" value="24PsEXFbNKU/S3" />
         <property role="3h3uzF" value="24PsEXFbNLt/C3" />
         <property role="3h3uzC" value="24PsEXFbNLe/E4" />
-        <ref role="3h3iM1" node="55oVyA0mSKu" />
+        <ref role="3h3iM1" node="55oVyA0mSKu" resolve="OS2" />
       </node>
     </node>
     <node concept="1a6Z8w" id="_wUu$TYbF9" role="8gIbH">
       <property role="0lsPA" value="Hazard_Coll_03" />
       <property role="TrG5h" value="Collision with another vehicle" />
       <node concept="3Zv_sa" id="_wUu$TYbFb" role="3Zv_sA">
-        <ref role="3Zv_sb" node="_wUu$TYbEJ" />
+        <ref role="3Zv_sb" node="_wUu$TYbEJ" resolve="Light Injury" />
       </node>
       <node concept="3Zv_sa" id="_wUu$TYbFd" role="3Zv_sA">
-        <ref role="3Zv_sb" node="_wUu$TYbEG" />
+        <ref role="3Zv_sb" node="_wUu$TYbEG" resolve="Vehicle Damage" />
       </node>
       <node concept="3h3uym" id="55oVyA0sYgV" role="3h3uzw">
         <property role="3h3uzD" value="24PsEXFbNKQ/S2" />
         <property role="3h3uzF" value="24PsEXFbNLp/C2" />
         <property role="3h3uzC" value="24PsEXFbNLe/E4" />
-        <ref role="3h3iM1" node="55oVyA0sYg4" />
+        <ref role="3h3iM1" node="55oVyA0sYg4" resolve="OS6" />
       </node>
     </node>
     <node concept="1a6Z8w" id="_wUu$TYGOc" role="8gIbH">
       <property role="0lsPA" value="Hazard_Coll_04" />
       <property role="TrG5h" value="Collision at high speed with VRU" />
       <node concept="3Zv_sa" id="_wUu$TYGOf" role="3Zv_sA">
-        <ref role="3Zv_sb" node="_wUu$TYbEI" />
+        <ref role="3Zv_sb" node="_wUu$TYbEI" resolve="Fatal Injury" />
       </node>
       <node concept="3Zv_sa" id="_wUu$TYGOh" role="3Zv_sA">
-        <ref role="3Zv_sb" node="_wUu$TYbEH" />
+        <ref role="3Zv_sb" node="_wUu$TYbEH" resolve="Severe Injury" />
       </node>
       <node concept="3Zv_sa" id="_wUu$TYGOk" role="3Zv_sA">
-        <ref role="3Zv_sb" node="_wUu$TYbEJ" />
+        <ref role="3Zv_sb" node="_wUu$TYbEJ" resolve="Light Injury" />
       </node>
       <node concept="3h3uym" id="55oVyA0sYgY" role="3h3uzw">
         <property role="3h3uzD" value="24PsEXFbNKU/S3" />
         <property role="3h3uzF" value="24PsEXFbNLt/C3" />
         <property role="3h3uzC" value="24PsEXFbNLe/E4" />
-        <ref role="3h3iM1" node="55oVyA0sYfJ" />
+        <ref role="3h3iM1" node="55oVyA0sYfJ" resolve="OS5" />
       </node>
     </node>
     <node concept="1a6Z8w" id="_wUu$TYGOm" role="8gIbH">
       <property role="0lsPA" value="Hazard_Coll_05" />
       <property role="TrG5h" value="Collision at low speed with VRU" />
       <node concept="3Zv_sa" id="_wUu$TYGOo" role="3Zv_sA">
-        <ref role="3Zv_sb" node="_wUu$TYbEH" />
+        <ref role="3Zv_sb" node="_wUu$TYbEH" resolve="Severe Injury" />
       </node>
       <node concept="3Zv_sa" id="_wUu$TYGOp" role="3Zv_sA">
-        <ref role="3Zv_sb" node="_wUu$TYbEJ" />
+        <ref role="3Zv_sb" node="_wUu$TYbEJ" resolve="Light Injury" />
       </node>
       <node concept="3h3uym" id="55oVyA0sYh1" role="3h3uzw">
         <property role="3h3uzD" value="24PsEXFbNKU/S3" />
         <property role="3h3uzF" value="24PsEXFbNLt/C3" />
         <property role="3h3uzC" value="24PsEXFbNL5/E2" />
-        <ref role="3h3iM1" node="55oVyA0sYft" />
+        <ref role="3h3iM1" node="55oVyA0sYft" resolve="OS4" />
       </node>
     </node>
   </node>
diff --git a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._030_adas._020_automated_evasion_maneuver._010_scenarios.mps b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._030_adas._020_automated_evasion_maneuver._010_scenarios.mps
index efb4fb9fa..2c45a3771 100644
--- a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._030_adas._020_automated_evasion_maneuver._010_scenarios.mps
+++ b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._030_adas._020_automated_evasion_maneuver._010_scenarios.mps
@@ -159,7 +159,7 @@
         <node concept="19SUe$" id="41_NtXJr1pC" role="19SJt6" />
         <node concept="J3_W4" id="41_NtXJr1pA" role="19SJt6">
           <node concept="J0Acc" id="41_NtXJr1pG" role="J3_WZ">
-            <ref role="J0Acb" node="41_NtXJqTb2" />
+            <ref role="J0Acb" node="41_NtXJqTb2" resolve="Ego" />
           </node>
         </node>
         <node concept="19SUe$" id="41_NtXJr1pB" role="19SJt6">
@@ -174,10 +174,10 @@
         <node concept="19SUe$" id="41_NtXJr1pJ" role="19SJt6" />
       </node>
       <node concept="J0Acc" id="41_NtXJqTbn" role="J0Acf">
-        <ref role="J0Acb" node="41_NtXJqTb2" />
+        <ref role="J0Acb" node="41_NtXJqTb2" resolve="Ego" />
       </node>
       <node concept="J3GH$" id="41_NtXJqTbp" role="J3GHC">
-        <ref role="J3GHz" node="41_NtXJqg0w" />
+        <ref role="J3GHz" node="41_NtXJqg0w" resolve="Highway Straight Line" />
       </node>
     </node>
     <node concept="J0DDU" id="41_NtXJr1_c" role="J0DCR" />
@@ -187,7 +187,7 @@
         <node concept="19SUe$" id="41_NtXJrir$" role="19SJt6" />
         <node concept="J3_W4" id="41_NtXJrir_" role="19SJt6">
           <node concept="J0Acc" id="41_NtXJrirA" role="J3_WZ">
-            <ref role="J0Acb" node="41_NtXJqTb2" />
+            <ref role="J0Acb" node="41_NtXJqTb2" resolve="Ego" />
           </node>
         </node>
         <node concept="19SUe$" id="41_NtXJrirB" role="19SJt6">
@@ -195,7 +195,7 @@
         </node>
         <node concept="J3_W4" id="41_NtXJrirC" role="19SJt6">
           <node concept="J0Acc" id="41_NtXJrirD" role="J3_WZ">
-            <ref role="J0Acb" node="41_NtXJr1_A" />
+            <ref role="J0Acb" node="41_NtXJr1_A" resolve="Stationary Vehicle" />
           </node>
         </node>
         <node concept="19SUe$" id="41_NtXJrirE" role="19SJt6">
@@ -210,13 +210,13 @@
         <node concept="19SUe$" id="41_NtXJrirH" role="19SJt6" />
       </node>
       <node concept="J0Acc" id="41_NtXJrirI" role="J0Acf">
-        <ref role="J0Acb" node="41_NtXJqTb2" />
+        <ref role="J0Acb" node="41_NtXJqTb2" resolve="Ego" />
       </node>
       <node concept="J0Acc" id="41_NtXJrirJ" role="J0Acf">
-        <ref role="J0Acb" node="41_NtXJr1_A" />
+        <ref role="J0Acb" node="41_NtXJr1_A" resolve="Stationary Vehicle" />
       </node>
       <node concept="J3GH$" id="41_NtXJrirK" role="J3GHC">
-        <ref role="J3GHz" node="41_NtXJqg0w" />
+        <ref role="J3GHz" node="41_NtXJqg0w" resolve="Highway Straight Line" />
       </node>
     </node>
     <node concept="J0C2d" id="41_NtXJrisY" role="J0DCR">
@@ -225,7 +225,7 @@
         <node concept="19SUe$" id="41_NtXJrit0" role="19SJt6" />
         <node concept="J3_W4" id="41_NtXJrit1" role="19SJt6">
           <node concept="J0Acc" id="41_NtXJrit2" role="J3_WZ">
-            <ref role="J0Acb" node="41_NtXJqTb2" />
+            <ref role="J0Acb" node="41_NtXJqTb2" resolve="Ego" />
           </node>
         </node>
         <node concept="19SUe$" id="41_NtXJrit3" role="19SJt6">
@@ -233,7 +233,7 @@
         </node>
         <node concept="J3_W4" id="41_NtXJriuH" role="19SJt6">
           <node concept="J0Acc" id="41_NtXJriuS" role="J3_WZ">
-            <ref role="J0Acb" node="41_NtXJqfu1" />
+            <ref role="J0Acb" node="41_NtXJqfu1" resolve="Long Vehicle" />
           </node>
         </node>
         <node concept="19SUe$" id="41_NtXJriuI" role="19SJt6">
@@ -248,13 +248,13 @@
         <node concept="19SUe$" id="41_NtXJrit9" role="19SJt6" />
       </node>
       <node concept="J0Acc" id="41_NtXJrita" role="J0Acf">
-        <ref role="J0Acb" node="41_NtXJqTb2" />
+        <ref role="J0Acb" node="41_NtXJqTb2" resolve="Ego" />
       </node>
       <node concept="J0Acc" id="41_NtXJriuU" role="J0Acf">
-        <ref role="J0Acb" node="41_NtXJqfu1" />
+        <ref role="J0Acb" node="41_NtXJqfu1" resolve="Long Vehicle" />
       </node>
       <node concept="J3GH$" id="41_NtXJritc" role="J3GHC">
-        <ref role="J3GHz" node="41_NtXJqg0w" />
+        <ref role="J3GHz" node="41_NtXJqg0w" resolve="Highway Straight Line" />
       </node>
     </node>
     <node concept="J0C2d" id="41_NtXJriuY" role="J0DCR">
@@ -263,7 +263,7 @@
         <node concept="19SUe$" id="41_NtXJriv0" role="19SJt6" />
         <node concept="J3_W4" id="41_NtXJriv1" role="19SJt6">
           <node concept="J0Acc" id="41_NtXJriv2" role="J3_WZ">
-            <ref role="J0Acb" node="41_NtXJqTb2" />
+            <ref role="J0Acb" node="41_NtXJqTb2" resolve="Ego" />
           </node>
         </node>
         <node concept="19SUe$" id="41_NtXJriv3" role="19SJt6">
@@ -278,13 +278,13 @@
         <node concept="19SUe$" id="41_NtXJriv9" role="19SJt6" />
       </node>
       <node concept="J0Acc" id="41_NtXJriva" role="J0Acf">
-        <ref role="J0Acb" node="41_NtXJqTb2" />
+        <ref role="J0Acb" node="41_NtXJqTb2" resolve="Ego" />
       </node>
       <node concept="J0Acc" id="41_NtXJrivb" role="J0Acf">
-        <ref role="J0Acb" node="41_NtXJqfu1" />
+        <ref role="J0Acb" node="41_NtXJqfu1" resolve="Long Vehicle" />
       </node>
       <node concept="J3GH$" id="41_NtXJrivc" role="J3GHC">
-        <ref role="J3GHz" node="41_NtXJqg0w" />
+        <ref role="J3GHz" node="41_NtXJqg0w" resolve="Highway Straight Line" />
       </node>
     </node>
     <node concept="J0C2d" id="41_NtXJriwe" role="J0DCR">
@@ -293,7 +293,7 @@
         <node concept="19SUe$" id="41_NtXJriwg" role="19SJt6" />
         <node concept="J3_W4" id="41_NtXJriwh" role="19SJt6">
           <node concept="J0Acc" id="41_NtXJriwi" role="J3_WZ">
-            <ref role="J0Acb" node="41_NtXJqTb2" />
+            <ref role="J0Acb" node="41_NtXJqTb2" resolve="Ego" />
           </node>
         </node>
         <node concept="19SUe$" id="41_NtXJriwj" role="19SJt6">
@@ -308,13 +308,13 @@
         <node concept="19SUe$" id="41_NtXJriwm" role="19SJt6" />
       </node>
       <node concept="J0Acc" id="41_NtXJriwn" role="J0Acf">
-        <ref role="J0Acb" node="41_NtXJqTb2" />
+        <ref role="J0Acb" node="41_NtXJqTb2" resolve="Ego" />
       </node>
       <node concept="J0Acc" id="41_NtXJriwo" role="J0Acf">
-        <ref role="J0Acb" node="41_NtXJqfu1" />
+        <ref role="J0Acb" node="41_NtXJqfu1" resolve="Long Vehicle" />
       </node>
       <node concept="J3GH$" id="41_NtXJrixD" role="J3GHC">
-        <ref role="J3GHz" node="41_NtXJrixt" />
+        <ref role="J3GHz" node="41_NtXJrixt" resolve="Highway with Curve" />
       </node>
     </node>
     <node concept="J0DDU" id="41_NtXJr1$e" role="J0DCR" />
@@ -327,7 +327,7 @@
         <node concept="19SUe$" id="41_NtXJu$td" role="19SJt6" />
         <node concept="J3_W4" id="41_NtXJu$te" role="19SJt6">
           <node concept="J0Acc" id="41_NtXJu$tf" role="J3_WZ">
-            <ref role="J0Acb" node="41_NtXJqTb2" />
+            <ref role="J0Acb" node="41_NtXJqTb2" resolve="Ego" />
           </node>
         </node>
         <node concept="19SUe$" id="41_NtXJu$tg" role="19SJt6">
@@ -342,16 +342,16 @@
         <node concept="19SUe$" id="41_NtXJu$tj" role="19SJt6" />
       </node>
       <node concept="J0Acc" id="41_NtXJu$tk" role="J0Acf">
-        <ref role="J0Acb" node="41_NtXJqTb2" />
+        <ref role="J0Acb" node="41_NtXJqTb2" resolve="Ego" />
       </node>
       <node concept="J0Acc" id="41_NtXJu$Zg" role="J0Acf">
-        <ref role="J0Acb" node="41_NtXJr1_A" />
+        <ref role="J0Acb" node="41_NtXJr1_A" resolve="Stationary Vehicle" />
       </node>
       <node concept="J0Acc" id="41_NtXJu$Zo" role="J0Acf">
-        <ref role="J0Acb" node="41_NtXJqftM" />
+        <ref role="J0Acb" node="41_NtXJqftM" resolve="VRU" />
       </node>
       <node concept="J3GH$" id="41_NtXJu$ue" role="J3GHC">
-        <ref role="J3GHz" node="41_NtXJqlNh" />
+        <ref role="J3GHz" node="41_NtXJqlNh" resolve="Urban" />
       </node>
     </node>
     <node concept="J0C2d" id="41_NtXJu_05" role="J0DCR">
@@ -360,7 +360,7 @@
         <node concept="19SUe$" id="41_NtXJu_07" role="19SJt6" />
         <node concept="J3_W4" id="41_NtXJu_08" role="19SJt6">
           <node concept="J0Acc" id="41_NtXJu_09" role="J3_WZ">
-            <ref role="J0Acb" node="41_NtXJqTb2" />
+            <ref role="J0Acb" node="41_NtXJqTb2" resolve="Ego" />
           </node>
         </node>
         <node concept="19SUe$" id="41_NtXJu_0a" role="19SJt6">
@@ -375,16 +375,16 @@
         <node concept="19SUe$" id="41_NtXJu_0d" role="19SJt6" />
       </node>
       <node concept="J0Acc" id="41_NtXJu_0e" role="J0Acf">
-        <ref role="J0Acb" node="41_NtXJqTb2" />
+        <ref role="J0Acb" node="41_NtXJqTb2" resolve="Ego" />
       </node>
       <node concept="J0Acc" id="41_NtXJu_0f" role="J0Acf">
-        <ref role="J0Acb" node="41_NtXJr1_A" />
+        <ref role="J0Acb" node="41_NtXJr1_A" resolve="Stationary Vehicle" />
       </node>
       <node concept="J0Acc" id="41_NtXJu_0g" role="J0Acf">
-        <ref role="J0Acb" node="41_NtXJqftM" />
+        <ref role="J0Acb" node="41_NtXJqftM" resolve="VRU" />
       </node>
       <node concept="J3GH$" id="41_NtXJu_0h" role="J3GHC">
-        <ref role="J3GHz" node="41_NtXJqlNh" />
+        <ref role="J3GHz" node="41_NtXJqlNh" resolve="Urban" />
       </node>
     </node>
     <node concept="J0C2d" id="41_NtXJu$Zt" role="J0DCR">
@@ -393,7 +393,7 @@
         <node concept="19SUe$" id="41_NtXJu$Zv" role="19SJt6" />
         <node concept="J3_W4" id="41_NtXJu$Zw" role="19SJt6">
           <node concept="J0Acc" id="41_NtXJu$Zx" role="J3_WZ">
-            <ref role="J0Acb" node="41_NtXJqTb2" />
+            <ref role="J0Acb" node="41_NtXJqTb2" resolve="Ego" />
           </node>
         </node>
         <node concept="19SUe$" id="41_NtXJu$Zy" role="19SJt6">
@@ -408,13 +408,13 @@
         <node concept="19SUe$" id="41_NtXJu$Z_" role="19SJt6" />
       </node>
       <node concept="J0Acc" id="41_NtXJu$ZA" role="J0Acf">
-        <ref role="J0Acb" node="41_NtXJqTb2" />
+        <ref role="J0Acb" node="41_NtXJqTb2" resolve="Ego" />
       </node>
       <node concept="J0Acc" id="41_NtXJu_11" role="J0Acf">
-        <ref role="J0Acb" node="41_NtXJqlNG" />
+        <ref role="J0Acb" node="41_NtXJqlNG" resolve="Cyclist" />
       </node>
       <node concept="J3GH$" id="41_NtXJu$ZD" role="J3GHC">
-        <ref role="J3GHz" node="41_NtXJqlNh" />
+        <ref role="J3GHz" node="41_NtXJqlNh" resolve="Urban" />
       </node>
     </node>
     <node concept="J0C2d" id="41_NtXJu_1G" role="J0DCR">
@@ -423,7 +423,7 @@
         <node concept="19SUe$" id="41_NtXJu_1I" role="19SJt6" />
         <node concept="J3_W4" id="41_NtXJu_1J" role="19SJt6">
           <node concept="J0Acc" id="41_NtXJu_1K" role="J3_WZ">
-            <ref role="J0Acb" node="41_NtXJqTb2" />
+            <ref role="J0Acb" node="41_NtXJqTb2" resolve="Ego" />
           </node>
         </node>
         <node concept="19SUe$" id="41_NtXJu_1L" role="19SJt6">
@@ -438,13 +438,13 @@
         <node concept="19SUe$" id="41_NtXJu_1O" role="19SJt6" />
       </node>
       <node concept="J0Acc" id="41_NtXJu_1P" role="J0Acf">
-        <ref role="J0Acb" node="41_NtXJqTb2" />
+        <ref role="J0Acb" node="41_NtXJqTb2" resolve="Ego" />
       </node>
       <node concept="J0Acc" id="41_NtXJu_1Q" role="J0Acf">
-        <ref role="J0Acb" node="41_NtXJqlNG" />
+        <ref role="J0Acb" node="41_NtXJqlNG" resolve="Cyclist" />
       </node>
       <node concept="J3GH$" id="41_NtXJu_1R" role="J3GHC">
-        <ref role="J3GHz" node="41_NtXJqlNh" />
+        <ref role="J3GHz" node="41_NtXJqlNh" resolve="Urban" />
       </node>
     </node>
     <node concept="J0DDU" id="41_NtXJu$tm" role="J0DCR" />
diff --git a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._030_adas._020_automated_evasion_maneuver._020_requirements.mps b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._030_adas._020_automated_evasion_maneuver._020_requirements.mps
index c8a232528..9b93993f6 100644
--- a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._030_adas._020_automated_evasion_maneuver._020_requirements.mps
+++ b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._030_adas._020_automated_evasion_maneuver._020_requirements.mps
@@ -106,13 +106,13 @@
       </node>
       <node concept="2iDXIW" id="_wUu$TYcY7" role="0nOlf">
         <node concept="DABN8" id="_wUu$TYcY9" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYbEE" />
+          <ref role="DABNb" to="u9yl:_wUu$TYbEE" resolve="Collision with another vehicle" />
         </node>
         <node concept="DABN8" id="_wUu$TYcYb" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYbEK" />
+          <ref role="DABNb" to="u9yl:_wUu$TYbEK" resolve="Collision with another vehicle" />
         </node>
         <node concept="DABN8" id="_wUu$TYcYt" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYbF9" />
+          <ref role="DABNb" to="u9yl:_wUu$TYbF9" resolve="Collision with another vehicle" />
         </node>
       </node>
     </node>
@@ -121,7 +121,7 @@
       <property role="0ke_I" value="dan" />
       <node concept="2iDXIW" id="_wUu$TYcYq" role="0nOlf">
         <node concept="DABN8" id="41_NtXJpd36" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$U7zXF" />
+          <ref role="DABNb" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
       </node>
       <node concept="19SGf9" id="_wUu$TYcYj" role="1QQeG9">
@@ -136,7 +136,7 @@
       </node>
       <node concept="J05Ou" id="2rSUIGXvl7a" role="2FklKs">
         <node concept="rwM_8" id="2rSUIGXvl7m" role="rwM$5">
-          <ref role="rwM_f" to="u9yl:41_NtXJu_8P" />
+          <ref role="rwM_f" to="u9yl:41_NtXJu_8P" resolve="UCA_DRIVER_ACTIVATE_01" />
         </node>
       </node>
     </node>
@@ -148,7 +148,7 @@
         <property role="0ke_I" value="dan" />
         <node concept="2iDXIW" id="_wUu$TYcYI" role="0nOlf">
           <node concept="DABN8" id="_wUu$TYcYK" role="DABNk">
-            <ref role="DABNb" to="u9yl:_wUu$TYbEE" />
+            <ref role="DABNb" to="u9yl:_wUu$TYbEE" resolve="Collision with another vehicle" />
           </node>
         </node>
         <node concept="19SGf9" id="_wUu$TYcYG" role="1QQeG9">
@@ -162,13 +162,13 @@
         <property role="0ke_I" value="dan" />
         <node concept="2iDXIW" id="_wUu$TY_gc" role="0nOlf">
           <node concept="DABN8" id="_wUu$TY_ge" role="DABNk">
-            <ref role="DABNb" to="u9yl:_wUu$TYbEE" />
+            <ref role="DABNb" to="u9yl:_wUu$TYbEE" resolve="Collision with another vehicle" />
           </node>
           <node concept="DABN8" id="_wUu$TY_gg" role="DABNk">
-            <ref role="DABNb" to="u9yl:_wUu$TYbEK" />
+            <ref role="DABNb" to="u9yl:_wUu$TYbEK" resolve="Collision with another vehicle" />
           </node>
           <node concept="DABN8" id="_wUu$TY_gj" role="DABNk">
-            <ref role="DABNb" to="u9yl:_wUu$TYbF9" />
+            <ref role="DABNb" to="u9yl:_wUu$TYbF9" resolve="Collision with another vehicle" />
           </node>
         </node>
         <node concept="19SGf9" id="_wUu$TY_ga" role="1QQeG9">
@@ -182,13 +182,13 @@
         <property role="0ke_I" value="dan" />
         <node concept="2iDXIW" id="41_NtXJpd2E" role="0nOlf">
           <node concept="DABN8" id="41_NtXJpd2F" role="DABNk">
-            <ref role="DABNb" to="u9yl:_wUu$TYbEE" />
+            <ref role="DABNb" to="u9yl:_wUu$TYbEE" resolve="Collision with another vehicle" />
           </node>
           <node concept="DABN8" id="41_NtXJpd2G" role="DABNk">
-            <ref role="DABNb" to="u9yl:_wUu$TYbEK" />
+            <ref role="DABNb" to="u9yl:_wUu$TYbEK" resolve="Collision with another vehicle" />
           </node>
           <node concept="DABN8" id="41_NtXJpd2H" role="DABNk">
-            <ref role="DABNb" to="u9yl:_wUu$TYbF9" />
+            <ref role="DABNb" to="u9yl:_wUu$TYbF9" resolve="Collision with another vehicle" />
           </node>
         </node>
         <node concept="19SGf9" id="41_NtXJpd2I" role="1QQeG9">
@@ -200,7 +200,7 @@
       <node concept="1QQeAL" id="_wUu$TYcYD" role="1QQeAC" />
       <node concept="2iDXIW" id="_wUu$TYcYB" role="0nOlf">
         <node concept="DABN8" id="41_NtXJpd38" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$U7zXF" />
+          <ref role="DABNb" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
       </node>
       <node concept="19SGf9" id="_wUu$TYcY_" role="1QQeG9">
@@ -219,19 +219,19 @@
       <property role="0ke_I" value="dan" />
       <node concept="2iDXIW" id="_wUu$TY_gu" role="0nOlf">
         <node concept="DABN8" id="_wUu$TZDcV" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYbEE" />
+          <ref role="DABNb" to="u9yl:_wUu$TYbEE" resolve="Collision with another vehicle" />
         </node>
         <node concept="DABN8" id="_wUu$TZDcY" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYbEK" />
+          <ref role="DABNb" to="u9yl:_wUu$TYbEK" resolve="Collision with another vehicle" />
         </node>
         <node concept="DABN8" id="_wUu$TZDcN" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYbF9" />
+          <ref role="DABNb" to="u9yl:_wUu$TYbF9" resolve="Collision with another vehicle" />
         </node>
         <node concept="DABN8" id="_wUu$TZDcP" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYGOc" />
+          <ref role="DABNb" to="u9yl:_wUu$TYGOc" resolve="Collision at high speed with VRU" />
         </node>
         <node concept="DABN8" id="_wUu$TZDcS" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYGOm" />
+          <ref role="DABNb" to="u9yl:_wUu$TYGOm" resolve="Collision at low speed with VRU" />
         </node>
       </node>
       <node concept="19SGf9" id="_wUu$TY_gs" role="1QQeG9">
@@ -256,19 +256,19 @@
       <property role="0ke_I" value="dan" />
       <node concept="2iDXIW" id="41_NtXJvtUI" role="0nOlf">
         <node concept="DABN8" id="41_NtXJvtUJ" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYbEE" />
+          <ref role="DABNb" to="u9yl:_wUu$TYbEE" resolve="Collision with another vehicle" />
         </node>
         <node concept="DABN8" id="41_NtXJvtUK" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYbEK" />
+          <ref role="DABNb" to="u9yl:_wUu$TYbEK" resolve="Collision with another vehicle" />
         </node>
         <node concept="DABN8" id="41_NtXJvtUL" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYbF9" />
+          <ref role="DABNb" to="u9yl:_wUu$TYbF9" resolve="Collision with another vehicle" />
         </node>
         <node concept="DABN8" id="41_NtXJvtUM" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYGOc" />
+          <ref role="DABNb" to="u9yl:_wUu$TYGOc" resolve="Collision at high speed with VRU" />
         </node>
         <node concept="DABN8" id="41_NtXJvtUN" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYGOm" />
+          <ref role="DABNb" to="u9yl:_wUu$TYGOm" resolve="Collision at low speed with VRU" />
         </node>
       </node>
       <node concept="19SGf9" id="41_NtXJvtUO" role="1QQeG9">
@@ -304,13 +304,13 @@
       </node>
       <node concept="2iDXIW" id="_wUu$TYGQ7" role="0nOlf">
         <node concept="DABN8" id="_wUu$TYGQ8" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYbEE" />
+          <ref role="DABNb" to="u9yl:_wUu$TYbEE" resolve="Collision with another vehicle" />
         </node>
         <node concept="DABN8" id="_wUu$TYGQ9" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYbEK" />
+          <ref role="DABNb" to="u9yl:_wUu$TYbEK" resolve="Collision with another vehicle" />
         </node>
         <node concept="DABN8" id="_wUu$TYGQa" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYbF9" />
+          <ref role="DABNb" to="u9yl:_wUu$TYbF9" resolve="Collision with another vehicle" />
         </node>
       </node>
     </node>
@@ -327,13 +327,13 @@
       </node>
       <node concept="2iDXIW" id="_wUu$TYGQS" role="0nOlf">
         <node concept="DABN8" id="_wUu$TYGQU" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYbEE" />
+          <ref role="DABNb" to="u9yl:_wUu$TYbEE" resolve="Collision with another vehicle" />
         </node>
         <node concept="DABN8" id="_wUu$TYGQW" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYbEK" />
+          <ref role="DABNb" to="u9yl:_wUu$TYbEK" resolve="Collision with another vehicle" />
         </node>
         <node concept="DABN8" id="_wUu$TYGQZ" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYbF9" />
+          <ref role="DABNb" to="u9yl:_wUu$TYbF9" resolve="Collision with another vehicle" />
         </node>
       </node>
       <node concept="19SGf9" id="_wUu$TYGQQ" role="1QQeG9">
@@ -355,19 +355,19 @@
       </node>
       <node concept="2iDXIW" id="_wUu$TZD6K" role="0nOlf">
         <node concept="DABN8" id="_wUu$TZD6L" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYbEE" />
+          <ref role="DABNb" to="u9yl:_wUu$TYbEE" resolve="Collision with another vehicle" />
         </node>
         <node concept="DABN8" id="_wUu$TZD6M" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYbEK" />
+          <ref role="DABNb" to="u9yl:_wUu$TYbEK" resolve="Collision with another vehicle" />
         </node>
         <node concept="DABN8" id="_wUu$TZD6N" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYbF9" />
+          <ref role="DABNb" to="u9yl:_wUu$TYbF9" resolve="Collision with another vehicle" />
         </node>
         <node concept="DABN8" id="_wUu$TZD6R" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYGOc" />
+          <ref role="DABNb" to="u9yl:_wUu$TYGOc" resolve="Collision at high speed with VRU" />
         </node>
         <node concept="DABN8" id="_wUu$TZD6U" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYGOm" />
+          <ref role="DABNb" to="u9yl:_wUu$TYGOm" resolve="Collision at low speed with VRU" />
         </node>
       </node>
       <node concept="19SGf9" id="_wUu$TZD6O" role="1QQeG9">
@@ -397,19 +397,19 @@
       <node concept="1QQeAL" id="41_NtXJpd2A" role="1QQeAC" />
       <node concept="2iDXIW" id="_wUu$TZD69" role="0nOlf">
         <node concept="DABN8" id="_wUu$TZD6b" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYbEE" />
+          <ref role="DABNb" to="u9yl:_wUu$TYbEE" resolve="Collision with another vehicle" />
         </node>
         <node concept="DABN8" id="_wUu$TZD6d" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYbEK" />
+          <ref role="DABNb" to="u9yl:_wUu$TYbEK" resolve="Collision with another vehicle" />
         </node>
         <node concept="DABN8" id="_wUu$TZD6g" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYbF9" />
+          <ref role="DABNb" to="u9yl:_wUu$TYbF9" resolve="Collision with another vehicle" />
         </node>
         <node concept="DABN8" id="_wUu$TZD6j" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYGOc" />
+          <ref role="DABNb" to="u9yl:_wUu$TYGOc" resolve="Collision at high speed with VRU" />
         </node>
         <node concept="DABN8" id="_wUu$TZD6m" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYGOm" />
+          <ref role="DABNb" to="u9yl:_wUu$TYGOm" resolve="Collision at low speed with VRU" />
         </node>
       </node>
       <node concept="19SGf9" id="_wUu$TZD67" role="1QQeG9">
@@ -427,7 +427,7 @@
       <node concept="1QQeAL" id="_wUu$Ub$sG" role="1QQeAC" />
       <node concept="2iDXIW" id="_wUu$Ub$sC" role="0nOlf">
         <node concept="DABN8" id="_wUu$Ub$sE" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$U7zXF" />
+          <ref role="DABNb" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
       </node>
       <node concept="19SGf9" id="_wUu$Ub$s_" role="1QQeG9">
@@ -445,7 +445,7 @@
       <node concept="1QQeAL" id="_wUu$Ub$sK" role="1QQeAC" />
       <node concept="2iDXIW" id="_wUu$Ub$sL" role="0nOlf">
         <node concept="DABN8" id="_wUu$Ub$sM" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$U7zXF" />
+          <ref role="DABNb" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
       </node>
       <node concept="19SGf9" id="_wUu$Ub$sP" role="1QQeG9">
@@ -469,24 +469,24 @@
       </node>
       <node concept="J2em_" id="41_NtXJu_f2" role="2FklKs">
         <node concept="J2er1" id="2rSUIGXuVZb" role="J20Ki">
-          <ref role="J2er0" to="kb14:41_NtXJu$tb" />
+          <ref role="J2er0" to="kb14:41_NtXJu$tb" resolve="SCN_CEM_UR_01" />
         </node>
         <node concept="J2er1" id="41_NtXJu_f8" role="J20Ki">
-          <ref role="J2er0" to="kb14:41_NtXJu$Zt" />
+          <ref role="J2er0" to="kb14:41_NtXJu$Zt" resolve="SCN_CEM_UR_03" />
         </node>
         <node concept="J2er1" id="41_NtXJu_fd" role="J20Ki">
-          <ref role="J2er0" to="kb14:41_NtXJu_1G" />
+          <ref role="J2er0" to="kb14:41_NtXJu_1G" resolve="SCN_CEM_UR_04" />
         </node>
       </node>
       <node concept="2iDXIW" id="41_NtXJr_Lo" role="0nOlf">
         <node concept="DABN8" id="41_NtXJt5Nu" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$U7zXF" />
+          <ref role="DABNb" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
         <node concept="DABN8" id="41_NtXJr_Ls" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYGOc" />
+          <ref role="DABNb" to="u9yl:_wUu$TYGOc" resolve="Collision at high speed with VRU" />
         </node>
         <node concept="DABN8" id="41_NtXJr_Lt" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYGOm" />
+          <ref role="DABNb" to="u9yl:_wUu$TYGOm" resolve="Collision at low speed with VRU" />
         </node>
       </node>
       <node concept="19SGf9" id="41_NtXJr_Lu" role="1QQeG9">
@@ -505,24 +505,24 @@
       </node>
       <node concept="J2em_" id="2rSUIGXuVZS" role="2FklKs">
         <node concept="J2er1" id="2rSUIGXuVZT" role="J20Ki">
-          <ref role="J2er0" to="kb14:41_NtXJu$tb" />
+          <ref role="J2er0" to="kb14:41_NtXJu$tb" resolve="SCN_CEM_UR_01" />
         </node>
         <node concept="J2er1" id="2rSUIGXuVZU" role="J20Ki">
-          <ref role="J2er0" to="kb14:41_NtXJu$Zt" />
+          <ref role="J2er0" to="kb14:41_NtXJu$Zt" resolve="SCN_CEM_UR_03" />
         </node>
         <node concept="J2er1" id="2rSUIGXuVZV" role="J20Ki">
-          <ref role="J2er0" to="kb14:41_NtXJu_1G" />
+          <ref role="J2er0" to="kb14:41_NtXJu_1G" resolve="SCN_CEM_UR_04" />
         </node>
       </node>
       <node concept="2iDXIW" id="2rSUIGXuVZW" role="0nOlf">
         <node concept="DABN8" id="2rSUIGXuVZX" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$U7zXF" />
+          <ref role="DABNb" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
         <node concept="DABN8" id="2rSUIGXuVZY" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYGOc" />
+          <ref role="DABNb" to="u9yl:_wUu$TYGOc" resolve="Collision at high speed with VRU" />
         </node>
         <node concept="DABN8" id="2rSUIGXuVZZ" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYGOm" />
+          <ref role="DABNb" to="u9yl:_wUu$TYGOm" resolve="Collision at low speed with VRU" />
         </node>
       </node>
       <node concept="19SGf9" id="2rSUIGXuW00" role="1QQeG9">
@@ -551,7 +551,7 @@
       </node>
       <node concept="2iDXIW" id="41_NtXJr_L6" role="0nOlf">
         <node concept="DABN8" id="41_NtXJr_L7" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$U7zXF" />
+          <ref role="DABNb" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
       </node>
       <node concept="19SGf9" id="41_NtXJr_L8" role="1QQeG9">
@@ -565,7 +565,7 @@
       <property role="0ke_I" value="daniel" />
       <node concept="J2em_" id="41_NtXJr_KI" role="2FklKs">
         <node concept="J2er1" id="41_NtXJuH0j" role="J20Ki">
-          <ref role="J2er0" to="kb14:41_NtXJriry" />
+          <ref role="J2er0" to="kb14:41_NtXJriry" resolve="SCN_CEM_HW_02" />
         </node>
       </node>
       <node concept="KAwnT" id="41_NtXJtxqr" role="2FklKs">
@@ -575,7 +575,7 @@
       </node>
       <node concept="2iDXIW" id="41_NtXJr_KK" role="0nOlf">
         <node concept="DABN8" id="41_NtXJr_KL" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$U7zXF" />
+          <ref role="DABNb" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
       </node>
       <node concept="19SGf9" id="41_NtXJr_KM" role="1QQeG9">
@@ -589,7 +589,7 @@
       <property role="0ke_I" value="daniel" />
       <node concept="J2em_" id="41_NtXJu$r5" role="2FklKs">
         <node concept="J2er1" id="41_NtXJu$r6" role="J20Ki">
-          <ref role="J2er0" to="kb14:41_NtXJrisY" />
+          <ref role="J2er0" to="kb14:41_NtXJrisY" resolve="SCN_CEM_HW_03" />
         </node>
       </node>
       <node concept="KAwnT" id="41_NtXJu$r7" role="2FklKs">
@@ -599,7 +599,7 @@
       </node>
       <node concept="2iDXIW" id="41_NtXJu$r9" role="0nOlf">
         <node concept="DABN8" id="41_NtXJu$ra" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$U7zXF" />
+          <ref role="DABNb" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
       </node>
       <node concept="19SGf9" id="41_NtXJu$rb" role="1QQeG9">
@@ -613,7 +613,7 @@
       <property role="0ke_I" value="daniel" />
       <node concept="J2em_" id="41_NtXJr_KQ" role="2FklKs">
         <node concept="J2er1" id="41_NtXJr_KR" role="J20Ki">
-          <ref role="J2er0" to="kb14:41_NtXJriuY" />
+          <ref role="J2er0" to="kb14:41_NtXJriuY" resolve="SCN_CEM_HW_04" />
         </node>
       </node>
       <node concept="KAwnT" id="41_NtXJu_d5" role="2FklKs">
@@ -623,7 +623,7 @@
       </node>
       <node concept="2iDXIW" id="41_NtXJr_KS" role="0nOlf">
         <node concept="DABN8" id="41_NtXJr_KT" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$U7zXF" />
+          <ref role="DABNb" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
       </node>
       <node concept="19SGf9" id="41_NtXJr_KU" role="1QQeG9">
@@ -637,7 +637,7 @@
       <property role="0ke_I" value="daniel" />
       <node concept="J2em_" id="41_NtXJr_KY" role="2FklKs">
         <node concept="J2er1" id="41_NtXJr_KZ" role="J20Ki">
-          <ref role="J2er0" to="kb14:41_NtXJriwe" />
+          <ref role="J2er0" to="kb14:41_NtXJriwe" resolve="SCN_CEM_HW_05" />
         </node>
       </node>
       <node concept="KAwnT" id="41_NtXJuHhS" role="2FklKs">
@@ -647,7 +647,7 @@
       </node>
       <node concept="2iDXIW" id="41_NtXJr_L0" role="0nOlf">
         <node concept="DABN8" id="41_NtXJr_L1" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$U7zXF" />
+          <ref role="DABNb" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
       </node>
       <node concept="19SGf9" id="41_NtXJr_L2" role="1QQeG9">
@@ -670,7 +670,7 @@
       </node>
       <node concept="2iDXIW" id="2rSUIGXuW4F" role="0nOlf">
         <node concept="DABN8" id="2rSUIGXuW4G" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$U7zXF" />
+          <ref role="DABNb" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
       </node>
     </node>
@@ -684,7 +684,7 @@
       </node>
       <node concept="2iDXIW" id="41_NtXJu_fu" role="0nOlf">
         <node concept="DABN8" id="41_NtXJu_fH" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$U7zXF" />
+          <ref role="DABNb" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
       </node>
     </node>
@@ -698,7 +698,7 @@
       </node>
       <node concept="2iDXIW" id="2rSUIGXuW2X" role="0nOlf">
         <node concept="DABN8" id="2rSUIGXuW2Y" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$U7zXF" />
+          <ref role="DABNb" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
       </node>
     </node>
@@ -712,7 +712,7 @@
       </node>
       <node concept="2iDXIW" id="41_NtXJu_f$" role="0nOlf">
         <node concept="DABN8" id="41_NtXJu_fJ" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$U7zXF" />
+          <ref role="DABNb" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
       </node>
     </node>
@@ -726,7 +726,7 @@
       </node>
       <node concept="2iDXIW" id="2rSUIGXuW3r" role="0nOlf">
         <node concept="DABN8" id="2rSUIGXuW3s" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$U7zXF" />
+          <ref role="DABNb" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
       </node>
     </node>
@@ -740,7 +740,7 @@
       </node>
       <node concept="2iDXIW" id="41_NtXJuHeY" role="0nOlf">
         <node concept="DABN8" id="41_NtXJuHeZ" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$U7zXF" />
+          <ref role="DABNb" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
       </node>
     </node>
@@ -758,7 +758,7 @@
       </node>
       <node concept="2iDXIW" id="41_NtXJuH0x" role="0nOlf">
         <node concept="DABN8" id="41_NtXJuH0y" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$U7zXF" />
+          <ref role="DABNb" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
       </node>
       <node concept="19SGf9" id="41_NtXJuH0z" role="1QQeG9">
@@ -778,7 +778,7 @@
       </node>
       <node concept="2iDXIW" id="41_NtXJuHjW" role="0nOlf">
         <node concept="DABN8" id="41_NtXJuHjX" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$U7zXF" />
+          <ref role="DABNb" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
       </node>
       <node concept="19SGf9" id="41_NtXJuHjY" role="1QQeG9">
@@ -798,7 +798,7 @@
       </node>
       <node concept="2iDXIW" id="41_NtXJuHXi" role="0nOlf">
         <node concept="DABN8" id="41_NtXJuHXj" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$U7zXF" />
+          <ref role="DABNb" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
       </node>
       <node concept="19SGf9" id="41_NtXJuHXk" role="1QQeG9">
@@ -853,7 +853,7 @@
       </node>
       <node concept="2iDXIW" id="41_NtXJuHYN" role="0nOlf">
         <node concept="DABN8" id="41_NtXJuHYQ" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$U7zXF" />
+          <ref role="DABNb" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
       </node>
       <node concept="KAwnT" id="41_NtXJuHXN" role="2FklKs">
@@ -872,15 +872,15 @@
       </node>
       <node concept="2iDXIW" id="2rSUIGXuWe5" role="0nOlf">
         <node concept="DABN8" id="2rSUIGXuWe6" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$U7zXF" />
+          <ref role="DABNb" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
       </node>
       <node concept="J05Ou" id="2rSUIGXvl6D" role="2FklKs">
         <node concept="rwM_8" id="2rSUIGXvl6N" role="rwM$5">
-          <ref role="rwM_f" to="u9yl:_wUu$TYGP9" />
+          <ref role="rwM_f" to="u9yl:_wUu$TYGP9" resolve="UCA_PER_OBST_DET_01" />
         </node>
         <node concept="rwM_8" id="2rSUIGXvl6O" role="rwM$5">
-          <ref role="rwM_f" to="u9yl:_wUu$TYGP4" />
+          <ref role="rwM_f" to="u9yl:_wUu$TYGP4" resolve="UCA_PER_TRACKING_01" />
         </node>
       </node>
     </node>
@@ -897,13 +897,13 @@
       </node>
       <node concept="2iDXIW" id="2rSUIGXuVYN" role="0nOlf">
         <node concept="DABN8" id="2rSUIGXuVYO" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$U7zXF" />
+          <ref role="DABNb" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
         <node concept="DABN8" id="2rSUIGXuVYP" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYGOc" />
+          <ref role="DABNb" to="u9yl:_wUu$TYGOc" resolve="Collision at high speed with VRU" />
         </node>
         <node concept="DABN8" id="2rSUIGXuVYQ" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYGOm" />
+          <ref role="DABNb" to="u9yl:_wUu$TYGOm" resolve="Collision at low speed with VRU" />
         </node>
       </node>
       <node concept="19SGf9" id="2rSUIGXuVYR" role="1QQeG9">
@@ -922,13 +922,13 @@
       </node>
       <node concept="2iDXIW" id="2rSUIGXuW0A" role="0nOlf">
         <node concept="DABN8" id="2rSUIGXuW0B" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$U7zXF" />
+          <ref role="DABNb" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
         <node concept="DABN8" id="2rSUIGXuW0C" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYGOc" />
+          <ref role="DABNb" to="u9yl:_wUu$TYGOc" resolve="Collision at high speed with VRU" />
         </node>
         <node concept="DABN8" id="2rSUIGXuW0D" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYGOm" />
+          <ref role="DABNb" to="u9yl:_wUu$TYGOm" resolve="Collision at low speed with VRU" />
         </node>
       </node>
       <node concept="19SGf9" id="2rSUIGXuW0E" role="1QQeG9">
@@ -947,13 +947,13 @@
       </node>
       <node concept="2iDXIW" id="2rSUIGXuW45" role="0nOlf">
         <node concept="DABN8" id="2rSUIGXuW46" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$U7zXF" />
+          <ref role="DABNb" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
         <node concept="DABN8" id="2rSUIGXuW47" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYGOc" />
+          <ref role="DABNb" to="u9yl:_wUu$TYGOc" resolve="Collision at high speed with VRU" />
         </node>
         <node concept="DABN8" id="2rSUIGXuW48" role="DABNk">
-          <ref role="DABNb" to="u9yl:_wUu$TYGOm" />
+          <ref role="DABNb" to="u9yl:_wUu$TYGOm" resolve="Collision at low speed with VRU" />
         </node>
       </node>
       <node concept="19SGf9" id="2rSUIGXuW49" role="1QQeG9">
diff --git a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._030_adas._020_automated_evasion_maneuver._050_architecture.mps b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._030_adas._020_automated_evasion_maneuver._050_architecture.mps
index b53529ea7..a12e59415 100644
--- a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._030_adas._020_automated_evasion_maneuver._050_architecture.mps
+++ b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._030_adas._020_automated_evasion_maneuver._050_architecture.mps
@@ -326,19 +326,19 @@
       <node concept="1s31WS" id="5tEenuYOKgG" role="1s31w6">
         <property role="TrG5h" value="current_objects" />
         <node concept="1s31w3" id="5tEenuYOKh6" role="1s31WO">
-          <ref role="1s31w2" node="5tEenuYOKaa" />
+          <ref role="1s31w2" node="5tEenuYOKaa" resolve="ObjectsList" />
         </node>
       </node>
       <node concept="1s31WS" id="5tEenuYOKhe" role="1s31w6">
         <property role="TrG5h" value="objects_in_1s" />
         <node concept="1s31w3" id="5tEenuYOKhf" role="1s31WO">
-          <ref role="1s31w2" node="5tEenuYOKaa" />
+          <ref role="1s31w2" node="5tEenuYOKaa" resolve="ObjectsList" />
         </node>
       </node>
       <node concept="1s31WS" id="5tEenuYOKhu" role="1s31w6">
         <property role="TrG5h" value="objects_in_2s" />
         <node concept="1s31w3" id="5tEenuYOKhv" role="1s31WO">
-          <ref role="1s31w2" node="5tEenuYOKaa" />
+          <ref role="1s31w2" node="5tEenuYOKaa" resolve="ObjectsList" />
         </node>
       </node>
     </node>
@@ -399,67 +399,67 @@
       <node concept="3UnI9n" id="5tEenuYOKdk" role="3UnI90">
         <property role="TrG5h" value="objects_list" />
         <node concept="1s31w3" id="5tEenuYOKdP" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOKaa" />
+          <ref role="1s31w2" node="5tEenuYOKaa" resolve="ObjectsList" />
         </node>
       </node>
       <node concept="3UnI9n" id="5tEenuYOKkE" role="3UnI90">
         <property role="TrG5h" value="performance" />
         <node concept="2XJXdx" id="5tEenuYOKok" role="3UnI80">
-          <ref role="2XJXdw" node="5tEenuYOKn5" />
+          <ref role="2XJXdw" node="5tEenuYOKn5" resolve="ConfidenceLevel" />
         </node>
       </node>
       <node concept="3UnI9n" id="41_NtXJuEhM" role="3UnI90">
         <property role="TrG5h" value="localization" />
         <node concept="1s31w3" id="41_NtXJuEzW" role="3UnI80">
-          <ref role="1s31w2" node="41_NtXJuEqK" />
+          <ref role="1s31w2" node="41_NtXJuEqK" resolve="LocalizationInfo" />
         </node>
       </node>
       <node concept="3UnI9n" id="41_NtXJvtlU" role="3UnI90">
         <property role="TrG5h" value="lane_markings" />
         <node concept="1s31w3" id="41_NtXJvtmz" role="3UnI80">
-          <ref role="1s31w2" node="41_NtXJvtck" />
+          <ref role="1s31w2" node="41_NtXJvtck" resolve="LaneMarkingsInfo" />
         </node>
       </node>
       <node concept="3UnI81" id="5tEenuYOJXW" role="3UnI9m">
         <property role="TrG5h" value="front_camera_data" />
         <node concept="1s31w3" id="5tEenuYOJYC" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOJYp" />
+          <ref role="1s31w2" node="5tEenuYOJYp" resolve="CameraData" />
         </node>
       </node>
       <node concept="3UnI81" id="5tEenuYOJYK" role="3UnI9m">
         <property role="TrG5h" value="rear_camera_data" />
         <node concept="1s31w3" id="5tEenuYOJYL" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOJYp" />
+          <ref role="1s31w2" node="5tEenuYOJYp" resolve="CameraData" />
         </node>
       </node>
       <node concept="3UnI81" id="5tEenuYOJYV" role="3UnI9m">
         <property role="TrG5h" value="left_camera_data" />
         <node concept="1s31w3" id="5tEenuYOJYW" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOJYp" />
+          <ref role="1s31w2" node="5tEenuYOJYp" resolve="CameraData" />
         </node>
       </node>
       <node concept="3UnI81" id="5tEenuYOJZ8" role="3UnI9m">
         <property role="TrG5h" value="right_camera_data" />
         <node concept="1s31w3" id="5tEenuYOJZ9" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOJYp" />
+          <ref role="1s31w2" node="5tEenuYOJYp" resolve="CameraData" />
         </node>
       </node>
       <node concept="3UnI81" id="5tEenuYOJZn" role="3UnI9m">
         <property role="TrG5h" value="front_lidar_data" />
         <node concept="1s31w3" id="5tEenuYOK1I" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOK17" />
+          <ref role="1s31w2" node="5tEenuYOK17" resolve="LidarData" />
         </node>
       </node>
       <node concept="3UnI81" id="5tEenuYOK1Q" role="3UnI9m">
         <property role="TrG5h" value="front_radar_data" />
         <node concept="1s31w3" id="5tEenuYOK45" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOK3l" />
+          <ref role="1s31w2" node="5tEenuYOK3l" resolve="RadarData" />
         </node>
       </node>
       <node concept="3UnI81" id="5tEenuYOK29" role="3UnI9m">
         <property role="TrG5h" value="rear_radar_data" />
         <node concept="1s31w3" id="5tEenuYOK4i" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOK3l" />
+          <ref role="1s31w2" node="5tEenuYOK3l" resolve="RadarData" />
         </node>
       </node>
     </node>
@@ -469,13 +469,13 @@
       <node concept="3UnI9n" id="5tEenuYOKfy" role="3UnI90">
         <property role="TrG5h" value="predicted_objects" />
         <node concept="1s31w3" id="5tEenuYOKg$" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOKen" />
+          <ref role="1s31w2" node="5tEenuYOKen" resolve="ObjectsPrediction" />
         </node>
       </node>
       <node concept="3UnI81" id="5tEenuYOKaU" role="3UnI9m">
         <property role="TrG5h" value="objects_list" />
         <node concept="1s31w3" id="5tEenuYOKef" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOKaa" />
+          <ref role="1s31w2" node="5tEenuYOKaa" resolve="ObjectsList" />
         </node>
       </node>
     </node>
@@ -485,7 +485,7 @@
       <node concept="3UnI9n" id="5tEenuYOKWR" role="3UnI90">
         <property role="TrG5h" value="trajectory" />
         <node concept="1s31w3" id="5tEenuYOL39" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOKZb" />
+          <ref role="1s31w2" node="5tEenuYOKZb" resolve="Trajectory" />
         </node>
       </node>
       <node concept="3UnI9n" id="41_NtXJuFOI" role="3UnI90">
@@ -495,43 +495,43 @@
       <node concept="3UnI81" id="5tEenuYOK79" role="3UnI9m">
         <property role="TrG5h" value="driver_monitoring_data" />
         <node concept="1s31w3" id="5tEenuYOK7a" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOK4L" />
+          <ref role="1s31w2" node="5tEenuYOK4L" resolve="DriverMonitoringData" />
         </node>
       </node>
       <node concept="3UnI81" id="5tEenuYOL_9" role="3UnI9m">
         <property role="TrG5h" value="predicted_objects" />
         <node concept="1s31w3" id="5tEenuYOLA0" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOKen" />
+          <ref role="1s31w2" node="5tEenuYOKen" resolve="ObjectsPrediction" />
         </node>
       </node>
       <node concept="3UnI81" id="5tEenuYOM4D" role="3UnI9m">
         <property role="TrG5h" value="perception_confidence" />
         <node concept="2XJXdx" id="5tEenuYOM5V" role="3UnI80">
-          <ref role="2XJXdw" node="5tEenuYOKn5" />
+          <ref role="2XJXdw" node="5tEenuYOKn5" resolve="ConfidenceLevel" />
         </node>
       </node>
       <node concept="3UnI81" id="5tEenuYOM63" role="3UnI9m">
         <property role="TrG5h" value="ego_state" />
         <node concept="1s31w3" id="5tEenuYOM8Q" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOM7P" />
+          <ref role="1s31w2" node="5tEenuYOM7P" resolve="VehicleData" />
         </node>
       </node>
       <node concept="3UnI81" id="41_NtXJuAbF" role="3UnI9m">
         <property role="TrG5h" value="road_info" />
         <node concept="1s31w3" id="41_NtXJuAcp" role="3UnI80">
-          <ref role="1s31w2" node="41_NtXJuA5S" />
+          <ref role="1s31w2" node="41_NtXJuA5S" resolve="RoadInfo" />
         </node>
       </node>
       <node concept="3UnI81" id="41_NtXJuE$J" role="3UnI9m">
         <property role="TrG5h" value="localization" />
         <node concept="1s31w3" id="41_NtXJuE_r" role="3UnI80">
-          <ref role="1s31w2" node="41_NtXJuEqK" />
+          <ref role="1s31w2" node="41_NtXJuEqK" resolve="LocalizationInfo" />
         </node>
       </node>
       <node concept="3UnI81" id="41_NtXJvtmF" role="3UnI9m">
         <property role="TrG5h" value="lane_markings_info" />
         <node concept="1s31w3" id="41_NtXJvtnD" role="3UnI80">
-          <ref role="1s31w2" node="41_NtXJvtck" />
+          <ref role="1s31w2" node="41_NtXJvtck" resolve="LaneMarkingsInfo" />
         </node>
       </node>
     </node>
@@ -541,13 +541,13 @@
       <node concept="3UnI9n" id="5tEenuYOLja" role="3UnI90">
         <property role="TrG5h" value="cmds" />
         <node concept="1s31w3" id="5tEenuYOLjz" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOL9T" />
+          <ref role="1s31w2" node="5tEenuYOL9T" resolve="SteeringAccelCmds" />
         </node>
       </node>
       <node concept="3UnI81" id="5tEenuYOL95" role="3UnI9m">
         <property role="TrG5h" value="trajectory" />
         <node concept="1s31w3" id="5tEenuYOL9L" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOKZb" />
+          <ref role="1s31w2" node="5tEenuYOKZb" resolve="Trajectory" />
         </node>
       </node>
     </node>
@@ -557,7 +557,7 @@
       <node concept="3UnI81" id="_wUu$U1lHQ" role="3UnI9m">
         <property role="TrG5h" value="cmds" />
         <node concept="1s31w3" id="_wUu$U1lIc" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOL9T" />
+          <ref role="1s31w2" node="5tEenuYOL9T" resolve="SteeringAccelCmds" />
         </node>
       </node>
     </node>
@@ -567,7 +567,7 @@
       <node concept="3UnI81" id="_wUu$U1lKl" role="3UnI9m">
         <property role="TrG5h" value="plannedCMDS" />
         <node concept="1s31w3" id="_wUu$U1lKV" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOL9T" />
+          <ref role="1s31w2" node="5tEenuYOL9T" resolve="SteeringAccelCmds" />
         </node>
       </node>
       <node concept="3UnI81" id="_wUu$Ub$it" role="3UnI9m">
@@ -577,7 +577,7 @@
       <node concept="3UnI9n" id="_wUu$U1lJQ" role="3UnI90">
         <property role="TrG5h" value="cmds" />
         <node concept="1s31w3" id="_wUu$U1lKd" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOL9T" />
+          <ref role="1s31w2" node="5tEenuYOL9T" resolve="SteeringAccelCmds" />
         </node>
       </node>
     </node>
@@ -603,81 +603,81 @@
       <node concept="3UnI81" id="5tEenuYOM86" role="3UnI9m">
         <property role="TrG5h" value="ego_state" />
         <node concept="1s31w3" id="5tEenuYOM8A" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOM7P" />
+          <ref role="1s31w2" node="5tEenuYOM7P" resolve="VehicleData" />
         </node>
       </node>
       <node concept="3Ug1AV" id="5tEenuYOKAC" role="3UgYNK">
         <property role="TrG5h" value="front_camera" />
         <node concept="3Ug1AZ" id="5tEenuYOKAB" role="3Ug1A_">
-          <ref role="3Ug1AY" node="5tEenuYOKtg" />
+          <ref role="3Ug1AY" node="5tEenuYOKtg" resolve="Camera" />
         </node>
       </node>
       <node concept="3Ug1AV" id="5tEenuYOKBX" role="3UgYNK">
         <property role="TrG5h" value="rear_camera" />
         <node concept="3Ug1AZ" id="5tEenuYOKBV" role="3Ug1A_">
-          <ref role="3Ug1AY" node="5tEenuYOKtg" />
+          <ref role="3Ug1AY" node="5tEenuYOKtg" resolve="Camera" />
         </node>
       </node>
       <node concept="3Ug1AV" id="5tEenuYOKCg" role="3UgYNK">
         <property role="TrG5h" value="left_camera" />
         <node concept="3Ug1AZ" id="5tEenuYOKCe" role="3Ug1A_">
-          <ref role="3Ug1AY" node="5tEenuYOKtg" />
+          <ref role="3Ug1AY" node="5tEenuYOKtg" resolve="Camera" />
         </node>
       </node>
       <node concept="3Ug1AV" id="5tEenuYOKCB" role="3UgYNK">
         <property role="TrG5h" value="right_camera" />
         <node concept="3Ug1AZ" id="5tEenuYOKC_" role="3Ug1A_">
-          <ref role="3Ug1AY" node="5tEenuYOKtg" />
+          <ref role="3Ug1AY" node="5tEenuYOKtg" resolve="Camera" />
         </node>
       </node>
       <node concept="3Ug1AV" id="5tEenuYOKD2" role="3UgYNK">
         <property role="TrG5h" value="front_lidar" />
         <node concept="3Ug1AZ" id="5tEenuYOKD0" role="3Ug1A_">
-          <ref role="3Ug1AY" node="5tEenuYOKxH" />
+          <ref role="3Ug1AY" node="5tEenuYOKxH" resolve="Lidar" />
         </node>
       </node>
       <node concept="3Ug1AV" id="5tEenuYOKDW" role="3UgYNK">
         <property role="TrG5h" value="front_radar" />
         <node concept="3Ug1AZ" id="5tEenuYOKDU" role="3Ug1A_">
-          <ref role="3Ug1AY" node="5tEenuYOKze" />
+          <ref role="3Ug1AY" node="5tEenuYOKze" resolve="Radar" />
         </node>
       </node>
       <node concept="3Ug1AV" id="5tEenuYOKEC" role="3UgYNK">
         <property role="TrG5h" value="rear_radar" />
         <node concept="3Ug1AZ" id="5tEenuYOKEA" role="3Ug1A_">
-          <ref role="3Ug1AY" node="5tEenuYOKze" />
+          <ref role="3Ug1AY" node="5tEenuYOKze" resolve="Radar" />
         </node>
       </node>
       <node concept="3Ug1AV" id="5tEenuYOLPU" role="3UgYNK">
         <property role="TrG5h" value="driver_monitor" />
         <node concept="3Ug1AZ" id="5tEenuYOLPS" role="3Ug1A_">
-          <ref role="3Ug1AY" node="5tEenuYOLHL" />
+          <ref role="3Ug1AY" node="5tEenuYOLHL" resolve="DriverMonitor" />
         </node>
       </node>
       <node concept="3Ug1AV" id="41_NtXJuA9q" role="3UgYNK">
         <property role="TrG5h" value="backend_computer" />
         <node concept="3Ug1AZ" id="41_NtXJuA9o" role="3Ug1A_">
-          <ref role="3Ug1AY" node="41_NtXJuA5D" />
+          <ref role="3Ug1AY" node="41_NtXJuA5D" resolve="BackendComputer" />
         </node>
       </node>
       <node concept="3UgYNU" id="5tEenuYOKFo" role="3UgYNK" />
       <node concept="3Ug1AV" id="5tEenuYOLZX" role="3UgYNK">
         <property role="TrG5h" value="motion_control" />
         <node concept="3Ug1AZ" id="5tEenuYOLZV" role="3Ug1A_">
-          <ref role="3Ug1AY" node="5tEenuYOL78" />
+          <ref role="3Ug1AY" node="5tEenuYOL78" resolve="MotionControl" />
         </node>
       </node>
       <node concept="3Ug1AV" id="_wUu$U1lIn" role="3UgYNK">
         <property role="TrG5h" value="vehicle_platform" />
         <node concept="3Ug1AZ" id="_wUu$U1lIl" role="3Ug1A_">
-          <ref role="3Ug1AY" node="_wUu$U1lHO" />
+          <ref role="3Ug1AY" node="_wUu$U1lHO" resolve="VehiclePlatform" />
         </node>
       </node>
       <node concept="3UgYNU" id="5tEenuYOLOJ" role="3UgYNK" />
       <node concept="3Ug1AV" id="41_NtXJuAI9" role="3UgYNK">
         <property role="TrG5h" value="complementaryChannel" />
         <node concept="3Ug1AZ" id="41_NtXJuAIa" role="3Ug1A_">
-          <ref role="3Ug1AY" node="_wUu$UbzVh" />
+          <ref role="3Ug1AY" node="_wUu$UbzVh" resolve="ComplementaryADS" />
         </node>
         <node concept="N8ley" id="41_NtXJuAIb" role="Nnt9r">
           <node concept="KAwnX" id="41_NtXJuAIc" role="N8j5Z">
@@ -687,85 +687,85 @@
       </node>
       <node concept="3Ug1$w" id="41_NtXJuAId" role="3UgYNK">
         <node concept="3Ug1GC" id="41_NtXJuAIe" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="5tEenuYOKv2" />
+          <ref role="3Ug1Ha" node="5tEenuYOKv2" resolve="camera_data" />
           <node concept="3Ug1GJ" id="41_NtXJuAIf" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKAC" />
+            <ref role="3Ug1GI" node="5tEenuYOKAC" resolve="front_camera" />
           </node>
         </node>
         <node concept="3Ug1GC" id="41_NtXJuAIg" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="_wUu$UbzWt" />
+          <ref role="3Ug1Ha" node="_wUu$UbzWt" resolve="frontCamera" />
           <node concept="3Ug1GJ" id="41_NtXJuAIh" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuAI9" />
+            <ref role="3Ug1GI" node="41_NtXJuAI9" resolve="complementaryChannel" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJuAIi" role="3UgYNK">
         <node concept="3Ug1GC" id="41_NtXJuAIj" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="5tEenuYOKv2" />
+          <ref role="3Ug1Ha" node="5tEenuYOKv2" resolve="camera_data" />
           <node concept="3Ug1GJ" id="41_NtXJuAIk" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKBX" />
+            <ref role="3Ug1GI" node="5tEenuYOKBX" resolve="rear_camera" />
           </node>
         </node>
         <node concept="3Ug1GC" id="41_NtXJuAIl" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="_wUu$UbzX2" />
+          <ref role="3Ug1Ha" node="_wUu$UbzX2" resolve="backCamera" />
           <node concept="3Ug1GJ" id="41_NtXJuAIm" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuAI9" />
+            <ref role="3Ug1GI" node="41_NtXJuAI9" resolve="complementaryChannel" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJuAIn" role="3UgYNK">
         <node concept="3Ug1GC" id="41_NtXJuAIo" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="5tEenuYOKv2" />
+          <ref role="3Ug1Ha" node="5tEenuYOKv2" resolve="camera_data" />
           <node concept="3Ug1GJ" id="41_NtXJuAIp" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKCg" />
+            <ref role="3Ug1GI" node="5tEenuYOKCg" resolve="left_camera" />
           </node>
         </node>
         <node concept="3Ug1GC" id="41_NtXJuAIq" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="_wUu$UbzXB" />
+          <ref role="3Ug1Ha" node="_wUu$UbzXB" resolve="leftCamera" />
           <node concept="3Ug1GJ" id="41_NtXJuAIr" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuAI9" />
+            <ref role="3Ug1GI" node="41_NtXJuAI9" resolve="complementaryChannel" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJuAIs" role="3UgYNK">
         <node concept="3Ug1GC" id="41_NtXJuAIt" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="5tEenuYOKv2" />
+          <ref role="3Ug1Ha" node="5tEenuYOKv2" resolve="camera_data" />
           <node concept="3Ug1GJ" id="41_NtXJuAIu" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKCB" />
+            <ref role="3Ug1GI" node="5tEenuYOKCB" resolve="right_camera" />
           </node>
         </node>
         <node concept="3Ug1GC" id="41_NtXJuAIv" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="_wUu$UbzYc" />
+          <ref role="3Ug1Ha" node="_wUu$UbzYc" resolve="rightCamera" />
           <node concept="3Ug1GJ" id="41_NtXJuAIw" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuAI9" />
+            <ref role="3Ug1GI" node="41_NtXJuAI9" resolve="complementaryChannel" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJuAIx" role="3UgYNK">
         <node concept="3Ug1GC" id="41_NtXJuAIy" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="5tEenuYOKzf" />
+          <ref role="3Ug1Ha" node="5tEenuYOKzf" resolve="radar_data" />
           <node concept="3Ug1GJ" id="41_NtXJuAIz" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKDW" />
+            <ref role="3Ug1GI" node="5tEenuYOKDW" resolve="front_radar" />
           </node>
         </node>
         <node concept="3Ug1GC" id="41_NtXJuAI$" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="_wUu$UbzVj" />
+          <ref role="3Ug1Ha" node="_wUu$UbzVj" resolve="frontRadar" />
           <node concept="3Ug1GJ" id="41_NtXJuAI_" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuAI9" />
+            <ref role="3Ug1GI" node="41_NtXJuAI9" resolve="complementaryChannel" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJuAIA" role="3UgYNK">
         <node concept="3Ug1GC" id="41_NtXJuAIB" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="5tEenuYOKzf" />
+          <ref role="3Ug1Ha" node="5tEenuYOKzf" resolve="radar_data" />
           <node concept="3Ug1GJ" id="41_NtXJuAIC" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKEC" />
+            <ref role="3Ug1GI" node="5tEenuYOKEC" resolve="rear_radar" />
           </node>
         </node>
         <node concept="3Ug1GC" id="41_NtXJuAID" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="_wUu$UbzWc" />
+          <ref role="3Ug1Ha" node="_wUu$UbzWc" resolve="backRadar" />
           <node concept="3Ug1GJ" id="41_NtXJuAIE" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuAI9" />
+            <ref role="3Ug1GI" node="41_NtXJuAI9" resolve="complementaryChannel" />
           </node>
         </node>
       </node>
@@ -773,129 +773,129 @@
       <node concept="3Ug1AV" id="41_NtXJuC2R" role="3UgYNK">
         <property role="TrG5h" value="missionChannel" />
         <node concept="3Ug1AZ" id="41_NtXJuC2P" role="3Ug1A_">
-          <ref role="3Ug1AY" node="41_NtXJuBcp" />
+          <ref role="3Ug1AY" node="41_NtXJuBcp" resolve="ADSMissionChannel" />
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJuC4B" role="3UgYNK">
         <node concept="3Ug1GC" id="41_NtXJuC4C" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="5tEenuYOKv2" />
+          <ref role="3Ug1Ha" node="5tEenuYOKv2" resolve="camera_data" />
           <node concept="3Ug1GJ" id="41_NtXJuC4D" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKAC" />
+            <ref role="3Ug1GI" node="5tEenuYOKAC" resolve="front_camera" />
           </node>
         </node>
         <node concept="3Ug1GC" id="41_NtXJuC4E" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJuBcQ" />
+          <ref role="3Ug1Ha" node="41_NtXJuBcQ" resolve="front_camera_data" />
           <node concept="3Ug1GJ" id="41_NtXJuC7W" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuC2R" />
+            <ref role="3Ug1GI" node="41_NtXJuC2R" resolve="missionChannel" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJuC4G" role="3UgYNK">
         <node concept="3Ug1GC" id="41_NtXJuC4H" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="5tEenuYOKv2" />
+          <ref role="3Ug1Ha" node="5tEenuYOKv2" resolve="camera_data" />
           <node concept="3Ug1GJ" id="41_NtXJuC4I" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKBX" />
+            <ref role="3Ug1GI" node="5tEenuYOKBX" resolve="rear_camera" />
           </node>
         </node>
         <node concept="3Ug1GC" id="41_NtXJuC4J" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJuBcS" />
+          <ref role="3Ug1Ha" node="41_NtXJuBcS" resolve="rear_camera_data" />
           <node concept="3Ug1GJ" id="41_NtXJuC8D" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuC2R" />
+            <ref role="3Ug1GI" node="41_NtXJuC2R" resolve="missionChannel" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJuC4L" role="3UgYNK">
         <node concept="3Ug1GC" id="41_NtXJuC4M" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="5tEenuYOKv2" />
+          <ref role="3Ug1Ha" node="5tEenuYOKv2" resolve="camera_data" />
           <node concept="3Ug1GJ" id="41_NtXJuC4N" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKCg" />
+            <ref role="3Ug1GI" node="5tEenuYOKCg" resolve="left_camera" />
           </node>
         </node>
         <node concept="3Ug1GC" id="41_NtXJuC4O" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJuBcU" />
+          <ref role="3Ug1Ha" node="41_NtXJuBcU" resolve="left_camera_data" />
           <node concept="3Ug1GJ" id="41_NtXJuC9k" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuC2R" />
+            <ref role="3Ug1GI" node="41_NtXJuC2R" resolve="missionChannel" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJuC4Q" role="3UgYNK">
         <node concept="3Ug1GC" id="41_NtXJuC4R" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="5tEenuYOKv2" />
+          <ref role="3Ug1Ha" node="5tEenuYOKv2" resolve="camera_data" />
           <node concept="3Ug1GJ" id="41_NtXJuC4S" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKCB" />
+            <ref role="3Ug1GI" node="5tEenuYOKCB" resolve="right_camera" />
           </node>
         </node>
         <node concept="3Ug1GC" id="41_NtXJuC4T" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJuBcW" />
+          <ref role="3Ug1Ha" node="41_NtXJuBcW" resolve="right_camera_data" />
           <node concept="3Ug1GJ" id="41_NtXJuC9X" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuC2R" />
+            <ref role="3Ug1GI" node="41_NtXJuC2R" resolve="missionChannel" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJuC4V" role="3UgYNK">
         <node concept="3Ug1GC" id="41_NtXJuC4W" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="5tEenuYOKzf" />
+          <ref role="3Ug1Ha" node="5tEenuYOKzf" resolve="radar_data" />
           <node concept="3Ug1GJ" id="41_NtXJuC4X" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKDW" />
+            <ref role="3Ug1GI" node="5tEenuYOKDW" resolve="front_radar" />
           </node>
         </node>
         <node concept="3Ug1GC" id="41_NtXJuC4Y" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJuBd0" />
+          <ref role="3Ug1Ha" node="41_NtXJuBd0" resolve="front_radar_data" />
           <node concept="3Ug1GJ" id="41_NtXJuCa$" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuC2R" />
+            <ref role="3Ug1GI" node="41_NtXJuC2R" resolve="missionChannel" />
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         </node>
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       <node concept="3Ug1$w" id="41_NtXJuC50" role="3UgYNK">
         <node concept="3Ug1GC" id="41_NtXJuC51" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="5tEenuYOKzf" />
+          <ref role="3Ug1Ha" node="5tEenuYOKzf" resolve="radar_data" />
           <node concept="3Ug1GJ" id="41_NtXJuC52" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKEC" />
+            <ref role="3Ug1GI" node="5tEenuYOKEC" resolve="rear_radar" />
           </node>
         </node>
         <node concept="3Ug1GC" id="41_NtXJuC53" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJuBd2" />
+          <ref role="3Ug1Ha" node="41_NtXJuBd2" resolve="rear_radar_data" />
           <node concept="3Ug1GJ" id="41_NtXJuCb9" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuC2R" />
+            <ref role="3Ug1GI" node="41_NtXJuC2R" resolve="missionChannel" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJuCgY" role="3UgYNK">
         <node concept="3Ug1GC" id="41_NtXJuCiW" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="5tEenuYOLNQ" />
+          <ref role="3Ug1Ha" node="5tEenuYOLNQ" resolve="driver_monitoring_data" />
           <node concept="3Ug1GJ" id="41_NtXJuCiV" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOLPU" />
+            <ref role="3Ug1GI" node="5tEenuYOLPU" resolve="driver_monitor" />
           </node>
         </node>
         <node concept="3Ug1GC" id="41_NtXJuCjb" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJuBd4" />
+          <ref role="3Ug1Ha" node="41_NtXJuBd4" resolve="driver_monitoring_data" />
           <node concept="3Ug1GJ" id="41_NtXJuCja" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuC2R" />
+            <ref role="3Ug1GI" node="41_NtXJuC2R" resolve="missionChannel" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJuClE" role="3UgYNK">
         <node concept="3Ug1Ap" id="41_NtXJuCnG" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="5tEenuYOM86" />
+          <ref role="3Ug1Ao" node="5tEenuYOM86" resolve="ego_state" />
         </node>
         <node concept="3Ug1GC" id="41_NtXJuCnM" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJuBd6" />
+          <ref role="3Ug1Ha" node="41_NtXJuBd6" resolve="ego_state" />
           <node concept="3Ug1GJ" id="41_NtXJuCnL" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuC2R" />
+            <ref role="3Ug1GI" node="41_NtXJuC2R" resolve="missionChannel" />
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       <node concept="3Ug1$w" id="41_NtXJuCql" role="3UgYNK">
         <node concept="3Ug1GC" id="41_NtXJuCss" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="41_NtXJuA6T" />
+          <ref role="3Ug1Ha" node="41_NtXJuA6T" resolve="road_info" />
           <node concept="3Ug1GJ" id="41_NtXJuCsr" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuA9q" />
+            <ref role="3Ug1GI" node="41_NtXJuA9q" resolve="backend_computer" />
           </node>
         </node>
         <node concept="3Ug1GC" id="41_NtXJuCsF" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJuBd8" />
+          <ref role="3Ug1Ha" node="41_NtXJuBd8" resolve="road_info" />
           <node concept="3Ug1GJ" id="41_NtXJuCsE" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuC2R" />
+            <ref role="3Ug1GI" node="41_NtXJuC2R" resolve="missionChannel" />
           </node>
         </node>
       </node>
@@ -2140,150 +2140,150 @@
       <node concept="3Ug1AV" id="_wUu$U1lL2" role="3UgYNK">
         <property role="TrG5h" value="driver_controls" />
         <node concept="3Ug1AZ" id="_wUu$U1lL3" role="3Ug1A_">
-          <ref role="3Ug1AY" node="_wUu$U1lJO" />
+          <ref role="3Ug1AY" node="_wUu$U1lJO" resolve="DriverControls" />
         </node>
       </node>
       <node concept="3Ug1$w" id="_wUu$U1lLf" role="3UgYNK">
         <property role="TrG5h" value="commands" />
         <node concept="3Ug1GC" id="_wUu$U1lLg" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="5tEenuYOLja" />
+          <ref role="3Ug1Ha" node="5tEenuYOLja" resolve="cmds" />
           <node concept="3Ug1GJ" id="_wUu$U1lLh" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOLZX" />
+            <ref role="3Ug1GI" node="5tEenuYOLZX" resolve="motion_control" />
           </node>
         </node>
         <node concept="3Ug1GC" id="_wUu$U1lLi" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="_wUu$U1lKl" />
+          <ref role="3Ug1Ha" node="_wUu$U1lKl" resolve="plannedCMDS" />
           <node concept="3Ug1GJ" id="_wUu$U1lLj" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$U1lL2" />
+            <ref role="3Ug1GI" node="_wUu$U1lL2" resolve="driver_controls" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="_wUu$U1lMh" role="3UgYNK">
         <property role="TrG5h" value="cmds" />
         <node concept="3Ug1GC" id="_wUu$U1lMi" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="_wUu$U1lJQ" />
+          <ref role="3Ug1Ha" node="_wUu$U1lJQ" resolve="cmds" />
           <node concept="3Ug1GJ" id="_wUu$U1lMj" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$U1lL2" />
+            <ref role="3Ug1GI" node="_wUu$U1lL2" resolve="driver_controls" />
           </node>
         </node>
         <node concept="3Ug1GC" id="_wUu$U1lMk" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="_wUu$U1lHQ" />
+          <ref role="3Ug1Ha" node="_wUu$U1lHQ" resolve="cmds" />
           <node concept="3Ug1GJ" id="_wUu$U1lMl" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$U1lIn" />
+            <ref role="3Ug1GI" node="_wUu$U1lIn" resolve="vehicle_platform" />
           </node>
         </node>
       </node>
       <node concept="3Ug1AV" id="_wUu$Ub$gJ" role="3UgYNK">
         <property role="TrG5h" value="sanityChecker" />
         <node concept="3Ug1AZ" id="_wUu$Ub$gK" role="3Ug1A_">
-          <ref role="3Ug1AY" node="_wUu$Ub$c3" />
+          <ref role="3Ug1AY" node="_wUu$Ub$c3" resolve="SanityChecker" />
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJuAUt" role="3UgYNK">
         <property role="TrG5h" value="short term safe region" />
         <node concept="3Ug1GC" id="41_NtXJuAUu" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="_wUu$UbzYZ" />
+          <ref role="3Ug1Ha" node="_wUu$UbzYZ" resolve="shortTermTrajectory" />
           <node concept="3Ug1GJ" id="41_NtXJuAUv" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuAI9" />
+            <ref role="3Ug1GI" node="41_NtXJuAI9" resolve="complementaryChannel" />
           </node>
         </node>
         <node concept="3Ug1GC" id="41_NtXJuAUw" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="_wUu$Ub$c6" />
+          <ref role="3Ug1Ha" node="_wUu$Ub$c6" resolve="shortTermTrajectories" />
           <node concept="3Ug1GJ" id="41_NtXJuAUx" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$Ub$gJ" />
+            <ref role="3Ug1GI" node="_wUu$Ub$gJ" resolve="sanityChecker" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="_wUu$Ub$i7" role="3UgYNK">
         <node concept="3Ug1GC" id="_wUu$Ub$i8" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="_wUu$Ub$eP" />
+          <ref role="3Ug1Ha" node="_wUu$Ub$eP" resolve="trajectory" />
           <node concept="3Ug1GJ" id="_wUu$Ub$i9" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$Ub$gJ" />
+            <ref role="3Ug1GI" node="_wUu$Ub$gJ" resolve="sanityChecker" />
           </node>
         </node>
         <node concept="3Ug1GC" id="_wUu$Ub$ia" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="5tEenuYOL95" />
+          <ref role="3Ug1Ha" node="5tEenuYOL95" resolve="trajectory" />
           <node concept="3Ug1GJ" id="_wUu$Ub$ib" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOLZX" />
+            <ref role="3Ug1GI" node="5tEenuYOLZX" resolve="motion_control" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJuC_F" role="3UgYNK">
         <property role="TrG5h" value="mission_trajectory" />
         <node concept="3Ug1GC" id="41_NtXJuC_G" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="41_NtXJuBeg" />
+          <ref role="3Ug1Ha" node="41_NtXJuBeg" resolve="trajectory" />
           <node concept="3Ug1GJ" id="41_NtXJuC_H" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuC2R" />
+            <ref role="3Ug1GI" node="41_NtXJuC2R" resolve="missionChannel" />
           </node>
         </node>
         <node concept="3Ug1GC" id="41_NtXJuC_I" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="_wUu$Ub$c8" />
+          <ref role="3Ug1Ha" node="_wUu$Ub$c8" resolve="longTermTrajectory" />
           <node concept="3Ug1GJ" id="41_NtXJuC_J" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$Ub$gJ" />
+            <ref role="3Ug1GI" node="_wUu$Ub$gJ" resolve="sanityChecker" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJuD6m" role="3UgYNK">
         <node concept="3Ug1GC" id="41_NtXJuD6n" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="5tEenuYOKyF" />
+          <ref role="3Ug1Ha" node="5tEenuYOKyF" resolve="lidar_data" />
           <node concept="3Ug1GJ" id="41_NtXJuD6o" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKD2" />
+            <ref role="3Ug1GI" node="5tEenuYOKD2" resolve="front_lidar" />
           </node>
         </node>
         <node concept="3Ug1GC" id="41_NtXJuD6p" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJuBcY" />
+          <ref role="3Ug1Ha" node="41_NtXJuBcY" resolve="front_lidar_data" />
           <node concept="3Ug1GJ" id="41_NtXJuD6q" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuC2R" />
+            <ref role="3Ug1GI" node="41_NtXJuC2R" resolve="missionChannel" />
           </node>
         </node>
       </node>
       <node concept="3Ug1AV" id="41_NtXJuFbl" role="3UgYNK">
         <property role="TrG5h" value="takeoverRequester" />
         <node concept="3Ug1AZ" id="41_NtXJuFbm" role="3Ug1A_">
-          <ref role="3Ug1AY" node="41_NtXJuF1u" />
+          <ref role="3Ug1AY" node="41_NtXJuF1u" resolve="DriverTakeoverController" />
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJuFok" role="3UgYNK">
         <property role="TrG5h" value="takeover_request" />
         <node concept="3Ug1GC" id="41_NtXJuFol" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="41_NtXJuFja" />
+          <ref role="3Ug1Ha" node="41_NtXJuFja" resolve="driver_takeover_request" />
           <node concept="3Ug1GJ" id="41_NtXJuFom" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuC2R" />
+            <ref role="3Ug1GI" node="41_NtXJuC2R" resolve="missionChannel" />
           </node>
         </node>
         <node concept="3Ug1GC" id="41_NtXJuFon" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJuFaA" />
+          <ref role="3Ug1Ha" node="41_NtXJuFaA" resolve="takeoverRequest1" />
           <node concept="3Ug1GJ" id="41_NtXJuFoo" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuFbl" />
+            <ref role="3Ug1GI" node="41_NtXJuFbl" resolve="takeoverRequester" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJuFtG" role="3UgYNK">
         <node concept="3Ug1GC" id="41_NtXJuFtH" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="_wUu$Ub$c4" />
+          <ref role="3Ug1Ha" node="_wUu$Ub$c4" resolve="driverTakeoverRequest" />
           <node concept="3Ug1GJ" id="41_NtXJuFtI" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$Ub$gJ" />
+            <ref role="3Ug1GI" node="_wUu$Ub$gJ" resolve="sanityChecker" />
           </node>
         </node>
         <node concept="3Ug1GC" id="41_NtXJuFtJ" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJuFaU" />
+          <ref role="3Ug1Ha" node="41_NtXJuFaU" resolve="takeoverRequest2" />
           <node concept="3Ug1GJ" id="41_NtXJuFtK" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuFbl" />
+            <ref role="3Ug1GI" node="41_NtXJuFbl" resolve="takeoverRequester" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJuFwq" role="3UgYNK">
         <property role="TrG5h" value="takeover_request" />
         <node concept="3Ug1GC" id="41_NtXJuFwr" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="41_NtXJuFat" />
+          <ref role="3Ug1Ha" node="41_NtXJuFat" resolve="takeoverRequest" />
           <node concept="3Ug1GJ" id="41_NtXJuFws" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuFbl" />
+            <ref role="3Ug1GI" node="41_NtXJuFbl" resolve="takeoverRequester" />
           </node>
         </node>
         <node concept="3Ug1GC" id="41_NtXJuFwt" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="_wUu$Ub$it" />
+          <ref role="3Ug1Ha" node="_wUu$Ub$it" resolve="takeoverRequest" />
           <node concept="3Ug1GJ" id="41_NtXJuFwu" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$U1lL2" />
+            <ref role="3Ug1GI" node="_wUu$U1lL2" resolve="driver_controls" />
           </node>
         </node>
       </node>
@@ -2314,7 +2314,7 @@
       <node concept="3UnI9n" id="5tEenuYOKv2" role="3UnI90">
         <property role="TrG5h" value="camera_data" />
         <node concept="1s31w3" id="5tEenuYOKvG" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOJYp" />
+          <ref role="1s31w2" node="5tEenuYOJYp" resolve="CameraData" />
         </node>
       </node>
     </node>
@@ -2324,7 +2324,7 @@
       <node concept="3UnI9n" id="5tEenuYOKyF" role="3UnI90">
         <property role="TrG5h" value="lidar_data" />
         <node concept="1s31w3" id="5tEenuYOKz6" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOK17" />
+          <ref role="1s31w2" node="5tEenuYOK17" resolve="LidarData" />
         </node>
       </node>
     </node>
@@ -2334,7 +2334,7 @@
       <node concept="3UnI9n" id="5tEenuYOKzf" role="3UnI90">
         <property role="TrG5h" value="radar_data" />
         <node concept="1s31w3" id="5tEenuYOK_C" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOK3l" />
+          <ref role="1s31w2" node="5tEenuYOK3l" resolve="RadarData" />
         </node>
       </node>
     </node>
@@ -2344,7 +2344,7 @@
       <node concept="3UnI9n" id="5tEenuYOLNQ" role="3UnI90">
         <property role="TrG5h" value="driver_monitoring_data" />
         <node concept="1s31w3" id="5tEenuYOLOt" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOK4L" />
+          <ref role="1s31w2" node="5tEenuYOK4L" resolve="DriverMonitoringData" />
         </node>
       </node>
     </node>
@@ -2359,49 +2359,49 @@
       <node concept="3UnI9n" id="_wUu$TY_vn" role="3UnI90">
         <property role="TrG5h" value="trajectory" />
         <node concept="1s31w3" id="_wUu$TY_vo" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOKZb" />
+          <ref role="1s31w2" node="5tEenuYOKZb" resolve="Trajectory" />
         </node>
       </node>
       <node concept="3UnI81" id="_wUu$TY_ml" role="3UnI9m">
         <property role="TrG5h" value="driver_monitoring_data" />
         <node concept="1s31w3" id="_wUu$TY_mm" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOK4L" />
+          <ref role="1s31w2" node="5tEenuYOK4L" resolve="DriverMonitoringData" />
         </node>
       </node>
       <node concept="3UnI81" id="_wUu$TY_mn" role="3UnI9m">
         <property role="TrG5h" value="predicted_objects" />
         <node concept="1s31w3" id="_wUu$TY_mo" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOKen" />
+          <ref role="1s31w2" node="5tEenuYOKen" resolve="ObjectsPrediction" />
         </node>
       </node>
       <node concept="3UnI81" id="_wUu$TY_mp" role="3UnI9m">
         <property role="TrG5h" value="perception_confidence" />
         <node concept="2XJXdx" id="_wUu$TY_mq" role="3UnI80">
-          <ref role="2XJXdw" node="5tEenuYOKn5" />
+          <ref role="2XJXdw" node="5tEenuYOKn5" resolve="ConfidenceLevel" />
         </node>
       </node>
       <node concept="3UnI81" id="_wUu$TY_mr" role="3UnI9m">
         <property role="TrG5h" value="ego_state" />
         <node concept="1s31w3" id="_wUu$TY_ms" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOM7P" />
+          <ref role="1s31w2" node="5tEenuYOM7P" resolve="VehicleData" />
         </node>
       </node>
       <node concept="3UnI81" id="41_NtXJuDTo" role="3UnI9m">
         <property role="TrG5h" value="road_info" />
         <node concept="1s31w3" id="41_NtXJuDTT" role="3UnI80">
-          <ref role="1s31w2" node="41_NtXJuA5S" />
+          <ref role="1s31w2" node="41_NtXJuA5S" resolve="RoadInfo" />
         </node>
       </node>
       <node concept="3UnI81" id="41_NtXJuFn7" role="3UnI9m">
         <property role="TrG5h" value="localization" />
         <node concept="1s31w3" id="41_NtXJuFnN" role="3UnI80">
-          <ref role="1s31w2" node="41_NtXJuEqK" />
+          <ref role="1s31w2" node="41_NtXJuEqK" resolve="LocalizationInfo" />
         </node>
       </node>
       <node concept="3UnI81" id="41_NtXJvtCS" role="3UnI9m">
         <property role="TrG5h" value="lane_markings" />
         <node concept="1s31w3" id="41_NtXJvtDw" role="3UnI80">
-          <ref role="1s31w2" node="41_NtXJvtck" />
+          <ref role="1s31w2" node="41_NtXJvtck" resolve="LaneMarkingsInfo" />
         </node>
       </node>
     </node>
@@ -2411,31 +2411,31 @@
       <node concept="3UnI9n" id="_wUu$TY_vv" role="3UnI90">
         <property role="TrG5h" value="trajectory" />
         <node concept="1s31w3" id="_wUu$TY_vw" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOKZb" />
+          <ref role="1s31w2" node="5tEenuYOKZb" resolve="Trajectory" />
         </node>
       </node>
       <node concept="3UnI81" id="_wUu$TY_vx" role="3UnI9m">
         <property role="TrG5h" value="driver_monitoring_data" />
         <node concept="1s31w3" id="_wUu$TY_vy" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOK4L" />
+          <ref role="1s31w2" node="5tEenuYOK4L" resolve="DriverMonitoringData" />
         </node>
       </node>
       <node concept="3UnI81" id="_wUu$TY_vz" role="3UnI9m">
         <property role="TrG5h" value="predicted_objects" />
         <node concept="1s31w3" id="_wUu$TY_v$" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOKen" />
+          <ref role="1s31w2" node="5tEenuYOKen" resolve="ObjectsPrediction" />
         </node>
       </node>
       <node concept="3UnI81" id="_wUu$TY_v_" role="3UnI9m">
         <property role="TrG5h" value="perception_confidence" />
         <node concept="2XJXdx" id="_wUu$TY_vA" role="3UnI80">
-          <ref role="2XJXdw" node="5tEenuYOKn5" />
+          <ref role="2XJXdw" node="5tEenuYOKn5" resolve="ConfidenceLevel" />
         </node>
       </node>
       <node concept="3UnI81" id="_wUu$TY_vB" role="3UnI9m">
         <property role="TrG5h" value="ego_state" />
         <node concept="1s31w3" id="_wUu$TY_vC" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOM7P" />
+          <ref role="1s31w2" node="5tEenuYOM7P" resolve="VehicleData" />
         </node>
       </node>
     </node>
@@ -2445,7 +2445,7 @@
       <node concept="3UnI9n" id="_wUu$TZm7F" role="3UnI90">
         <property role="TrG5h" value="choosenTrajectory" />
         <node concept="1s31w3" id="_wUu$TZm87" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOKZb" />
+          <ref role="1s31w2" node="5tEenuYOKZb" resolve="Trajectory" />
         </node>
       </node>
       <node concept="3UnI9n" id="41_NtXJuFRg" role="3UnI90">
@@ -2455,13 +2455,13 @@
       <node concept="3UnI81" id="_wUu$TZm6a" role="3UnI9m">
         <property role="TrG5h" value="cemTrajectory" />
         <node concept="1s31w3" id="_wUu$TZm6K" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOKZb" />
+          <ref role="1s31w2" node="5tEenuYOKZb" resolve="Trajectory" />
         </node>
       </node>
       <node concept="3UnI81" id="_wUu$TZm6M" role="3UnI9m">
         <property role="TrG5h" value="anotherTrajectory" />
         <node concept="1s31w3" id="_wUu$TZm7$" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOKZb" />
+          <ref role="1s31w2" node="5tEenuYOKZb" resolve="Trajectory" />
         </node>
       </node>
       <node concept="0Sh09" id="_wUu$TZDcw" role="lGtFl">
@@ -2475,24 +2475,24 @@
     <node concept="2dDAV0" id="5tEenuYOM4v" role="2HcuB8">
       <property role="TrG5h" value="PlaningImpl" />
       <node concept="3Ug1AZ" id="5tEenuYOM4A" role="2p5x1W">
-        <ref role="3Ug1AY" node="5tEenuYOK6U" />
+        <ref role="3Ug1AY" node="5tEenuYOK6U" resolve="Planing" />
       </node>
       <node concept="3Ug1AV" id="_wUu$TY_w4" role="3UgYNK">
         <property role="TrG5h" value="cemPlanner" />
         <node concept="3Ug1AZ" id="41_NtXJuDwK" role="3Ug1A_">
-          <ref role="3Ug1AY" node="_wUu$TZmsD" />
+          <ref role="3Ug1AY" node="_wUu$TZmsD" resolve="ConvenienceEvasionManeuverPlanner_Impl" />
         </node>
       </node>
       <node concept="3Ug1AV" id="_wUu$TY_wD" role="3UgYNK">
         <property role="TrG5h" value="otherPlanner" />
         <node concept="3Ug1AZ" id="_wUu$TY_wB" role="3Ug1A_">
-          <ref role="3Ug1AY" node="_wUu$TY_vu" />
+          <ref role="3Ug1AY" node="_wUu$TY_vu" resolve="AnotherPlanner" />
         </node>
       </node>
       <node concept="3Ug1AV" id="_wUu$TZm8h" role="3UgYNK">
         <property role="TrG5h" value="trajectoryChooser" />
         <node concept="3Ug1AZ" id="_wUu$TZm8f" role="3Ug1A_">
-          <ref role="3Ug1AY" node="_wUu$TZm68" />
+          <ref role="3Ug1AY" node="_wUu$TZm68" resolve="TrajectoriesChooser" />
         </node>
         <node concept="N8ley" id="41_NtXJvtUu" role="Nnt9r">
           <node concept="KAwnX" id="41_NtXJvtW7" role="N8j5Z">
@@ -2503,90 +2503,90 @@
       <node concept="3UgYNU" id="_wUu$TY_wT" role="3UgYNK" />
       <node concept="3Ug1$w" id="_wUu$TY_wV" role="3UgYNK">
         <node concept="3Ug1Ap" id="_wUu$TY_wX" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="5tEenuYOK79" />
+          <ref role="3Ug1Ao" node="5tEenuYOK79" resolve="driver_monitoring_data" />
         </node>
         <node concept="3Ug1GC" id="_wUu$TY_x1" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="_wUu$TY_ml" />
+          <ref role="3Ug1Ha" node="_wUu$TY_ml" resolve="driver_monitoring_data" />
           <node concept="3Ug1GJ" id="_wUu$TY_x0" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$TY_w4" />
+            <ref role="3Ug1GI" node="_wUu$TY_w4" resolve="cemPlanner" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="_wUu$TY_xb" role="3UgYNK">
         <node concept="3Ug1Ap" id="_wUu$TY_xD" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="5tEenuYOL_9" />
+          <ref role="3Ug1Ao" node="5tEenuYOL_9" resolve="predicted_objects" />
         </node>
         <node concept="3Ug1GC" id="_wUu$TY_xd" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="_wUu$TY_mn" />
+          <ref role="3Ug1Ha" node="_wUu$TY_mn" resolve="predicted_objects" />
           <node concept="3Ug1GJ" id="_wUu$TY_xe" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$TY_w4" />
+            <ref role="3Ug1GI" node="_wUu$TY_w4" resolve="cemPlanner" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="_wUu$TY_xl" role="3UgYNK">
         <node concept="3Ug1Ap" id="_wUu$TY_yt" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="5tEenuYOM4D" />
+          <ref role="3Ug1Ao" node="5tEenuYOM4D" resolve="perception_confidence" />
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         <node concept="3Ug1GC" id="_wUu$TY_xn" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="_wUu$TY_mp" />
+          <ref role="3Ug1Ha" node="_wUu$TY_mp" resolve="perception_confidence" />
           <node concept="3Ug1GJ" id="_wUu$TY_xo" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$TY_w4" />
+            <ref role="3Ug1GI" node="_wUu$TY_w4" resolve="cemPlanner" />
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       <node concept="3Ug1$w" id="_wUu$TY_xp" role="3UgYNK">
         <node concept="3Ug1Ap" id="_wUu$TY_yS" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="5tEenuYOM63" />
+          <ref role="3Ug1Ao" node="5tEenuYOM63" resolve="ego_state" />
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         <node concept="3Ug1GC" id="_wUu$TY_xr" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="_wUu$TY_mr" />
+          <ref role="3Ug1Ha" node="_wUu$TY_mr" resolve="ego_state" />
           <node concept="3Ug1GJ" id="_wUu$TY_xs" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$TY_w4" />
+            <ref role="3Ug1GI" node="_wUu$TY_w4" resolve="cemPlanner" />
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       <node concept="3Ug1$w" id="_wUu$TY__c" role="3UgYNK">
         <node concept="3Ug1Ap" id="_wUu$TY__d" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="5tEenuYOK79" />
+          <ref role="3Ug1Ao" node="5tEenuYOK79" resolve="driver_monitoring_data" />
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         <node concept="3Ug1GC" id="_wUu$TY__e" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="_wUu$TY_vx" />
+          <ref role="3Ug1Ha" node="_wUu$TY_vx" resolve="driver_monitoring_data" />
           <node concept="3Ug1GJ" id="_wUu$TY__O" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$TY_wD" />
+            <ref role="3Ug1GI" node="_wUu$TY_wD" resolve="otherPlanner" />
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       </node>
       <node concept="3Ug1$w" id="_wUu$TY__g" role="3UgYNK">
         <node concept="3Ug1Ap" id="_wUu$TY__h" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="5tEenuYOL_9" />
+          <ref role="3Ug1Ao" node="5tEenuYOL_9" resolve="predicted_objects" />
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         <node concept="3Ug1GC" id="_wUu$TY__i" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="_wUu$TY_vz" />
+          <ref role="3Ug1Ha" node="_wUu$TY_vz" resolve="predicted_objects" />
           <node concept="3Ug1GJ" id="_wUu$TY_AH" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$TY_wD" />
+            <ref role="3Ug1GI" node="_wUu$TY_wD" resolve="otherPlanner" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="_wUu$TY__k" role="3UgYNK">
         <node concept="3Ug1Ap" id="_wUu$TY__l" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="5tEenuYOM4D" />
+          <ref role="3Ug1Ao" node="5tEenuYOM4D" resolve="perception_confidence" />
         </node>
         <node concept="3Ug1GC" id="_wUu$TY__m" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="_wUu$TY_v_" />
+          <ref role="3Ug1Ha" node="_wUu$TY_v_" resolve="perception_confidence" />
           <node concept="3Ug1GJ" id="_wUu$TY_Cc" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$TY_wD" />
+            <ref role="3Ug1GI" node="_wUu$TY_wD" resolve="otherPlanner" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="_wUu$TY__o" role="3UgYNK">
         <node concept="3Ug1Ap" id="_wUu$TY__p" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="5tEenuYOM63" />
+          <ref role="3Ug1Ao" node="5tEenuYOM63" resolve="ego_state" />
         </node>
         <node concept="3Ug1GC" id="_wUu$TY__q" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="_wUu$TY_vB" />
+          <ref role="3Ug1Ha" node="_wUu$TY_vB" resolve="ego_state" />
           <node concept="3Ug1GJ" id="_wUu$TY_Db" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$TY_wD" />
+            <ref role="3Ug1GI" node="_wUu$TY_wD" resolve="otherPlanner" />
           </node>
         </node>
       </node>
@@ -2594,42 +2594,42 @@
       <node concept="3Ug1$w" id="_wUu$TZm8v" role="3UgYNK">
         <property role="TrG5h" value="cemTrajectory" />
         <node concept="3Ug1GC" id="_wUu$TZm8y" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="_wUu$TY_vn" />
+          <ref role="3Ug1Ha" node="_wUu$TY_vn" resolve="trajectory" />
           <node concept="3Ug1GJ" id="_wUu$TZm8x" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$TY_w4" />
+            <ref role="3Ug1GI" node="_wUu$TY_w4" resolve="cemPlanner" />
           </node>
         </node>
         <node concept="3Ug1GC" id="_wUu$TZm8E" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="_wUu$TZm6a" />
+          <ref role="3Ug1Ha" node="_wUu$TZm6a" resolve="cemTrajectory" />
           <node concept="3Ug1GJ" id="_wUu$TZm8D" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$TZm8h" />
+            <ref role="3Ug1GI" node="_wUu$TZm8h" resolve="trajectoryChooser" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="_wUu$TZm91" role="3UgYNK">
         <property role="TrG5h" value="otherTrajectory" />
         <node concept="3Ug1GC" id="_wUu$TZm92" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="_wUu$TY_vv" />
+          <ref role="3Ug1Ha" node="_wUu$TY_vv" resolve="trajectory" />
           <node concept="3Ug1GJ" id="_wUu$TZm9g" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$TY_wD" />
+            <ref role="3Ug1GI" node="_wUu$TY_wD" resolve="otherPlanner" />
           </node>
         </node>
         <node concept="3Ug1GC" id="_wUu$TZm94" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="_wUu$TZm6M" />
+          <ref role="3Ug1Ha" node="_wUu$TZm6M" resolve="anotherTrajectory" />
           <node concept="3Ug1GJ" id="_wUu$TZm95" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$TZm8h" />
+            <ref role="3Ug1GI" node="_wUu$TZm8h" resolve="trajectoryChooser" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="_wUu$TZmaw" role="3UgYNK">
         <node concept="3Ug1GC" id="_wUu$TZmaz" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="_wUu$TZm7F" />
+          <ref role="3Ug1Ha" node="_wUu$TZm7F" resolve="choosenTrajectory" />
           <node concept="3Ug1GJ" id="_wUu$TZmay" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$TZm8h" />
+            <ref role="3Ug1GI" node="_wUu$TZm8h" resolve="trajectoryChooser" />
           </node>
         </node>
         <node concept="3Ug1Ap" id="_wUu$TZmaE" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="5tEenuYOKWR" />
+          <ref role="3Ug1Ao" node="5tEenuYOKWR" resolve="trajectory" />
         </node>
       </node>
       <node concept="37mRI7" id="_wUu$TY_EW" role="lGtFl">
@@ -3055,45 +3055,45 @@
       </node>
       <node concept="3Ug1$w" id="41_NtXJuE2g" role="3UgYNK">
         <node concept="3Ug1Ap" id="41_NtXJuE2h" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="41_NtXJuAbF" />
+          <ref role="3Ug1Ao" node="41_NtXJuAbF" resolve="road_info" />
         </node>
         <node concept="3Ug1GC" id="41_NtXJuE2i" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJuDTo" />
+          <ref role="3Ug1Ha" node="41_NtXJuDTo" resolve="road_info" />
           <node concept="3Ug1GJ" id="41_NtXJuE2j" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$TY_w4" />
+            <ref role="3Ug1GI" node="_wUu$TY_w4" resolve="cemPlanner" />
           </node>
         </node>
       </node>
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         <node concept="3Ug1Ap" id="41_NtXJuFKl" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="41_NtXJuE$J" />
+          <ref role="3Ug1Ao" node="41_NtXJuE$J" resolve="localization" />
         </node>
         <node concept="3Ug1GC" id="41_NtXJuFKm" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJuFn7" />
+          <ref role="3Ug1Ha" node="41_NtXJuFn7" resolve="localization" />
           <node concept="3Ug1GJ" id="41_NtXJuFKn" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$TY_w4" />
+            <ref role="3Ug1GI" node="_wUu$TY_w4" resolve="cemPlanner" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJuFSo" role="3UgYNK">
         <node concept="3Ug1GC" id="41_NtXJuFSp" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="41_NtXJuFRg" />
+          <ref role="3Ug1Ha" node="41_NtXJuFRg" resolve="takeover_request" />
           <node concept="3Ug1GJ" id="41_NtXJuFSq" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$TZm8h" />
+            <ref role="3Ug1GI" node="_wUu$TZm8h" resolve="trajectoryChooser" />
           </node>
         </node>
         <node concept="3Ug1Ap" id="41_NtXJuFSr" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="41_NtXJuFOI" />
+          <ref role="3Ug1Ao" node="41_NtXJuFOI" resolve="takeover_request" />
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJvtDC" role="3UgYNK">
         <node concept="3Ug1Ap" id="41_NtXJvtDD" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="41_NtXJvtmF" />
+          <ref role="3Ug1Ao" node="41_NtXJvtmF" resolve="lane_markings_info" />
         </node>
         <node concept="3Ug1GC" id="41_NtXJvtDE" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJvtCS" />
+          <ref role="3Ug1Ha" node="41_NtXJvtCS" resolve="lane_markings" />
           <node concept="3Ug1GJ" id="41_NtXJvtDF" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$TY_w4" />
+            <ref role="3Ug1GI" node="_wUu$TY_w4" resolve="cemPlanner" />
           </node>
         </node>
       </node>
@@ -3130,7 +3130,7 @@
     <node concept="2dDAV0" id="_wUu$TZmsD" role="2HcuB8">
       <property role="TrG5h" value="ConvenienceEvasionManeuverPlanner_Impl" />
       <node concept="3Ug1AZ" id="_wUu$TZmsH" role="2p5x1W">
-        <ref role="3Ug1AY" node="5tEenuYOMed" />
+        <ref role="3Ug1AY" node="5tEenuYOMed" resolve="ConvenienceEvasionManeuverPlanner" />
       </node>
       <node concept="37mRI7" id="_wUu$U2thu" role="lGtFl">
         <node concept="37mRIm" id="_wUu$U2thv" role="37mRID">
@@ -3439,7 +3439,7 @@
       <node concept="3Ug1AV" id="_wUu$U2thL" role="3UgYNK">
         <property role="TrG5h" value="cemActivator" />
         <node concept="3Ug1AZ" id="_wUu$U2thK" role="3Ug1A_">
-          <ref role="3Ug1AY" node="_wUu$TZmsK" />
+          <ref role="3Ug1AY" node="_wUu$TZmsK" resolve="CEM_Activator" />
         </node>
         <node concept="N8ley" id="41_NtXJu_zt" role="Nnt9r">
           <node concept="KAwnX" id="41_NtXJuD$5" role="N8j5Z">
@@ -3465,7 +3465,7 @@
       <node concept="3Ug1AV" id="_wUu$U3uCh" role="3UgYNK">
         <property role="TrG5h" value="cemTrajectoryComputer" />
         <node concept="3Ug1AZ" id="41_NtXJuDG$" role="3Ug1A_">
-          <ref role="3Ug1AY" node="41_NtXJuDD2" />
+          <ref role="3Ug1AY" node="41_NtXJuDD2" resolve="CEM_TrajectoryComputer" />
         </node>
         <node concept="N8ley" id="41_NtXJvtWZ" role="Nnt9r">
           <node concept="KAwnX" id="41_NtXJvtXc" role="N8j5Z">
@@ -3485,116 +3485,116 @@
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       <node concept="3Ug1$w" id="_wUu$U3uCD" role="3UgYNK">
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-          <ref role="3Ug1Ao" node="_wUu$TY_ml" />
+          <ref role="3Ug1Ao" node="_wUu$TY_ml" resolve="driver_monitoring_data" />
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         <node concept="3Ug1GC" id="_wUu$U3uCP" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="_wUu$TZmsT" />
+          <ref role="3Ug1Ha" node="_wUu$TZmsT" resolve="driver_monitoring_data" />
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-            <ref role="3Ug1GI" node="_wUu$U2thL" />
+            <ref role="3Ug1GI" node="_wUu$U2thL" resolve="cemActivator" />
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-          <ref role="3Ug1Ao" node="_wUu$TY_mp" />
+          <ref role="3Ug1Ao" node="_wUu$TY_mp" resolve="perception_confidence" />
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         <node concept="3Ug1GC" id="_wUu$U3uDp" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="_wUu$TZmsX" />
+          <ref role="3Ug1Ha" node="_wUu$TZmsX" resolve="perception_confidence" />
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-            <ref role="3Ug1GI" node="_wUu$U2thL" />
+            <ref role="3Ug1GI" node="_wUu$U2thL" resolve="cemActivator" />
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         <node concept="3Ug1Ap" id="_wUu$U3uDN" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="_wUu$TY_mr" />
+          <ref role="3Ug1Ao" node="_wUu$TY_mr" resolve="ego_state" />
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         <node concept="3Ug1GC" id="_wUu$U3uDX" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="_wUu$TZmsZ" />
+          <ref role="3Ug1Ha" node="_wUu$TZmsZ" resolve="ego_state" />
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-            <ref role="3Ug1GI" node="_wUu$U2thL" />
+            <ref role="3Ug1GI" node="_wUu$U2thL" resolve="cemActivator" />
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-          <ref role="3Ug1Ao" node="_wUu$TY_mn" />
+          <ref role="3Ug1Ao" node="_wUu$TY_mn" resolve="predicted_objects" />
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         <node concept="3Ug1GC" id="41_NtXJuDMT" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="_wUu$TZmsV" />
+          <ref role="3Ug1Ha" node="_wUu$TZmsV" resolve="predicted_objects" />
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-            <ref role="3Ug1GI" node="_wUu$U2thL" />
+            <ref role="3Ug1GI" node="_wUu$U2thL" resolve="cemActivator" />
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-          <ref role="3Ug1Ao" node="41_NtXJuDTo" />
+          <ref role="3Ug1Ao" node="41_NtXJuDTo" resolve="road_info" />
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         <node concept="3Ug1GC" id="41_NtXJuDV_" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJuDVN" />
+          <ref role="3Ug1Ha" node="41_NtXJuDVN" resolve="road_info" />
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-            <ref role="3Ug1GI" node="_wUu$U2thL" />
+            <ref role="3Ug1GI" node="_wUu$U2thL" resolve="cemActivator" />
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+          <ref role="3Ug1Ao" node="_wUu$TY_mn" resolve="predicted_objects" />
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         <node concept="3Ug1GC" id="_wUu$U3uFH" role="3Ug1_r">
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+          <ref role="3Ug1Ha" node="41_NtXJuDDe" resolve="predicted_objects" />
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-            <ref role="3Ug1GI" node="_wUu$U3uCh" />
+            <ref role="3Ug1GI" node="_wUu$U3uCh" resolve="cemTrajectoryComputer" />
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         </node>
       </node>
       <node concept="3Ug1$w" id="_wUu$U3uGm" role="3UgYNK">
         <node concept="3Ug1GC" id="_wUu$U3uGp" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="41_NtXJuDDw" />
+          <ref role="3Ug1Ha" node="41_NtXJuDDw" resolve="trajectory" />
           <node concept="3Ug1GJ" id="_wUu$U3uGo" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$U3uCh" />
+            <ref role="3Ug1GI" node="_wUu$U3uCh" resolve="cemTrajectoryComputer" />
           </node>
         </node>
         <node concept="3Ug1Ap" id="_wUu$U3uGw" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="_wUu$TY_vn" />
+          <ref role="3Ug1Ao" node="_wUu$TY_vn" resolve="trajectory" />
         </node>
       </node>
       <node concept="3Ug1$w" id="_wUu$U8caC" role="3UgYNK">
         <property role="TrG5h" value="active" />
         <node concept="3Ug1GC" id="_wUu$U8caD" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="_wUu$TZmtl" />
+          <ref role="3Ug1Ha" node="_wUu$TZmtl" resolve="active" />
           <node concept="3Ug1GJ" id="_wUu$U8caE" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$U2thL" />
+            <ref role="3Ug1GI" node="_wUu$U2thL" resolve="cemActivator" />
           </node>
         </node>
         <node concept="3Ug1GC" id="_wUu$U8caF" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJuDDg" />
+          <ref role="3Ug1Ha" node="41_NtXJuDDg" resolve="active" />
           <node concept="3Ug1GJ" id="_wUu$U8caG" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$U3uCh" />
+            <ref role="3Ug1GI" node="_wUu$U3uCh" resolve="cemTrajectoryComputer" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJvpv5" role="3UgYNK">
         <node concept="3Ug1Ap" id="41_NtXJvpv6" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="41_NtXJuFn7" />
+          <ref role="3Ug1Ao" node="41_NtXJuFn7" resolve="localization" />
         </node>
         <node concept="3Ug1GC" id="41_NtXJvpv7" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJuHz_" />
+          <ref role="3Ug1Ha" node="41_NtXJuHz_" resolve="localization" />
           <node concept="3Ug1GJ" id="41_NtXJvpv8" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$U3uCh" />
+            <ref role="3Ug1GI" node="_wUu$U3uCh" resolve="cemTrajectoryComputer" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJvtYY" role="3UgYNK">
         <node concept="3Ug1Ap" id="41_NtXJvtYZ" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="41_NtXJvtCS" />
+          <ref role="3Ug1Ao" node="41_NtXJvtCS" resolve="lane_markings" />
         </node>
         <node concept="3Ug1GC" id="41_NtXJvtZ0" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJvtMx" />
+          <ref role="3Ug1Ha" node="41_NtXJvtMx" resolve="lane_markings" />
           <node concept="3Ug1GJ" id="41_NtXJvtZ1" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="_wUu$U3uCh" />
+            <ref role="3Ug1GI" node="_wUu$U3uCh" resolve="cemTrajectoryComputer" />
           </node>
         </node>
       </node>
@@ -3613,31 +3613,31 @@
       <node concept="3UnI81" id="_wUu$TZmsT" role="3UnI9m">
         <property role="TrG5h" value="driver_monitoring_data" />
         <node concept="1s31w3" id="_wUu$TZmsU" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOK4L" />
+          <ref role="1s31w2" node="5tEenuYOK4L" resolve="DriverMonitoringData" />
         </node>
       </node>
       <node concept="3UnI81" id="_wUu$TZmsV" role="3UnI9m">
         <property role="TrG5h" value="predicted_objects" />
         <node concept="1s31w3" id="_wUu$TZmsW" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOKen" />
+          <ref role="1s31w2" node="5tEenuYOKen" resolve="ObjectsPrediction" />
         </node>
       </node>
       <node concept="3UnI81" id="_wUu$TZmsX" role="3UnI9m">
         <property role="TrG5h" value="perception_confidence" />
         <node concept="2XJXdx" id="_wUu$TZmsY" role="3UnI80">
-          <ref role="2XJXdw" node="5tEenuYOKn5" />
+          <ref role="2XJXdw" node="5tEenuYOKn5" resolve="ConfidenceLevel" />
         </node>
       </node>
       <node concept="3UnI81" id="_wUu$TZmsZ" role="3UnI9m">
         <property role="TrG5h" value="ego_state" />
         <node concept="1s31w3" id="_wUu$TZmt0" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOM7P" />
+          <ref role="1s31w2" node="5tEenuYOM7P" resolve="VehicleData" />
         </node>
       </node>
       <node concept="3UnI81" id="41_NtXJuDVN" role="3UnI9m">
         <property role="TrG5h" value="road_info" />
         <node concept="1s31w3" id="41_NtXJuDWu" role="3UnI80">
-          <ref role="1s31w2" node="41_NtXJuA5S" />
+          <ref role="1s31w2" node="41_NtXJuA5S" resolve="RoadInfo" />
         </node>
       </node>
       <node concept="3UTh7Y" id="_wUu$TZmu0" role="3UnIb_">
@@ -3648,15 +3648,15 @@
             <node concept="1yyYsf" id="_wUu$TZD2e" role="32OYtT">
               <node concept="dheZm" id="_wUu$TZD2f" role="2H9Iav">
                 <node concept="3Ug1Ap" id="_wUu$TZD1L" role="2H9Iav">
-                  <ref role="3Ug1Ao" node="_wUu$TZmsX" />
+                  <ref role="3Ug1Ao" node="_wUu$TZmsX" resolve="perception_confidence" />
                 </node>
                 <node concept="2HeeqP" id="_wUu$TZD21" role="2H9Ial">
-                  <ref role="2HeeqO" node="5tEenuYOKnS" />
+                  <ref role="2HeeqO" node="5tEenuYOKnS" resolve="high" />
                 </node>
               </node>
               <node concept="1yA0yd" id="_wUu$TZD2i" role="2H9Ial">
                 <node concept="3Ug1Ap" id="_wUu$TZD2q" role="32OYtT">
-                  <ref role="3Ug1Ao" node="_wUu$TZmtl" />
+                  <ref role="3Ug1Ao" node="_wUu$TZmtl" resolve="active" />
                 </node>
               </node>
             </node>
@@ -3673,21 +3673,21 @@
           <node concept="1yyYsf" id="_wUu$TZD56" role="12atSx">
             <node concept="1yA0yd" id="_wUu$TZD5_" role="2H9Ial">
               <node concept="3Ug1Ap" id="_wUu$TZD5H" role="32OYtT">
-                <ref role="3Ug1Ao" node="_wUu$TZmtl" />
+                <ref role="3Ug1Ao" node="_wUu$TZmtl" resolve="active" />
               </node>
             </node>
             <node concept="32OYss" id="_wUu$TZD2G" role="2H9Iav">
               <node concept="nE0YJ" id="_wUu$TZD4C" role="32OYtT">
                 <node concept="1ziNjN" id="_wUu$TZD37" role="2H9Iav">
                   <node concept="1s3gwN" id="_wUu$TZD3c" role="1ziNjJ">
-                    <ref role="1s3g$p" node="_wUu$TY_mL" />
+                    <ref role="1s3g$p" node="_wUu$TY_mL" resolve="speed" />
                   </node>
                   <node concept="3Ug1Ap" id="_wUu$TZD33" role="1ziNjM">
-                    <ref role="3Ug1Ao" node="_wUu$TZmsZ" />
+                    <ref role="3Ug1Ao" node="_wUu$TZmsZ" resolve="ego_state" />
                   </node>
                 </node>
                 <node concept="hx854" id="_wUu$TZD4A" role="2H9Ial">
-                  <ref role="hx9HS" node="_wUu$TZD4h" />
+                  <ref role="hx9HS" node="_wUu$TZD4h" resolve="MAX_CEM_SPEED" />
                 </node>
               </node>
             </node>
@@ -3721,43 +3721,43 @@
       <node concept="3UnI9n" id="_wUu$UbzYZ" role="3UnI90">
         <property role="TrG5h" value="shortTermTrajectory" />
         <node concept="1s31w3" id="41_NtXJuDk_" role="3UnI80">
-          <ref role="1s31w2" node="41_NtXJuDjp" />
+          <ref role="1s31w2" node="41_NtXJuDjp" resolve="ShortTermRegionOfNonCollision" />
         </node>
       </node>
       <node concept="3UnI81" id="_wUu$UbzVj" role="3UnI9m">
         <property role="TrG5h" value="frontRadar" />
         <node concept="1s31w3" id="_wUu$UbzVG" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOK3l" />
+          <ref role="1s31w2" node="5tEenuYOK3l" resolve="RadarData" />
         </node>
       </node>
       <node concept="3UnI81" id="_wUu$UbzWc" role="3UnI9m">
         <property role="TrG5h" value="backRadar" />
         <node concept="1s31w3" id="_wUu$UbzWd" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOK3l" />
+          <ref role="1s31w2" node="5tEenuYOK3l" resolve="RadarData" />
         </node>
       </node>
       <node concept="3UnI81" id="_wUu$UbzWt" role="3UnI9m">
         <property role="TrG5h" value="frontCamera" />
         <node concept="1s31w3" id="_wUu$UbzWV" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOJYp" />
+          <ref role="1s31w2" node="5tEenuYOJYp" resolve="CameraData" />
         </node>
       </node>
       <node concept="3UnI81" id="_wUu$UbzX2" role="3UnI9m">
         <property role="TrG5h" value="backCamera" />
         <node concept="1s31w3" id="_wUu$UbzXw" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOJYp" />
+          <ref role="1s31w2" node="5tEenuYOJYp" resolve="CameraData" />
         </node>
       </node>
       <node concept="3UnI81" id="_wUu$UbzXB" role="3UnI9m">
         <property role="TrG5h" value="leftCamera" />
         <node concept="1s31w3" id="_wUu$UbzY5" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOJYp" />
+          <ref role="1s31w2" node="5tEenuYOJYp" resolve="CameraData" />
         </node>
       </node>
       <node concept="3UnI81" id="_wUu$UbzYc" role="3UnI9m">
         <property role="TrG5h" value="rightCamera" />
         <node concept="1s31w3" id="_wUu$UbzYS" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOJYp" />
+          <ref role="1s31w2" node="5tEenuYOJYp" resolve="CameraData" />
         </node>
       </node>
     </node>
@@ -3775,19 +3775,19 @@
       <node concept="3UnI9n" id="_wUu$Ub$eP" role="3UnI90">
         <property role="TrG5h" value="trajectory" />
         <node concept="1s31w3" id="_wUu$Ub$fI" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOKZb" />
+          <ref role="1s31w2" node="5tEenuYOKZb" resolve="Trajectory" />
         </node>
       </node>
       <node concept="3UnI81" id="_wUu$Ub$c6" role="3UnI9m">
         <property role="TrG5h" value="shortTermTrajectories" />
         <node concept="1s31w3" id="41_NtXJuDkL" role="3UnI80">
-          <ref role="1s31w2" node="41_NtXJuDjp" />
+          <ref role="1s31w2" node="41_NtXJuDjp" resolve="ShortTermRegionOfNonCollision" />
         </node>
       </node>
       <node concept="3UnI81" id="_wUu$Ub$c8" role="3UnI9m">
         <property role="TrG5h" value="longTermTrajectory" />
         <node concept="1s31w3" id="_wUu$Ub$e3" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOKZb" />
+          <ref role="1s31w2" node="5tEenuYOKZb" resolve="Trajectory" />
         </node>
       </node>
     </node>
@@ -3800,7 +3800,7 @@
       <node concept="3UnI9n" id="41_NtXJuA6T" role="3UnI90">
         <property role="TrG5h" value="road_info" />
         <node concept="1s31w3" id="41_NtXJuA7f" role="3UnI80">
-          <ref role="1s31w2" node="41_NtXJuA5S" />
+          <ref role="1s31w2" node="41_NtXJuA5S" resolve="RoadInfo" />
         </node>
       </node>
     </node>
@@ -3814,7 +3814,7 @@
       <node concept="1s31WS" id="41_NtXJuA5Y" role="1s31w6">
         <property role="TrG5h" value="working_areas" />
         <node concept="1s31w3" id="41_NtXJuA6L" role="1s31WO">
-          <ref role="1s31w2" node="41_NtXJuA6p" />
+          <ref role="1s31w2" node="41_NtXJuA6p" resolve="WorkingAreas" />
         </node>
       </node>
     </node>
@@ -3829,96 +3829,96 @@
       <node concept="3Ug1AV" id="5tEenuYOKFV" role="3UgYNK">
         <property role="TrG5h" value="perception" />
         <node concept="3Ug1AZ" id="5tEenuYOKFT" role="3Ug1A_">
-          <ref role="3Ug1AY" node="5tEenuYOJXR" />
+          <ref role="3Ug1AY" node="5tEenuYOJXR" resolve="Perception" />
         </node>
       </node>
       <node concept="3Ug1AV" id="5tEenuYOKH5" role="3UgYNK">
         <property role="TrG5h" value="prediction" />
         <node concept="3Ug1AZ" id="5tEenuYOKH3" role="3Ug1A_">
-          <ref role="3Ug1AY" node="5tEenuYOKaF" />
+          <ref role="3Ug1AY" node="5tEenuYOKaF" resolve="Prediction" />
         </node>
       </node>
       <node concept="3Ug1AV" id="5tEenuYOKIl" role="3UgYNK">
         <property role="TrG5h" value="planing" />
         <node concept="3Ug1AZ" id="41_NtXJuDuJ" role="3Ug1A_">
-          <ref role="3Ug1AY" node="5tEenuYOM4v" />
+          <ref role="3Ug1AY" node="5tEenuYOM4v" resolve="PlaningImpl" />
         </node>
       </node>
       <node concept="3UgYNU" id="41_NtXJuBo4" role="3UgYNK" />
       <node concept="3Ug1$w" id="5tEenuYOKKl" role="3UgYNK">
         <node concept="3Ug1Ap" id="41_NtXJuByD" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="41_NtXJuBcQ" />
+          <ref role="3Ug1Ao" node="41_NtXJuBcQ" resolve="front_camera_data" />
         </node>
         <node concept="3Ug1GC" id="5tEenuYOKKT" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="5tEenuYOJXW" />
+          <ref role="3Ug1Ha" node="5tEenuYOJXW" resolve="front_camera_data" />
           <node concept="3Ug1GJ" id="5tEenuYOKKS" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKFV" />
+            <ref role="3Ug1GI" node="5tEenuYOKFV" resolve="perception" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="5tEenuYOKLi" role="3UgYNK">
         <node concept="3Ug1Ap" id="41_NtXJuBzz" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="41_NtXJuBcS" />
+          <ref role="3Ug1Ao" node="41_NtXJuBcS" resolve="rear_camera_data" />
         </node>
         <node concept="3Ug1GC" id="5tEenuYOKLl" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="5tEenuYOJYK" />
+          <ref role="3Ug1Ha" node="5tEenuYOJYK" resolve="rear_camera_data" />
           <node concept="3Ug1GJ" id="5tEenuYOKLm" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKFV" />
+            <ref role="3Ug1GI" node="5tEenuYOKFV" resolve="perception" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="5tEenuYOKM1" role="3UgYNK">
         <node concept="3Ug1Ap" id="41_NtXJuB$p" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="41_NtXJuBcU" />
+          <ref role="3Ug1Ao" node="41_NtXJuBcU" resolve="left_camera_data" />
         </node>
         <node concept="3Ug1GC" id="5tEenuYOKM4" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="5tEenuYOJYV" />
+          <ref role="3Ug1Ha" node="5tEenuYOJYV" resolve="left_camera_data" />
           <node concept="3Ug1GJ" id="5tEenuYOKM5" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKFV" />
+            <ref role="3Ug1GI" node="5tEenuYOKFV" resolve="perception" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="5tEenuYOKMP" role="3UgYNK">
         <node concept="3Ug1Ap" id="41_NtXJuB_6" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="41_NtXJuBcW" />
+          <ref role="3Ug1Ao" node="41_NtXJuBcW" resolve="right_camera_data" />
         </node>
         <node concept="3Ug1GC" id="5tEenuYOKMS" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="5tEenuYOJZ8" />
+          <ref role="3Ug1Ha" node="5tEenuYOJZ8" resolve="right_camera_data" />
           <node concept="3Ug1GJ" id="5tEenuYOKMT" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKFV" />
+            <ref role="3Ug1GI" node="5tEenuYOKFV" resolve="perception" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="5tEenuYOKR6" role="3UgYNK">
         <node concept="3Ug1Ap" id="41_NtXJuB_A" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="41_NtXJuBcY" />
+          <ref role="3Ug1Ao" node="41_NtXJuBcY" resolve="front_lidar_data" />
         </node>
         <node concept="3Ug1GC" id="5tEenuYOKR9" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="5tEenuYOJZn" />
+          <ref role="3Ug1Ha" node="5tEenuYOJZn" resolve="front_lidar_data" />
           <node concept="3Ug1GJ" id="5tEenuYOKRa" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKFV" />
+            <ref role="3Ug1GI" node="5tEenuYOKFV" resolve="perception" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="5tEenuYOLlf" role="3UgYNK">
         <node concept="3Ug1Ap" id="41_NtXJuBA9" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="41_NtXJuBd0" />
+          <ref role="3Ug1Ao" node="41_NtXJuBd0" resolve="front_radar_data" />
         </node>
         <node concept="3Ug1GC" id="5tEenuYOLme" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="5tEenuYOK1Q" />
+          <ref role="3Ug1Ha" node="5tEenuYOK1Q" resolve="front_radar_data" />
           <node concept="3Ug1GJ" id="5tEenuYOLmd" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKFV" />
+            <ref role="3Ug1GI" node="5tEenuYOKFV" resolve="perception" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="5tEenuYOLmB" role="3UgYNK">
         <node concept="3Ug1Ap" id="41_NtXJuBAI" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="41_NtXJuBd2" />
+          <ref role="3Ug1Ao" node="41_NtXJuBd2" resolve="rear_radar_data" />
         </node>
         <node concept="3Ug1GC" id="5tEenuYOLmE" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="5tEenuYOK29" />
+          <ref role="3Ug1Ha" node="5tEenuYOK29" resolve="rear_radar_data" />
           <node concept="3Ug1GJ" id="5tEenuYOLmF" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKFV" />
+            <ref role="3Ug1GI" node="5tEenuYOKFV" resolve="perception" />
           </node>
         </node>
       </node>
@@ -3926,15 +3926,15 @@
       <node concept="3Ug1$w" id="5tEenuYOLuU" role="3UgYNK">
         <property role="TrG5h" value="objects_list" />
         <node concept="3Ug1GC" id="5tEenuYOLvT" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="5tEenuYOKdk" />
+          <ref role="3Ug1Ha" node="5tEenuYOKdk" resolve="objects_list" />
           <node concept="3Ug1GJ" id="5tEenuYOLw2" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKFV" />
+            <ref role="3Ug1GI" node="5tEenuYOKFV" resolve="perception" />
           </node>
         </node>
         <node concept="3Ug1GC" id="5tEenuYOLx4" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="5tEenuYOKaU" />
+          <ref role="3Ug1Ha" node="5tEenuYOKaU" resolve="objects_list" />
           <node concept="3Ug1GJ" id="5tEenuYOLx1" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKH5" />
+            <ref role="3Ug1GI" node="5tEenuYOKH5" resolve="prediction" />
           </node>
         </node>
       </node>
@@ -3942,65 +3942,65 @@
       <node concept="3Ug1$w" id="5tEenuYOLzG" role="3UgYNK">
         <property role="TrG5h" value="predicted_objects" />
         <node concept="3Ug1GC" id="5tEenuYOL$L" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="5tEenuYOKfy" />
+          <ref role="3Ug1Ha" node="5tEenuYOKfy" resolve="predicted_objects" />
           <node concept="3Ug1GJ" id="5tEenuYOL$K" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKH5" />
+            <ref role="3Ug1GI" node="5tEenuYOKH5" resolve="prediction" />
           </node>
         </node>
         <node concept="3Ug1GC" id="5tEenuYOL$V" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="5tEenuYOL_9" />
+          <ref role="3Ug1Ha" node="5tEenuYOL_9" resolve="predicted_objects" />
           <node concept="3Ug1GJ" id="5tEenuYOL$U" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKIl" />
+            <ref role="3Ug1GI" node="5tEenuYOKIl" resolve="planing" />
           </node>
         </node>
       </node>
       <node concept="3UgYNU" id="41_NtXJuBvH" role="3UgYNK" />
       <node concept="3Ug1$w" id="5tEenuYOLBr" role="3UgYNK">
         <node concept="3Ug1Ap" id="41_NtXJuBJx" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="41_NtXJuBd4" />
+          <ref role="3Ug1Ao" node="41_NtXJuBd4" resolve="driver_monitoring_data" />
         </node>
         <node concept="3Ug1GC" id="5tEenuYOLRz" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="5tEenuYOK79" />
+          <ref role="3Ug1Ha" node="5tEenuYOK79" resolve="driver_monitoring_data" />
           <node concept="3Ug1GJ" id="5tEenuYOLRy" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKIl" />
+            <ref role="3Ug1GI" node="5tEenuYOKIl" resolve="planing" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJuAcN" role="3UgYNK">
         <node concept="3Ug1Ap" id="41_NtXJuBJV" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="41_NtXJuBd8" />
+          <ref role="3Ug1Ao" node="41_NtXJuBd8" resolve="road_info" />
         </node>
         <node concept="3Ug1GC" id="41_NtXJuAf5" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJuAbF" />
+          <ref role="3Ug1Ha" node="41_NtXJuAbF" resolve="road_info" />
           <node concept="3Ug1GJ" id="41_NtXJuAf4" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKIl" />
+            <ref role="3Ug1GI" node="5tEenuYOKIl" resolve="planing" />
           </node>
         </node>
       </node>
       <node concept="3UgYNU" id="41_NtXJuBGP" role="3UgYNK" />
       <node concept="3Ug1$w" id="5tEenuYOMce" role="3UgYNK">
         <node concept="3Ug1Ap" id="5tEenuYOMdA" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="41_NtXJuBd6" />
+          <ref role="3Ug1Ao" node="41_NtXJuBd6" resolve="ego_state" />
         </node>
         <node concept="3Ug1GC" id="5tEenuYOMdF" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="5tEenuYOM63" />
+          <ref role="3Ug1Ha" node="5tEenuYOM63" resolve="ego_state" />
           <node concept="3Ug1GJ" id="5tEenuYOMdE" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKIl" />
+            <ref role="3Ug1GI" node="5tEenuYOKIl" resolve="planing" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="_wUu$TY_uD" role="3UgYNK">
         <property role="TrG5h" value="performance" />
         <node concept="3Ug1GC" id="_wUu$TY_uE" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="5tEenuYOKkE" />
+          <ref role="3Ug1Ha" node="5tEenuYOKkE" resolve="performance" />
           <node concept="3Ug1GJ" id="_wUu$TY_uF" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKFV" />
+            <ref role="3Ug1GI" node="5tEenuYOKFV" resolve="perception" />
           </node>
         </node>
         <node concept="3Ug1GC" id="_wUu$TY_uG" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="5tEenuYOM4D" />
+          <ref role="3Ug1Ha" node="5tEenuYOM4D" resolve="perception_confidence" />
           <node concept="3Ug1GJ" id="_wUu$TY_uH" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKIl" />
+            <ref role="3Ug1GI" node="5tEenuYOKIl" resolve="planing" />
           </node>
         </node>
       </node>
@@ -4008,13 +4008,13 @@
       <node concept="3Ug1$w" id="_wUu$Ub$hN" role="3UgYNK">
         <property role="TrG5h" value=" " />
         <node concept="3Ug1GC" id="_wUu$Ub$hO" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="5tEenuYOKWR" />
+          <ref role="3Ug1Ha" node="5tEenuYOKWR" resolve="trajectory" />
           <node concept="3Ug1GJ" id="_wUu$Ub$hP" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKIl" />
+            <ref role="3Ug1GI" node="5tEenuYOKIl" resolve="planing" />
           </node>
         </node>
         <node concept="3Ug1Ap" id="41_NtXJuBTR" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="41_NtXJuBeg" />
+          <ref role="3Ug1Ao" node="41_NtXJuBeg" resolve="trajectory" />
         </node>
       </node>
       <node concept="3UgYNU" id="41_NtXJuBOK" role="3UgYNK" />
@@ -4022,7 +4022,7 @@
       <node concept="3UnI9n" id="41_NtXJuBeg" role="3UnI90">
         <property role="TrG5h" value="trajectory" />
         <node concept="1s31w3" id="41_NtXJuBTH" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOKZb" />
+          <ref role="1s31w2" node="5tEenuYOKZb" resolve="Trajectory" />
         </node>
       </node>
       <node concept="3UnI9n" id="41_NtXJuFja" role="3UnI90">
@@ -4032,61 +4032,61 @@
       <node concept="3UnI81" id="41_NtXJuBcQ" role="3UnI9m">
         <property role="TrG5h" value="front_camera_data" />
         <node concept="1s31w3" id="41_NtXJuBcR" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOJYp" />
+          <ref role="1s31w2" node="5tEenuYOJYp" resolve="CameraData" />
         </node>
       </node>
       <node concept="3UnI81" id="41_NtXJuBcS" role="3UnI9m">
         <property role="TrG5h" value="rear_camera_data" />
         <node concept="1s31w3" id="41_NtXJuBcT" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOJYp" />
+          <ref role="1s31w2" node="5tEenuYOJYp" resolve="CameraData" />
         </node>
       </node>
       <node concept="3UnI81" id="41_NtXJuBcU" role="3UnI9m">
         <property role="TrG5h" value="left_camera_data" />
         <node concept="1s31w3" id="41_NtXJuBcV" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOJYp" />
+          <ref role="1s31w2" node="5tEenuYOJYp" resolve="CameraData" />
         </node>
       </node>
       <node concept="3UnI81" id="41_NtXJuBcW" role="3UnI9m">
         <property role="TrG5h" value="right_camera_data" />
         <node concept="1s31w3" id="41_NtXJuBcX" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOJYp" />
+          <ref role="1s31w2" node="5tEenuYOJYp" resolve="CameraData" />
         </node>
       </node>
       <node concept="3UnI81" id="41_NtXJuBcY" role="3UnI9m">
         <property role="TrG5h" value="front_lidar_data" />
         <node concept="1s31w3" id="41_NtXJuBcZ" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOK17" />
+          <ref role="1s31w2" node="5tEenuYOK17" resolve="LidarData" />
         </node>
       </node>
       <node concept="3UnI81" id="41_NtXJuBd0" role="3UnI9m">
         <property role="TrG5h" value="front_radar_data" />
         <node concept="1s31w3" id="41_NtXJuBd1" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOK3l" />
+          <ref role="1s31w2" node="5tEenuYOK3l" resolve="RadarData" />
         </node>
       </node>
       <node concept="3UnI81" id="41_NtXJuBd2" role="3UnI9m">
         <property role="TrG5h" value="rear_radar_data" />
         <node concept="1s31w3" id="41_NtXJuBd3" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOK3l" />
+          <ref role="1s31w2" node="5tEenuYOK3l" resolve="RadarData" />
         </node>
       </node>
       <node concept="3UnI81" id="41_NtXJuBd4" role="3UnI9m">
         <property role="TrG5h" value="driver_monitoring_data" />
         <node concept="1s31w3" id="41_NtXJuBd5" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOK4L" />
+          <ref role="1s31w2" node="5tEenuYOK4L" resolve="DriverMonitoringData" />
         </node>
       </node>
       <node concept="3UnI81" id="41_NtXJuBd6" role="3UnI9m">
         <property role="TrG5h" value="ego_state" />
         <node concept="1s31w3" id="41_NtXJuBd7" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOM7P" />
+          <ref role="1s31w2" node="5tEenuYOM7P" resolve="VehicleData" />
         </node>
       </node>
       <node concept="3UnI81" id="41_NtXJuBd8" role="3UnI9m">
         <property role="TrG5h" value="road_info" />
         <node concept="1s31w3" id="41_NtXJuBd9" role="3UnI80">
-          <ref role="1s31w2" node="41_NtXJuA5S" />
+          <ref role="1s31w2" node="41_NtXJuA5S" resolve="RoadInfo" />
         </node>
       </node>
       <node concept="37mRI7" id="41_NtXJuBeX" role="lGtFl">
@@ -4666,40 +4666,40 @@
       <node concept="3Ug1$w" id="41_NtXJuE_z" role="3UgYNK">
         <property role="TrG5h" value="localization" />
         <node concept="3Ug1GC" id="41_NtXJuE_$" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="41_NtXJuEhM" />
+          <ref role="3Ug1Ha" node="41_NtXJuEhM" resolve="localization" />
           <node concept="3Ug1GJ" id="41_NtXJuE__" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKFV" />
+            <ref role="3Ug1GI" node="5tEenuYOKFV" resolve="perception" />
           </node>
         </node>
         <node concept="3Ug1GC" id="41_NtXJuE_A" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJuE$J" />
+          <ref role="3Ug1Ha" node="41_NtXJuE$J" resolve="localization" />
           <node concept="3Ug1GJ" id="41_NtXJuE_B" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKIl" />
+            <ref role="3Ug1GI" node="5tEenuYOKIl" resolve="planing" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJuG4y" role="3UgYNK">
         <node concept="3Ug1GC" id="41_NtXJuG4z" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="41_NtXJuFOI" />
+          <ref role="3Ug1Ha" node="41_NtXJuFOI" resolve="takeover_request" />
           <node concept="3Ug1GJ" id="41_NtXJuG4$" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKIl" />
+            <ref role="3Ug1GI" node="5tEenuYOKIl" resolve="planing" />
           </node>
         </node>
         <node concept="3Ug1Ap" id="41_NtXJuG4_" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="41_NtXJuFja" />
+          <ref role="3Ug1Ao" node="41_NtXJuFja" resolve="driver_takeover_request" />
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJvtod" role="3UgYNK">
         <node concept="3Ug1GC" id="41_NtXJvtoe" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="41_NtXJvtlU" />
+          <ref role="3Ug1Ha" node="41_NtXJvtlU" resolve="lane_markings" />
           <node concept="3Ug1GJ" id="41_NtXJvtof" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKFV" />
+            <ref role="3Ug1GI" node="5tEenuYOKFV" resolve="perception" />
           </node>
         </node>
         <node concept="3Ug1GC" id="41_NtXJvtog" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJvtmF" />
+          <ref role="3Ug1Ha" node="41_NtXJvtmF" resolve="lane_markings_info" />
           <node concept="3Ug1GJ" id="41_NtXJvtoh" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="5tEenuYOKIl" />
+            <ref role="3Ug1GI" node="5tEenuYOKIl" resolve="planing" />
           </node>
         </node>
       </node>
@@ -4716,31 +4716,31 @@
       <node concept="3UnI9n" id="41_NtXJuHtc" role="3UnI90">
         <property role="TrG5h" value="trajectory" />
         <node concept="1s31w3" id="41_NtXJuHK9" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOKZb" />
+          <ref role="1s31w2" node="5tEenuYOKZb" resolve="Trajectory" />
         </node>
       </node>
       <node concept="3UnI81" id="41_NtXJuHs0" role="3UnI9m">
         <property role="TrG5h" value="localization" />
         <node concept="1s31w3" id="41_NtXJuHsA" role="3UnI80">
-          <ref role="1s31w2" node="41_NtXJuEqK" />
+          <ref role="1s31w2" node="41_NtXJuEqK" resolve="LocalizationInfo" />
         </node>
       </node>
       <node concept="3UnI81" id="41_NtXJvtP1" role="3UnI9m">
         <property role="TrG5h" value="lane_markings" />
         <node concept="1s31w3" id="41_NtXJvtPF" role="3UnI80">
-          <ref role="1s31w2" node="41_NtXJvtck" />
+          <ref role="1s31w2" node="41_NtXJvtck" resolve="LaneMarkingsInfo" />
         </node>
       </node>
       <node concept="3UnI81" id="41_NtXJuHsI" role="3UnI9m">
         <property role="TrG5h" value="trajectories" />
         <node concept="1s31w3" id="41_NtXJuHIQ" role="3UnI80">
-          <ref role="1s31w2" node="41_NtXJuHGi" />
+          <ref role="1s31w2" node="41_NtXJuHGi" resolve="TrajectoriesList" />
         </node>
       </node>
       <node concept="3UnI81" id="41_NtXJuHQo" role="3UnI9m">
         <property role="TrG5h" value="predicted_objects" />
         <node concept="1s31w3" id="41_NtXJuHQY" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOKen" />
+          <ref role="1s31w2" node="5tEenuYOKen" resolve="ObjectsPrediction" />
         </node>
       </node>
     </node>
@@ -4750,19 +4750,19 @@
       <node concept="3UnI9n" id="41_NtXJuHxT" role="3UnI90">
         <property role="TrG5h" value="trajectories" />
         <node concept="1s31w3" id="41_NtXJuHHl" role="3UnI80">
-          <ref role="1s31w2" node="41_NtXJuHGi" />
+          <ref role="1s31w2" node="41_NtXJuHGi" resolve="TrajectoriesList" />
         </node>
       </node>
       <node concept="3UnI81" id="41_NtXJuHxV" role="3UnI9m">
         <property role="TrG5h" value="localization" />
         <node concept="1s31w3" id="41_NtXJuHxW" role="3UnI80">
-          <ref role="1s31w2" node="41_NtXJuEqK" />
+          <ref role="1s31w2" node="41_NtXJuEqK" resolve="LocalizationInfo" />
         </node>
       </node>
       <node concept="3UnI81" id="41_NtXJvtO5" role="3UnI9m">
         <property role="TrG5h" value="lane_markings" />
         <node concept="1s31w3" id="41_NtXJvtOT" role="3UnI80">
-          <ref role="1s31w2" node="41_NtXJvtck" />
+          <ref role="1s31w2" node="41_NtXJvtck" resolve="LaneMarkingsInfo" />
         </node>
       </node>
       <node concept="3UnI81" id="41_NtXJuHxX" role="3UnI9m">
@@ -4772,7 +4772,7 @@
       <node concept="3UnI81" id="41_NtXJuHAR" role="3UnI9m">
         <property role="TrG5h" value="predicted_objects" />
         <node concept="1s31w3" id="41_NtXJuHBz" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOKen" />
+          <ref role="1s31w2" node="5tEenuYOKen" resolve="ObjectsPrediction" />
         </node>
       </node>
     </node>
@@ -4782,13 +4782,13 @@
       <node concept="3UnI9n" id="41_NtXJuDDw" role="3UnI90">
         <property role="TrG5h" value="trajectory" />
         <node concept="1s31w3" id="41_NtXJuDDx" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOKZb" />
+          <ref role="1s31w2" node="5tEenuYOKZb" resolve="Trajectory" />
         </node>
       </node>
       <node concept="3UnI81" id="41_NtXJuDDe" role="3UnI9m">
         <property role="TrG5h" value="predicted_objects" />
         <node concept="1s31w3" id="41_NtXJuDDf" role="3UnI80">
-          <ref role="1s31w2" node="5tEenuYOKen" />
+          <ref role="1s31w2" node="5tEenuYOKen" resolve="ObjectsPrediction" />
         </node>
       </node>
       <node concept="3UnI81" id="41_NtXJuDDg" role="3UnI9m">
@@ -4798,13 +4798,13 @@
       <node concept="3UnI81" id="41_NtXJuHz_" role="3UnI9m">
         <property role="TrG5h" value="localization" />
         <node concept="1s31w3" id="41_NtXJuH$c" role="3UnI80">
-          <ref role="1s31w2" node="41_NtXJuEqK" />
+          <ref role="1s31w2" node="41_NtXJuEqK" resolve="LocalizationInfo" />
         </node>
       </node>
       <node concept="3UnI81" id="41_NtXJvtMx" role="3UnI9m">
         <property role="TrG5h" value="lane_markings" />
         <node concept="1s31w3" id="41_NtXJvtN0" role="3UnI80">
-          <ref role="1s31w2" node="41_NtXJvtck" />
+          <ref role="1s31w2" node="41_NtXJvtck" resolve="LaneMarkingsInfo" />
         </node>
       </node>
       <node concept="37mRI7" id="41_NtXJuHyC" role="lGtFl">
@@ -5042,7 +5042,7 @@
       <node concept="3Ug1AV" id="41_NtXJuH_c" role="3UgYNK">
         <property role="TrG5h" value="possible_trajectories_computer" />
         <node concept="3Ug1AZ" id="41_NtXJuH_d" role="3Ug1A_">
-          <ref role="3Ug1AY" node="41_NtXJuHxS" />
+          <ref role="3Ug1AY" node="41_NtXJuHxS" resolve="CEM_PossibleTrajectories" />
         </node>
         <node concept="N8ley" id="41_NtXJvtWk" role="Nnt9r">
           <node concept="KAwnX" id="41_NtXJvtWz" role="N8j5Z">
@@ -5053,7 +5053,7 @@
       <node concept="3Ug1AV" id="41_NtXJuH_G" role="3UgYNK">
         <property role="TrG5h" value="trajectories_sanitizer" />
         <node concept="3Ug1AZ" id="41_NtXJuH_H" role="3Ug1A_">
-          <ref role="3Ug1AY" node="41_NtXJuHn2" />
+          <ref role="3Ug1AY" node="41_NtXJuHn2" resolve="CEM_TrajectoriesSanitizer" />
         </node>
         <node concept="N8ley" id="41_NtXJuHQb" role="Nnt9r">
           <node concept="KAwnX" id="41_NtXJuHX2" role="N8j5Z">
@@ -5069,104 +5069,104 @@
       </node>
       <node concept="3Ug1$w" id="41_NtXJuHC6" role="3UgYNK">
         <node concept="3Ug1Ap" id="41_NtXJuHC7" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="41_NtXJuDDg" />
+          <ref role="3Ug1Ao" node="41_NtXJuDDg" resolve="active" />
         </node>
         <node concept="3Ug1GC" id="41_NtXJuHC8" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJuHxX" />
+          <ref role="3Ug1Ha" node="41_NtXJuHxX" resolve="active" />
           <node concept="3Ug1GJ" id="41_NtXJuHC9" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuH_c" />
+            <ref role="3Ug1GI" node="41_NtXJuH_c" resolve="possible_trajectories_computer" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJuHCy" role="3UgYNK">
         <node concept="3Ug1Ap" id="41_NtXJuHCz" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="41_NtXJuHz_" />
+          <ref role="3Ug1Ao" node="41_NtXJuHz_" resolve="localization" />
         </node>
         <node concept="3Ug1GC" id="41_NtXJuHC$" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJuHxV" />
+          <ref role="3Ug1Ha" node="41_NtXJuHxV" resolve="localization" />
           <node concept="3Ug1GJ" id="41_NtXJuHC_" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuH_c" />
+            <ref role="3Ug1GI" node="41_NtXJuH_c" resolve="possible_trajectories_computer" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJuHD2" role="3UgYNK">
         <node concept="3Ug1Ap" id="41_NtXJuHD3" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="41_NtXJuDDe" />
+          <ref role="3Ug1Ao" node="41_NtXJuDDe" resolve="predicted_objects" />
         </node>
         <node concept="3Ug1GC" id="41_NtXJuHD4" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJuHAR" />
+          <ref role="3Ug1Ha" node="41_NtXJuHAR" resolve="predicted_objects" />
           <node concept="3Ug1GJ" id="41_NtXJuHD5" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuH_c" />
+            <ref role="3Ug1GI" node="41_NtXJuH_c" resolve="possible_trajectories_computer" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJuHHt" role="3UgYNK">
         <node concept="3Ug1Ap" id="41_NtXJuHHu" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="41_NtXJuHz_" />
+          <ref role="3Ug1Ao" node="41_NtXJuHz_" resolve="localization" />
         </node>
         <node concept="3Ug1GC" id="41_NtXJuHHv" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJuHs0" />
+          <ref role="3Ug1Ha" node="41_NtXJuHs0" resolve="localization" />
           <node concept="3Ug1GJ" id="41_NtXJuHHw" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuH_G" />
+            <ref role="3Ug1GI" node="41_NtXJuH_G" resolve="trajectories_sanitizer" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJuHI5" role="3UgYNK">
         <property role="TrG5h" value="trajectories" />
         <node concept="3Ug1GC" id="41_NtXJuHI6" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="41_NtXJuHxT" />
+          <ref role="3Ug1Ha" node="41_NtXJuHxT" resolve="trajectories" />
           <node concept="3Ug1GJ" id="41_NtXJuHI7" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuH_c" />
+            <ref role="3Ug1GI" node="41_NtXJuH_c" resolve="possible_trajectories_computer" />
           </node>
         </node>
         <node concept="3Ug1GC" id="41_NtXJuHI8" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJuHsI" />
+          <ref role="3Ug1Ha" node="41_NtXJuHsI" resolve="trajectories" />
           <node concept="3Ug1GJ" id="41_NtXJuHI9" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuH_G" />
+            <ref role="3Ug1GI" node="41_NtXJuH_G" resolve="trajectories_sanitizer" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJuHKD" role="3UgYNK">
         <node concept="3Ug1GC" id="41_NtXJuHKE" role="3Ug1$A">
-          <ref role="3Ug1Ha" node="41_NtXJuHtc" />
+          <ref role="3Ug1Ha" node="41_NtXJuHtc" resolve="trajectory" />
           <node concept="3Ug1GJ" id="41_NtXJuHKF" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuH_G" />
+            <ref role="3Ug1GI" node="41_NtXJuH_G" resolve="trajectories_sanitizer" />
           </node>
         </node>
         <node concept="3Ug1Ap" id="41_NtXJuHKG" role="3Ug1_r">
-          <ref role="3Ug1Ao" node="41_NtXJuDDw" />
+          <ref role="3Ug1Ao" node="41_NtXJuDDw" resolve="trajectory" />
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJuHR6" role="3UgYNK">
         <node concept="3Ug1Ap" id="41_NtXJuHR7" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="41_NtXJuDDe" />
+          <ref role="3Ug1Ao" node="41_NtXJuDDe" resolve="predicted_objects" />
         </node>
         <node concept="3Ug1GC" id="41_NtXJuHR8" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJuHQo" />
+          <ref role="3Ug1Ha" node="41_NtXJuHQo" resolve="predicted_objects" />
           <node concept="3Ug1GJ" id="41_NtXJuHR9" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuH_G" />
+            <ref role="3Ug1GI" node="41_NtXJuH_G" resolve="trajectories_sanitizer" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJvtPN" role="3UgYNK">
         <node concept="3Ug1Ap" id="41_NtXJvtPO" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="41_NtXJvtMx" />
+          <ref role="3Ug1Ao" node="41_NtXJvtMx" resolve="lane_markings" />
         </node>
         <node concept="3Ug1GC" id="41_NtXJvtPP" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJvtO5" />
+          <ref role="3Ug1Ha" node="41_NtXJvtO5" resolve="lane_markings" />
           <node concept="3Ug1GJ" id="41_NtXJvtPQ" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuH_c" />
+            <ref role="3Ug1GI" node="41_NtXJuH_c" resolve="possible_trajectories_computer" />
           </node>
         </node>
       </node>
       <node concept="3Ug1$w" id="41_NtXJvtQL" role="3UgYNK">
         <node concept="3Ug1Ap" id="41_NtXJvtQM" role="3Ug1$A">
-          <ref role="3Ug1Ao" node="41_NtXJvtMx" />
+          <ref role="3Ug1Ao" node="41_NtXJvtMx" resolve="lane_markings" />
         </node>
         <node concept="3Ug1GC" id="41_NtXJvtQN" role="3Ug1_r">
-          <ref role="3Ug1Ha" node="41_NtXJvtP1" />
+          <ref role="3Ug1Ha" node="41_NtXJvtP1" resolve="lane_markings" />
           <node concept="3Ug1GJ" id="41_NtXJvtQO" role="3Ug1Hl">
-            <ref role="3Ug1GI" node="41_NtXJuH_G" />
+            <ref role="3Ug1GI" node="41_NtXJuH_G" resolve="trajectories_sanitizer" />
           </node>
         </node>
       </node>
@@ -5200,10 +5200,10 @@
     <node concept="3OqrL5" id="2rSUIGXq$Dx" role="3_aW3_">
       <node concept="3OqrWR" id="2rSUIGXq$DQ" role="3OqrZK">
         <node concept="oYKel" id="2rSUIGXq$DS" role="3OqpI5">
-          <ref role="oYKei" node="2rSUIGXq$Ay" />
+          <ref role="oYKei" node="2rSUIGXq$Ay" resolve="Perception" />
         </node>
         <node concept="oYKel" id="2rSUIGXq$DU" role="3OqpI2">
-          <ref role="oYKei" node="2rSUIGXq$Ay" />
+          <ref role="oYKei" node="2rSUIGXq$Ay" resolve="Perception" />
         </node>
         <node concept="ru7O1" id="2rSUIGXq$DW" role="3O4BRU">
           <property role="ru7PJ" value="degraded_perception" />
@@ -5213,10 +5213,10 @@
     <node concept="oRLRZ" id="2rSUIGXq$Dd" role="3_aW3_" />
     <node concept="3_aW46" id="2rSUIGXq$Bd" role="3_aW3_">
       <node concept="oYKel" id="2rSUIGXq$Bl" role="oZz2X">
-        <ref role="oYKei" node="2rSUIGXq$Ay" />
+        <ref role="oYKei" node="2rSUIGXq$Ay" resolve="Perception" />
       </node>
       <node concept="oYKel" id="2rSUIGXq$Bn" role="oZz2S">
-        <ref role="oYKei" node="2rSUIGXq$AB" />
+        <ref role="oYKei" node="2rSUIGXq$AB" resolve="Planning" />
       </node>
       <node concept="ru7O1" id="2rSUIGXq$Bp" role="3_fVoY">
         <property role="ru7PJ" value="confidence == LOW" />
@@ -5225,10 +5225,10 @@
     <node concept="oRLRZ" id="2rSUIGXq$Br" role="3_aW3_" />
     <node concept="3_aW46" id="2rSUIGXq$BM" role="3_aW3_">
       <node concept="oYKel" id="2rSUIGXq$BZ" role="oZz2X">
-        <ref role="oYKei" node="2rSUIGXq$AB" />
+        <ref role="oYKei" node="2rSUIGXq$AB" resolve="Planning" />
       </node>
       <node concept="oYKel" id="2rSUIGXq$C1" role="oZz2S">
-        <ref role="oYKei" node="2rSUIGXq$AJ" />
+        <ref role="oYKei" node="2rSUIGXq$AJ" resolve="DriverConsole" />
       </node>
       <node concept="ru7O1" id="2rSUIGXq$C3" role="3_fVoY">
         <property role="ru7PJ" value="driver_takeover_request()" />
@@ -5274,10 +5274,10 @@
     <node concept="oRLRZ" id="2rSUIGXq$FR" role="3_aW3_" />
     <node concept="3_aW46" id="2rSUIGXq$FS" role="3_aW3_">
       <node concept="oYKel" id="2rSUIGXq$FT" role="oZz2X">
-        <ref role="oYKei" node="2rSUIGXq$FE" />
+        <ref role="oYKei" node="2rSUIGXq$FE" resolve="otherPlanner" />
       </node>
       <node concept="oYKel" id="2rSUIGXq$Go" role="oZz2S">
-        <ref role="oYKei" node="2rSUIGXq$FG" />
+        <ref role="oYKei" node="2rSUIGXq$FG" resolve="trajectoryChooser" />
       </node>
       <node concept="ru7O1" id="2rSUIGXq$FV" role="3_fVoY">
         <property role="ru7PJ" value="trajectory1 &amp;&amp; high_priority" />
@@ -5286,10 +5286,10 @@
     <node concept="oRLRZ" id="2rSUIGXq$FW" role="3_aW3_" />
     <node concept="3_aW46" id="2rSUIGXq$FX" role="3_aW3_">
       <node concept="oYKel" id="2rSUIGXq$FY" role="oZz2X">
-        <ref role="oYKei" node="2rSUIGXq$FF" />
+        <ref role="oYKei" node="2rSUIGXq$FF" resolve="cemPlanner" />
       </node>
       <node concept="oYKel" id="2rSUIGXq$FZ" role="oZz2S">
-        <ref role="oYKei" node="2rSUIGXq$FG" />
+        <ref role="oYKei" node="2rSUIGXq$FG" resolve="trajectoryChooser" />
       </node>
       <node concept="ru7O1" id="2rSUIGXq$G0" role="3_fVoY">
         <property role="ru7PJ" value="trajectory2 &amp;&amp; low_priority" />
@@ -5298,10 +5298,10 @@
     <node concept="oRLRZ" id="2rSUIGXq$G1" role="3_aW3_" />
     <node concept="3_aW46" id="2rSUIGXq$GR" role="3_aW3_">
       <node concept="oYKel" id="2rSUIGXq$Ha" role="oZz2X">
-        <ref role="oYKei" node="2rSUIGXq$FG" />
+        <ref role="oYKei" node="2rSUIGXq$FG" resolve="trajectoryChooser" />
       </node>
       <node concept="oYKel" id="2rSUIGXq$Hc" role="oZz2S">
-        <ref role="oYKei" node="2rSUIGXq$Gw" />
+        <ref role="oYKei" node="2rSUIGXq$Gw" resolve="trajectorySanityChecker" />
       </node>
       <node concept="ru7O1" id="2rSUIGXq$He" role="3_fVoY">
         <property role="ru7PJ" value="trajectory1" />
@@ -5341,10 +5341,10 @@
     <node concept="oRLRZ" id="2rSUIGXq$Hq" role="3_aW3_" />
     <node concept="3_aW46" id="2rSUIGXq$Hr" role="3_aW3_">
       <node concept="oYKel" id="2rSUIGXq$Hs" role="oZz2X">
-        <ref role="oYKei" node="2rSUIGXq$Hh" />
+        <ref role="oYKei" node="2rSUIGXq$Hh" resolve="MissionChannel" />
       </node>
       <node concept="oYKel" id="2rSUIGXq$Ht" role="oZz2S">
-        <ref role="oYKei" node="2rSUIGXq$Hj" />
+        <ref role="oYKei" node="2rSUIGXq$Hj" resolve="trajectorySanityChecker" />
       </node>
       <node concept="ru7O1" id="2rSUIGXq$Hu" role="3_fVoY">
         <property role="ru7PJ" value="trajectory1" />
@@ -5353,10 +5353,10 @@
     <node concept="oRLRZ" id="2rSUIGXq$Hv" role="3_aW3_" />
     <node concept="3_aW46" id="2rSUIGXq$Hw" role="3_aW3_">
       <node concept="oYKel" id="2rSUIGXq$Hx" role="oZz2X">
-        <ref role="oYKei" node="2rSUIGXq$Hi" />
+        <ref role="oYKei" node="2rSUIGXq$Hi" resolve="SafetyChannel" />
       </node>
       <node concept="oYKel" id="2rSUIGXq$Hy" role="oZz2S">
-        <ref role="oYKei" node="2rSUIGXq$Hj" />
+        <ref role="oYKei" node="2rSUIGXq$Hj" resolve="trajectorySanityChecker" />
       </node>
       <node concept="ru7O1" id="2rSUIGXq$Hz" role="3_fVoY">
         <property role="ru7PJ" value="safe_states1" />
@@ -5366,10 +5366,10 @@
     <node concept="3OqrL5" id="2rSUIGXq$I8" role="3_aW3_">
       <node concept="3OqrWR" id="2rSUIGXq$Iw" role="3OqrZK">
         <node concept="oYKel" id="2rSUIGXq$Iy" role="3OqpI5">
-          <ref role="oYKei" node="2rSUIGXq$Hj" />
+          <ref role="oYKei" node="2rSUIGXq$Hj" resolve="trajectorySanityChecker" />
         </node>
         <node concept="oYKel" id="2rSUIGXq$I$" role="3OqpI2">
-          <ref role="oYKei" node="2rSUIGXq$Hj" />
+          <ref role="oYKei" node="2rSUIGXq$Hj" resolve="trajectorySanityChecker" />
         </node>
         <node concept="ru7O1" id="2rSUIGXq$IA" role="3O4BRU">
           <property role="ru7PJ" value="mission_trajectory != SAFE" />
@@ -5379,10 +5379,10 @@
     <node concept="oRLRZ" id="2rSUIGXq$IC" role="3_aW3_" />
     <node concept="3_aW46" id="2rSUIGXq$H_" role="3_aW3_">
       <node concept="oYKel" id="2rSUIGXq$HA" role="oZz2X">
-        <ref role="oYKei" node="2rSUIGXq$Hj" />
+        <ref role="oYKei" node="2rSUIGXq$Hj" resolve="trajectorySanityChecker" />
       </node>
       <node concept="oYKel" id="2rSUIGXq$HB" role="oZz2S">
-        <ref role="oYKei" node="2rSUIGXq$Hk" />
+        <ref role="oYKei" node="2rSUIGXq$Hk" resolve="takeoverRequestor" />
       </node>
       <node concept="ru7O1" id="2rSUIGXq$HC" role="3_fVoY">
         <property role="ru7PJ" value="driver_takeover_request()" />
@@ -5390,10 +5390,10 @@
     </node>
     <node concept="3_aW46" id="2rSUIGXq$Mz" role="3_aW3_">
       <node concept="oYKel" id="2rSUIGXq$N2" role="oZz2X">
-        <ref role="oYKei" node="2rSUIGXq$Hk" />
+        <ref role="oYKei" node="2rSUIGXq$Hk" resolve="takeoverRequestor" />
       </node>
       <node concept="oYKel" id="2rSUIGXq$N4" role="oZz2S">
-        <ref role="oYKei" node="2rSUIGXq$Ms" />
+        <ref role="oYKei" node="2rSUIGXq$Ms" resolve="DriverConsole" />
       </node>
       <node concept="ru7O1" id="2rSUIGXq$N6" role="3_fVoY">
         <property role="ru7PJ" value="takeover()" />
@@ -5408,10 +5408,10 @@
     <node concept="oRLRZ" id="2rSUIGXq$HD" role="3_aW3_" />
     <node concept="3_aW46" id="2rSUIGXuVXU" role="3_aW3_">
       <node concept="oYKel" id="2rSUIGXuVYz" role="oZz2X">
-        <ref role="oYKei" node="2rSUIGXuVXM" />
+        <ref role="oYKei" node="2rSUIGXuVXM" resolve="DriverMonitor" />
       </node>
       <node concept="oYKel" id="2rSUIGXuVY_" role="oZz2S">
-        <ref role="oYKei" node="2rSUIGXq$Hk" />
+        <ref role="oYKei" node="2rSUIGXq$Hk" resolve="takeoverRequestor" />
       </node>
       <node concept="ru7O1" id="2rSUIGXuVYE" role="3_fVoY">
         <property role="ru7PJ" value="driver_took_control" />
@@ -5465,10 +5465,10 @@
           <property role="TrG5h" value="activate" />
           <node concept="2HbLFT" id="2rSUIGXq$RP" role="1zoetD">
             <node concept="1tS8IT" id="2rSUIGXq$Sh" role="2H9Ial">
-              <ref role="1tS8HL" node="2rSUIGXq$P0" />
+              <ref role="1tS8HL" node="2rSUIGXq$P0" resolve="active" />
             </node>
             <node concept="1tTNRl" id="2rSUIGXq$R3" role="2H9Iav">
-              <ref role="1tTNPH" node="2rSUIGXq$OX" />
+              <ref role="1tTNPH" node="2rSUIGXq$OX" resolve="_state_" />
             </node>
           </node>
         </node>
@@ -5494,154 +5494,154 @@
       <node concept="2aiEES" id="2rSUIGXq$OS" role="2HcbjO">
         <node concept="2HfkAV" id="2rSUIGXq$P1" role="2HfkAP">
           <node concept="1tTNRl" id="2rSUIGXq$P2" role="2He$ia">
-            <ref role="1tTNPH" node="2rSUIGXq$OX" />
+            <ref role="1tTNPH" node="2rSUIGXq$OX" resolve="_state_" />
           </node>
           <node concept="1tS8IT" id="2rSUIGXsSCb" role="2He$i0">
-            <ref role="1tS8HL" node="2rSUIGXq$OZ" />
+            <ref role="1tS8HL" node="2rSUIGXq$OZ" resolve="innactive" />
           </node>
         </node>
         <node concept="1tTNHs" id="2rSUIGXq$P4" role="2HfkAP">
           <node concept="1tTNRl" id="2rSUIGXq$P5" role="2He$ia">
-            <ref role="1tTNPH" node="2rSUIGXq$OX" />
+            <ref role="1tTNPH" node="2rSUIGXq$OX" resolve="_state_" />
           </node>
           <node concept="1tTNP8" id="2rSUIGXq$P6" role="2He$i0">
             <node concept="1tTNwp" id="2rSUIGXq$Wi" role="2H9I2x">
               <property role="TrG5h" value="innactive2active" />
               <node concept="1tTNRl" id="2rSUIGXq$Wk" role="3JXa2C">
-                <ref role="1tTNPH" node="2rSUIGXq$OX" />
+                <ref role="1tTNPH" node="2rSUIGXq$OX" resolve="_state_" />
               </node>
               <node concept="1tS8IT" id="2rSUIGXq$Ws" role="3JZSx7">
-                <ref role="1tS8HL" node="2rSUIGXq$OZ" />
+                <ref role="1tS8HL" node="2rSUIGXq$OZ" resolve="innactive" />
               </node>
               <node concept="2HbMbg" id="2rSUIGXq_0_" role="2H9I4J">
                 <node concept="2HbMbg" id="2rSUIGXq_0A" role="2H9Iav">
                   <node concept="2HbLFT" id="2rSUIGXq_0B" role="2H9Iav">
                     <node concept="32Ogvo" id="2rSUIGXq$WA" role="2H9Iav">
-                      <ref role="32Ogvr" node="2rSUIGXq$TE" />
+                      <ref role="32Ogvr" node="2rSUIGXq$TE" resolve="perception_confidence" />
                     </node>
                     <node concept="2HeeqP" id="2rSUIGXq$Ya" role="2H9Ial">
-                      <ref role="2HeeqO" node="2rSUIGXq$Y6" />
+                      <ref role="2HeeqO" node="2rSUIGXq$Y6" resolve="high" />
                     </node>
                   </node>
                   <node concept="hVCfL" id="2rSUIGXq_07" role="2H9Ial">
-                    <ref role="hVCfQ" node="2rSUIGXq$YH" />
+                    <ref role="hVCfQ" node="2rSUIGXq$YH" resolve="cem_check_odd" />
                     <node concept="32Ogvo" id="2rSUIGXq_0g" role="hVCcu">
-                      <ref role="32Ogvr" node="2rSUIGXq$TH" />
+                      <ref role="32Ogvr" node="2rSUIGXq$TH" resolve="odd_info" />
                     </node>
                   </node>
                 </node>
                 <node concept="hVCfL" id="2rSUIGXq_14" role="2H9Ial">
-                  <ref role="hVCfQ" node="2rSUIGXq$V5" />
+                  <ref role="hVCfQ" node="2rSUIGXq$V5" resolve="cem_check_road" />
                   <node concept="32Ogvo" id="2rSUIGXq_1b" role="hVCcu">
-                    <ref role="32Ogvr" node="2rSUIGXq$TK" />
+                    <ref role="32Ogvr" node="2rSUIGXq$TK" resolve="road_info" />
                   </node>
                 </node>
               </node>
               <node concept="1tS8IT" id="2rSUIGXq_0u" role="2H9I4_">
-                <ref role="1tS8HL" node="2rSUIGXq$P0" />
+                <ref role="1tS8HL" node="2rSUIGXq$P0" resolve="active" />
               </node>
             </node>
             <node concept="1tTNwp" id="2rSUIGXuVQr" role="2H9I2x">
               <property role="TrG5h" value="active2active" />
               <node concept="1tTNRl" id="2rSUIGXuVQs" role="3JXa2C">
-                <ref role="1tTNPH" node="2rSUIGXq$OX" />
+                <ref role="1tTNPH" node="2rSUIGXq$OX" resolve="_state_" />
               </node>
               <node concept="1tS8IT" id="2rSUIGXuVRt" role="3JZSx7">
-                <ref role="1tS8HL" node="2rSUIGXq$P0" />
+                <ref role="1tS8HL" node="2rSUIGXq$P0" resolve="active" />
               </node>
               <node concept="2HbMbg" id="2rSUIGXuVQu" role="2H9I4J">
                 <node concept="2HbMbg" id="2rSUIGXuVQv" role="2H9Iav">
                   <node concept="2HbLFT" id="2rSUIGXuVQw" role="2H9Iav">
                     <node concept="32Ogvo" id="2rSUIGXuVQx" role="2H9Iav">
-                      <ref role="32Ogvr" node="2rSUIGXq$TE" />
+                      <ref role="32Ogvr" node="2rSUIGXq$TE" resolve="perception_confidence" />
                     </node>
                     <node concept="2HeeqP" id="2rSUIGXuVQy" role="2H9Ial">
-                      <ref role="2HeeqO" node="2rSUIGXq$Y6" />
+                      <ref role="2HeeqO" node="2rSUIGXq$Y6" resolve="high" />
                     </node>
                   </node>
                   <node concept="hVCfL" id="2rSUIGXuVQz" role="2H9Ial">
-                    <ref role="hVCfQ" node="2rSUIGXq$YH" />
+                    <ref role="hVCfQ" node="2rSUIGXq$YH" resolve="cem_check_odd" />
                     <node concept="32Ogvo" id="2rSUIGXuVQ$" role="hVCcu">
-                      <ref role="32Ogvr" node="2rSUIGXq$TH" />
+                      <ref role="32Ogvr" node="2rSUIGXq$TH" resolve="odd_info" />
                     </node>
                   </node>
                 </node>
                 <node concept="hVCfL" id="2rSUIGXuVQ_" role="2H9Ial">
-                  <ref role="hVCfQ" node="2rSUIGXq$V5" />
+                  <ref role="hVCfQ" node="2rSUIGXq$V5" resolve="cem_check_road" />
                   <node concept="32Ogvo" id="2rSUIGXuVQA" role="hVCcu">
-                    <ref role="32Ogvr" node="2rSUIGXq$TK" />
+                    <ref role="32Ogvr" node="2rSUIGXq$TK" resolve="road_info" />
                   </node>
                 </node>
               </node>
               <node concept="1tS8IT" id="2rSUIGXuVQB" role="2H9I4_">
-                <ref role="1tS8HL" node="2rSUIGXq$P0" />
+                <ref role="1tS8HL" node="2rSUIGXq$P0" resolve="active" />
               </node>
             </node>
             <node concept="1tTNwp" id="2rSUIGXq_1d" role="2H9I2x">
               <property role="TrG5h" value="active2innactive_odd" />
               <node concept="1tTNRl" id="2rSUIGXq_1e" role="3JXa2C">
-                <ref role="1tTNPH" node="2rSUIGXq$OX" />
+                <ref role="1tTNPH" node="2rSUIGXq$OX" resolve="_state_" />
               </node>
               <node concept="1tS8IT" id="2rSUIGXq_2g" role="3JZSx7">
-                <ref role="1tS8HL" node="2rSUIGXq$P0" />
+                <ref role="1tS8HL" node="2rSUIGXq$P0" resolve="active" />
               </node>
               <node concept="1yA0yd" id="2rSUIGXq_29" role="2H9I4J">
                 <node concept="hVCfL" id="2rSUIGXq_1l" role="32OYtT">
-                  <ref role="hVCfQ" node="2rSUIGXq$YH" />
+                  <ref role="hVCfQ" node="2rSUIGXq$YH" resolve="cem_check_odd" />
                   <node concept="32Ogvo" id="2rSUIGXq_1m" role="hVCcu">
-                    <ref role="32Ogvr" node="2rSUIGXq$TH" />
+                    <ref role="32Ogvr" node="2rSUIGXq$TH" resolve="odd_info" />
                   </node>
                 </node>
               </node>
               <node concept="1tS8IT" id="2rSUIGXq_2j" role="2H9I4_">
-                <ref role="1tS8HL" node="2rSUIGXq$OZ" />
+                <ref role="1tS8HL" node="2rSUIGXq$OZ" resolve="innactive" />
               </node>
             </node>
             <node concept="1tTNwp" id="2rSUIGXq_2m" role="2H9I2x">
               <property role="TrG5h" value="active2innactive_road" />
               <node concept="1tTNRl" id="2rSUIGXq_2n" role="3JXa2C">
-                <ref role="1tTNPH" node="2rSUIGXq$OX" />
+                <ref role="1tTNPH" node="2rSUIGXq$OX" resolve="_state_" />
               </node>
               <node concept="1tS8IT" id="2rSUIGXq_2o" role="3JZSx7">
-                <ref role="1tS8HL" node="2rSUIGXq$P0" />
+                <ref role="1tS8HL" node="2rSUIGXq$P0" resolve="active" />
               </node>
               <node concept="1yA0yd" id="2rSUIGXq_2p" role="2H9I4J">
                 <node concept="hVCfL" id="2rSUIGXq_2q" role="32OYtT">
-                  <ref role="hVCfQ" node="2rSUIGXq$V5" />
+                  <ref role="hVCfQ" node="2rSUIGXq$V5" resolve="cem_check_road" />
                   <node concept="32Ogvo" id="2rSUIGXq_49" role="hVCcu">
-                    <ref role="32Ogvr" node="2rSUIGXq$TK" />
+                    <ref role="32Ogvr" node="2rSUIGXq$TK" resolve="road_info" />
                   </node>
                 </node>
               </node>
               <node concept="1tS8IT" id="2rSUIGXq_2s" role="2H9I4_">
-                <ref role="1tS8HL" node="2rSUIGXq$OZ" />
+                <ref role="1tS8HL" node="2rSUIGXq$OZ" resolve="innactive" />
               </node>
             </node>
             <node concept="1tTNwp" id="2rSUIGXq_2U" role="2H9I2x">
               <property role="TrG5h" value="active2innactive_perc" />
               <node concept="1tTNRl" id="2rSUIGXq_2V" role="3JXa2C">
-                <ref role="1tTNPH" node="2rSUIGXq$OX" />
+                <ref role="1tTNPH" node="2rSUIGXq$OX" resolve="_state_" />
               </node>
               <node concept="1tS8IT" id="2rSUIGXq_2W" role="3JZSx7">
-                <ref role="1tS8HL" node="2rSUIGXq$P0" />
+                <ref role="1tS8HL" node="2rSUIGXq$P0" resolve="active" />
               </node>
               <node concept="dheZm" id="2rSUIGXq_3P" role="2H9I4J">
                 <node concept="2HeeqP" id="2rSUIGXq_42" role="2H9Ial">
-                  <ref role="2HeeqO" node="2rSUIGXq$Y6" />
+                  <ref role="2HeeqO" node="2rSUIGXq$Y6" resolve="high" />
                 </node>
                 <node concept="32Ogvo" id="2rSUIGXq_3H" role="2H9Iav">
-                  <ref role="32Ogvr" node="2rSUIGXq$TE" />
+                  <ref role="32Ogvr" node="2rSUIGXq$TE" resolve="perception_confidence" />
                 </node>
               </node>
               <node concept="1tS8IT" id="2rSUIGXq_30" role="2H9I4_">
-                <ref role="1tS8HL" node="2rSUIGXq$OZ" />
+                <ref role="1tS8HL" node="2rSUIGXq$OZ" resolve="innactive" />
               </node>
             </node>
           </node>
         </node>
         <node concept="2HfkAV" id="2rSUIGXuVMd" role="2HfkAP">
           <node concept="2He$iJ" id="2rSUIGXuVN8" role="2He$ia">
-            <ref role="2He$iI" node="2rSUIGXuVF_" />
+            <ref role="2He$iI" node="2rSUIGXuVF_" resolve="cem_active" />
           </node>
           <node concept="1yCjT0" id="2rSUIGXuVND" role="2He$i0" />
         </node>
@@ -5649,37 +5649,37 @@
           <node concept="FsPnB" id="2rSUIGXuVOC" role="2He$i0">
             <node concept="FsPnw" id="2rSUIGXuVOB" role="2H9I2x">
               <node concept="3JXjYv" id="2rSUIGXuVPB" role="2H9I4J">
-                <ref role="3JXjYu" node="2rSUIGXq_1d" />
+                <ref role="3JXjYu" node="2rSUIGXq_1d" resolve="active2innactive_odd" />
               </node>
               <node concept="1yCjT0" id="2rSUIGXuVPK" role="2H9I4_" />
             </node>
             <node concept="FsPnw" id="2rSUIGXuVPP" role="2H9I2x">
               <node concept="3JXjYv" id="2rSUIGXuVPW" role="2H9I4J">
-                <ref role="3JXjYu" node="2rSUIGXq_2m" />
+                <ref role="3JXjYu" node="2rSUIGXq_2m" resolve="active2innactive_road" />
               </node>
               <node concept="1yCjT0" id="2rSUIGXuVQ5" role="2H9I4_" />
             </node>
             <node concept="FsPnw" id="2rSUIGXuVQa" role="2H9I2x">
               <node concept="3JXjYv" id="2rSUIGXuVQb" role="2H9I4J">
-                <ref role="3JXjYu" node="2rSUIGXq_2U" />
+                <ref role="3JXjYu" node="2rSUIGXq_2U" resolve="active2innactive_perc" />
               </node>
               <node concept="1yCjT0" id="2rSUIGXuVQc" role="2H9I4_" />
             </node>
             <node concept="FsPnw" id="2rSUIGXuVRw" role="2H9I2x">
               <node concept="3JXjYv" id="2rSUIGXuVRH" role="2H9I4J">
-                <ref role="3JXjYu" node="2rSUIGXuVQr" />
+                <ref role="3JXjYu" node="2rSUIGXuVQr" resolve="active2active" />
               </node>
               <node concept="1yCjRe" id="2rSUIGXuVRO" role="2H9I4_" />
             </node>
             <node concept="FsPnw" id="2rSUIGXuVUf" role="2H9I2x">
               <node concept="3JXjYv" id="2rSUIGXuVUv" role="2H9I4J">
-                <ref role="3JXjYu" node="2rSUIGXq$Wi" />
+                <ref role="3JXjYu" node="2rSUIGXq$Wi" resolve="innactive2active" />
               </node>
               <node concept="1yCjRe" id="2rSUIGXuVUA" role="2H9I4_" />
             </node>
           </node>
           <node concept="2He$iJ" id="2rSUIGXuVPw" role="2He$ia">
-            <ref role="2He$iI" node="2rSUIGXuVF_" />
+            <ref role="2He$iI" node="2rSUIGXuVF_" resolve="cem_active" />
           </node>
         </node>
         <node concept="37mRI7" id="2rSUIGXq_4d" role="lGtFl">
diff --git a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._030_adas._020_automated_evasion_maneuver._100_safety_case.mps b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._030_adas._020_automated_evasion_maneuver._100_safety_case.mps
index 923414ae9..a673787c8 100644
--- a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._030_adas._020_automated_evasion_maneuver._100_safety_case.mps
+++ b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_100_examples._030_adas._020_automated_evasion_maneuver._100_safety_case.mps
@@ -292,12 +292,12 @@
       </node>
     </node>
     <node concept="2vhqFZ" id="41_NtXJuI4l" role="2vhqc$">
-      <ref role="3VeSjP" node="41_NtXJuI0R" />
-      <ref role="3VeSjQ" node="41_NtXJuI1r" />
+      <ref role="3VeSjP" node="41_NtXJuI0R" resolve="G_CEM_TOP_1" />
+      <ref role="3VeSjQ" node="41_NtXJuI1r" resolve="A_CEM_TOP_1" />
     </node>
     <node concept="2vhqFZ" id="41_NtXJuI55" role="2vhqc$">
-      <ref role="3VeSjP" node="41_NtXJuI0R" />
-      <ref role="3VeSjQ" node="41_NtXJuI2z" />
+      <ref role="3VeSjP" node="41_NtXJuI0R" resolve="G_CEM_TOP_1" />
+      <ref role="3VeSjQ" node="41_NtXJuI2z" resolve="A_CEM_TOP_2" />
     </node>
     <node concept="2vmxQI" id="41_NtXJuI63" role="2vn1q5">
       <property role="TrG5h" value="S_CEM_TOP_1" />
@@ -308,13 +308,13 @@
       </node>
     </node>
     <node concept="3VeUTF" id="41_NtXJuI6Y" role="2vhqc$">
-      <ref role="3VeSjP" node="41_NtXJuI0R" />
-      <ref role="3VeSjQ" node="41_NtXJuI63" />
+      <ref role="3VeSjP" node="41_NtXJuI0R" resolve="G_CEM_TOP_1" />
+      <ref role="3VeSjQ" node="41_NtXJuI63" resolve="S_CEM_TOP_1" />
     </node>
     <node concept="2vn7WC" id="41_NtXJuI79" role="2vn1q5">
       <property role="TrG5h" value="G_CEM_TOP_2" />
       <property role="2QdZbZ" value="true" />
-      <ref role="2QdZa0" node="41_NtXJuIdI" />
+      <ref role="2QdZa0" node="41_NtXJuIdI" resolve="G_CEM_LEVEL3_TOP" />
       <node concept="19SGf9" id="41_NtXJuI7a" role="2vnaTY">
         <node concept="19SUe$" id="41_NtXJuI7b" role="19SJt6">
           <property role="19SUeA" value="CEM function is safe to operate&#10;on a highway in SAE Level 3 mode." />
@@ -330,12 +330,12 @@
       </node>
     </node>
     <node concept="3VeUTF" id="41_NtXJuI9W" role="2vhqc$">
-      <ref role="3VeSjP" node="41_NtXJuI63" />
-      <ref role="3VeSjQ" node="41_NtXJuI79" />
+      <ref role="3VeSjP" node="41_NtXJuI63" resolve="S_CEM_TOP_1" />
+      <ref role="3VeSjQ" node="41_NtXJuI79" resolve="G_CEM_TOP_2" />
     </node>
     <node concept="3VeUTF" id="41_NtXJuIbm" role="2vhqc$">
-      <ref role="3VeSjP" node="41_NtXJuI63" />
-      <ref role="3VeSjQ" node="41_NtXJuI8z" />
+      <ref role="3VeSjP" node="41_NtXJuI63" resolve="S_CEM_TOP_1" />
+      <ref role="3VeSjQ" node="41_NtXJuI8z" resolve="G_CEM_TOP_3" />
     </node>
   </node>
   <node concept="2vn7XN" id="41_NtXJuIdA">
@@ -735,13 +735,13 @@
     <node concept="8gVzV" id="41_NtXJuIso" role="2vn1q5">
       <property role="TrG5h" value="G_CEM_LEVEL3_TOP_2" />
       <property role="2QdZbZ" value="true" />
-      <ref role="2QdZa0" node="41_NtXJv5kp" />
+      <ref role="2QdZa0" node="41_NtXJv5kp" resolve="G_CEM_LEVEL3_COLLISION_1" />
       <node concept="19SGf9" id="41_NtXJuIsp" role="2vnaTY">
         <node concept="19SUe$" id="41_NtXJuIsq" role="19SJt6">
           <property role="19SUeA" value="Hazard " />
         </node>
         <node concept="oY6sn" id="41_NtXJuIsr" role="19SJt6">
-          <ref role="oTUVg" to="u9yl:_wUu$U7zXF" />
+          <ref role="oTUVg" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
         <node concept="19SUe$" id="41_NtXJuIss" role="19SJt6">
           <property role="19SUeA" value=" has &#10;been mitigated when driving on highway" />
@@ -749,8 +749,8 @@
       </node>
     </node>
     <node concept="8gDHL" id="41_NtXJuIst" role="2vhqc$">
-      <ref role="3VeSjP" node="41_NtXJuIsj" />
-      <ref role="3VeSjQ" node="41_NtXJuIso" />
+      <ref role="3VeSjP" node="41_NtXJuIsj" resolve="S_CEM_LEVEL3_TOP" />
+      <ref role="3VeSjQ" node="41_NtXJuIso" resolve="G_CEM_LEVEL3_TOP_2" />
     </node>
     <node concept="atrou" id="41_NtXJuIsu" role="2vn1q5">
       <property role="8uqrb" value="true" />
@@ -760,20 +760,20 @@
           <property role="19SUeA" value="Hazard " />
         </node>
         <node concept="oY6sn" id="41_NtXJuIsx" role="19SJt6">
-          <ref role="oTUVg" to="u9yl:_wUu$TYbEE" />
+          <ref role="oTUVg" to="u9yl:_wUu$TYbEE" resolve="Collision with another vehicle" />
         </node>
         <node concept="19SUe$" id="41_NtXJuIsy" role="19SJt6">
           <property role="19SUeA" value="&#10; has been substituted &#10; with hazard " />
         </node>
         <node concept="oY6sn" id="41_NtXJuIsz" role="19SJt6">
-          <ref role="oTUVg" to="u9yl:_wUu$U7zXF" />
+          <ref role="oTUVg" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
         <node concept="19SUe$" id="41_NtXJuIuc" role="19SJt6" />
       </node>
     </node>
     <node concept="8gDHL" id="41_NtXJuIs$" role="2vhqc$">
-      <ref role="3VeSjP" node="41_NtXJuIsj" />
-      <ref role="3VeSjQ" node="41_NtXJuIsu" />
+      <ref role="3VeSjP" node="41_NtXJuIsj" resolve="S_CEM_LEVEL3_TOP" />
+      <ref role="3VeSjQ" node="41_NtXJuIsu" resolve="G_CEM_LEVEL3_TOP_3" />
     </node>
     <node concept="FXfxu" id="41_NtXJuIsj" role="2vn1q5">
       <property role="TrG5h" value="S_CEM_LEVEL3_TOP" />
@@ -782,7 +782,7 @@
           <property role="19SUeA" value="All hazards from " />
         </node>
         <node concept="oXkut" id="41_NtXJuIsm" role="19SJt6">
-          <ref role="oTdVe" to="u9yl:_wUu$TYbEC" />
+          <ref role="oTdVe" to="u9yl:_wUu$TYbEC" resolve="_020_hazards_list" />
         </node>
         <node concept="19SUe$" id="41_NtXJuIsn" role="19SJt6">
           <property role="19SUeA" value=" have been addressed." />
@@ -790,8 +790,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="41_NtXJuIBB" role="2vhqc$">
-      <ref role="3VeSjP" node="41_NtXJuIdI" />
-      <ref role="3VeSjQ" node="41_NtXJuIsj" />
+      <ref role="3VeSjP" node="41_NtXJuIdI" resolve="G_CEM_LEVEL3_TOP" />
+      <ref role="3VeSjQ" node="41_NtXJuIsj" resolve="S_CEM_LEVEL3_TOP" />
     </node>
     <node concept="atrou" id="41_NtXJv4eD" role="2vn1q5">
       <property role="8uqrb" value="true" />
@@ -801,13 +801,13 @@
           <property role="19SUeA" value="Hazard " />
         </node>
         <node concept="oY6sn" id="41_NtXJv4eG" role="19SJt6">
-          <ref role="oTUVg" to="u9yl:_wUu$TYbEK" />
+          <ref role="oTUVg" to="u9yl:_wUu$TYbEK" resolve="Collision with another vehicle" />
         </node>
         <node concept="19SUe$" id="41_NtXJv4eH" role="19SJt6">
           <property role="19SUeA" value="&#10; has been substituted &#10; with hazard " />
         </node>
         <node concept="oY6sn" id="41_NtXJv4eI" role="19SJt6">
-          <ref role="oTUVg" to="u9yl:_wUu$U7zXF" />
+          <ref role="oTUVg" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
         <node concept="19SUe$" id="41_NtXJv4f9" role="19SJt6" />
       </node>
@@ -820,24 +820,24 @@
           <property role="19SUeA" value="Hazard " />
         </node>
         <node concept="oY6sn" id="41_NtXJv4ge" role="19SJt6">
-          <ref role="oTUVg" to="u9yl:_wUu$TYbF9" />
+          <ref role="oTUVg" to="u9yl:_wUu$TYbF9" resolve="Collision with another vehicle" />
         </node>
         <node concept="19SUe$" id="41_NtXJv4gf" role="19SJt6">
           <property role="19SUeA" value="&#10; has been substituted &#10; with hazard " />
         </node>
         <node concept="oY6sn" id="41_NtXJv4gg" role="19SJt6">
-          <ref role="oTUVg" to="u9yl:_wUu$U7zXF" />
+          <ref role="oTUVg" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
         <node concept="19SUe$" id="41_NtXJv4it" role="19SJt6" />
       </node>
     </node>
     <node concept="8gDHL" id="41_NtXJv4qC" role="2vhqc$">
-      <ref role="3VeSjP" node="41_NtXJuIsj" />
-      <ref role="3VeSjQ" node="41_NtXJv4eD" />
+      <ref role="3VeSjP" node="41_NtXJuIsj" resolve="S_CEM_LEVEL3_TOP" />
+      <ref role="3VeSjQ" node="41_NtXJv4eD" resolve="G_CEM_LEVEL3_TOP_4" />
     </node>
     <node concept="8gDHL" id="41_NtXJv4tH" role="2vhqc$">
-      <ref role="3VeSjP" node="41_NtXJuIsj" />
-      <ref role="3VeSjQ" node="41_NtXJv4gb" />
+      <ref role="3VeSjP" node="41_NtXJuIsj" resolve="S_CEM_LEVEL3_TOP" />
+      <ref role="3VeSjQ" node="41_NtXJv4gb" resolve="G_CEM_LEVEL3_TOP_5" />
     </node>
     <node concept="atrou" id="41_NtXJv4Gx" role="2vn1q5">
       <property role="8uqrb" value="true" />
@@ -847,20 +847,20 @@
           <property role="19SUeA" value="Hazard " />
         </node>
         <node concept="oY6sn" id="41_NtXJv4G$" role="19SJt6">
-          <ref role="oTUVg" to="u9yl:_wUu$TYGOm" />
+          <ref role="oTUVg" to="u9yl:_wUu$TYGOm" resolve="Collision at low speed with VRU" />
         </node>
         <node concept="19SUe$" id="41_NtXJv4G_" role="19SJt6">
           <property role="19SUeA" value="&#10; has been substituted &#10; with hazard " />
         </node>
         <node concept="oY6sn" id="41_NtXJv4GA" role="19SJt6">
-          <ref role="oTUVg" to="u9yl:_wUu$U7zXF" />
+          <ref role="oTUVg" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
         <node concept="19SUe$" id="41_NtXJv4Hm" role="19SJt6" />
       </node>
     </node>
     <node concept="8gDHL" id="41_NtXJv4Qu" role="2vhqc$">
-      <ref role="3VeSjP" node="41_NtXJuIsj" />
-      <ref role="3VeSjQ" node="41_NtXJv4Gx" />
+      <ref role="3VeSjP" node="41_NtXJuIsj" resolve="S_CEM_LEVEL3_TOP" />
+      <ref role="3VeSjQ" node="41_NtXJv4Gx" resolve="G_CEM_LEVEL3_TOP_6" />
     </node>
     <node concept="8gVzV" id="55oVyA0r$mc" role="2vn1q5">
       <property role="8uqrb" value="true" />
@@ -870,7 +870,7 @@
           <property role="19SUeA" value="Hazard " />
         </node>
         <node concept="oY6sn" id="55oVyA0r$mf" role="19SJt6">
-          <ref role="oTUVg" to="u9yl:_wUu$TYGOc" />
+          <ref role="oTUVg" to="u9yl:_wUu$TYGOc" resolve="Collision at high speed with VRU" />
         </node>
         <node concept="19SUe$" id="55oVyA0r$mg" role="19SJt6">
           <property role="19SUeA" value="&#10; has been mitigated" />
@@ -878,8 +878,8 @@
       </node>
     </node>
     <node concept="8gDHL" id="55oVyA0r$rh" role="2vhqc$">
-      <ref role="3VeSjP" node="41_NtXJuIsj" />
-      <ref role="3VeSjQ" node="55oVyA0r$mc" />
+      <ref role="3VeSjP" node="41_NtXJuIsj" resolve="S_CEM_LEVEL3_TOP" />
+      <ref role="3VeSjQ" node="55oVyA0r$mc" resolve="G_CEM_LEVEL3_TOP7" />
     </node>
   </node>
   <node concept="2vn7XN" id="41_NtXJv5hE">
@@ -891,7 +891,7 @@
           <property role="19SUeA" value="Hazard " />
         </node>
         <node concept="oY6sn" id="41_NtXJvjaa" role="19SJt6">
-          <ref role="oTUVg" to="u9yl:_wUu$U7zXF" />
+          <ref role="oTUVg" to="u9yl:_wUu$U7zXF" resolve="Collision with another vehicle" />
         </node>
         <node concept="19SUe$" id="41_NtXJvjab" role="19SJt6">
           <property role="19SUeA" value="&#10;has been mitigated when driving &#10;on highway.            " />
@@ -1213,32 +1213,32 @@
           <property role="19SUeA" value="Argument over identified safety requirements from&#10;" />
         </node>
         <node concept="2YADz$" id="41_NtXJviZU" role="19SJt6">
-          <ref role="2YACG8" to="rd3y:41_NtXJuHgG" />
+          <ref role="2YACG8" to="rd3y:41_NtXJuHgG" resolve="_010_FSR_activation_lower_level" />
         </node>
         <node concept="19SUe$" id="41_NtXJviZV" role="19SJt6">
           <property role="19SUeA" value="&#10;" />
         </node>
         <node concept="2YADz$" id="41_NtXJvj1L" role="19SJt6">
-          <ref role="2YACG8" to="rd3y:41_NtXJuHXI" />
+          <ref role="2YACG8" to="rd3y:41_NtXJuHXI" resolve="_010_FSR_deactivation" />
         </node>
         <node concept="19SUe$" id="41_NtXJvj1M" role="19SJt6">
           <property role="19SUeA" value="&#10;" />
         </node>
         <node concept="2YADz$" id="41_NtXJvj5$" role="19SJt6">
-          <ref role="2YACG8" to="rd3y:41_NtXJuH0r" />
+          <ref role="2YACG8" to="rd3y:41_NtXJuH0r" resolve="_020_FSR_cem_collision_neighbouring_lane_lower_level" />
         </node>
         <node concept="19SUe$" id="41_NtXJvjjb" role="19SJt6">
           <property role="19SUeA" value="&#10;" />
         </node>
         <node concept="2YADz$" id="41_NtXJvji9" role="19SJt6">
-          <ref role="2YACG8" to="rd3y:41_NtXJr_GH" />
+          <ref role="2YACG8" to="rd3y:41_NtXJr_GH" resolve="_020_FSR_cem_collision_same_lane" />
         </node>
         <node concept="19SUe$" id="41_NtXJvj5_" role="19SJt6" />
       </node>
     </node>
     <node concept="3VeUTF" id="41_NtXJvjdN" role="2vhqc$">
-      <ref role="3VeSjP" node="41_NtXJv5kp" />
-      <ref role="3VeSjQ" node="41_NtXJviME" />
+      <ref role="3VeSjP" node="41_NtXJv5kp" resolve="G_CEM_LEVEL3_COLLISION_1" />
+      <ref role="3VeSjQ" node="41_NtXJviME" resolve="S_CEM_LEVEL3_COLLISION_1" />
     </node>
     <node concept="2XiGWt" id="41_NtXJvjtH" role="2vn1q5">
       <property role="TrG5h" value="A_CEM_LEVEL3_COLLISION_1" />
@@ -1249,8 +1249,8 @@
       </node>
     </node>
     <node concept="2vhqFZ" id="41_NtXJvjy8" role="2vhqc$">
-      <ref role="3VeSjP" node="41_NtXJv5kp" />
-      <ref role="3VeSjQ" node="41_NtXJvjtH" />
+      <ref role="3VeSjP" node="41_NtXJv5kp" resolve="G_CEM_LEVEL3_COLLISION_1" />
+      <ref role="3VeSjQ" node="41_NtXJvjtH" resolve="A_CEM_LEVEL3_COLLISION_1" />
     </node>
     <node concept="2XiGWt" id="41_NtXJvj$P" role="2vn1q5">
       <property role="TrG5h" value="A_CEM_LEVEL3_COLLISION_2" />
@@ -1279,12 +1279,12 @@
       </node>
     </node>
     <node concept="3VeUTF" id="41_NtXJvk0d" role="2vhqc$">
-      <ref role="3VeSjP" node="41_NtXJviME" />
-      <ref role="3VeSjQ" node="41_NtXJvjP0" />
+      <ref role="3VeSjP" node="41_NtXJviME" resolve="S_CEM_LEVEL3_COLLISION_1" />
+      <ref role="3VeSjQ" node="41_NtXJvjP0" resolve="G_CEM_LEVEL3_COLLISION_2" />
     </node>
     <node concept="3VeUTF" id="41_NtXJvk57" role="2vhqc$">
-      <ref role="3VeSjP" node="41_NtXJviME" />
-      <ref role="3VeSjQ" node="41_NtXJvjSM" />
+      <ref role="3VeSjP" node="41_NtXJviME" resolve="S_CEM_LEVEL3_COLLISION_1" />
+      <ref role="3VeSjQ" node="41_NtXJvjSM" resolve="G_CEM_LEVEL3_COLLISION_3" />
     </node>
     <node concept="2vn7WC" id="41_NtXJvka9" role="2vn1q5">
       <property role="TrG5h" value="G_CEM_LEVEL3_COLLISION_4" />
@@ -1298,7 +1298,7 @@
     <node concept="2vn7WC" id="41_NtXJvkg5" role="2vn1q5">
       <property role="TrG5h" value="G_CEM_LEVEL3_COLLISION_5" />
       <property role="2QdZbZ" value="true" />
-      <ref role="2QdZa0" node="41_NtXJvkGR" />
+      <ref role="2QdZa0" node="41_NtXJvkGR" resolve="G_CEM_LEVEL3_COLLISION_NL_1" />
       <node concept="19SGf9" id="41_NtXJvkg6" role="2vnaTY">
         <node concept="19SUe$" id="41_NtXJvkg7" role="19SJt6">
           <property role="19SUeA" value="Collision with vehicles on &#10;neighbouring lane is avoided." />
@@ -1306,16 +1306,16 @@
       </node>
     </node>
     <node concept="2vhqFZ" id="41_NtXJvkpE" role="2vhqc$">
-      <ref role="3VeSjP" node="41_NtXJviME" />
-      <ref role="3VeSjQ" node="41_NtXJvj$P" />
+      <ref role="3VeSjP" node="41_NtXJviME" resolve="S_CEM_LEVEL3_COLLISION_1" />
+      <ref role="3VeSjQ" node="41_NtXJvj$P" resolve="A_CEM_LEVEL3_COLLISION_2" />
     </node>
     <node concept="3VeUTF" id="41_NtXJvkuM" role="2vhqc$">
-      <ref role="3VeSjP" node="41_NtXJviME" />
-      <ref role="3VeSjQ" node="41_NtXJvka9" />
+      <ref role="3VeSjP" node="41_NtXJviME" resolve="S_CEM_LEVEL3_COLLISION_1" />
+      <ref role="3VeSjQ" node="41_NtXJvka9" resolve="G_CEM_LEVEL3_COLLISION_4" />
     </node>
     <node concept="3VeUTF" id="41_NtXJvk$2" role="2vhqc$">
-      <ref role="3VeSjP" node="41_NtXJviME" />
-      <ref role="3VeSjQ" node="41_NtXJvkg5" />
+      <ref role="3VeSjP" node="41_NtXJviME" resolve="S_CEM_LEVEL3_COLLISION_1" />
+      <ref role="3VeSjQ" node="41_NtXJvkg5" resolve="G_CEM_LEVEL3_COLLISION_5" />
     </node>
   </node>
   <node concept="2vn7XN" id="41_NtXJvkFX">
@@ -1475,7 +1475,7 @@
           <property role="19SUeA" value="Safety requirements from&#10;" />
         </node>
         <node concept="2YADz$" id="41_NtXJvkUH" role="19SJt6">
-          <ref role="2YACG8" to="rd3y:41_NtXJuH0r" />
+          <ref role="2YACG8" to="rd3y:41_NtXJuH0r" resolve="_020_FSR_cem_collision_neighbouring_lane_lower_level" />
         </node>
         <node concept="19SUe$" id="41_NtXJvkUI" role="19SJt6">
           <property role="19SUeA" value="&#10;   have been addressed." />
@@ -1483,8 +1483,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="41_NtXJvl11" role="2vhqc$">
-      <ref role="3VeSjP" node="41_NtXJvkGR" />
-      <ref role="3VeSjQ" node="41_NtXJvkSF" />
+      <ref role="3VeSjP" node="41_NtXJvkGR" resolve="G_CEM_LEVEL3_COLLISION_NL_1" />
+      <ref role="3VeSjQ" node="41_NtXJvkSF" resolve="S_CEM_LEVEL3_COLLISION_NL_1" />
     </node>
     <node concept="2vn7WC" id="41_NtXJvl3j" role="2vn1q5">
       <property role="TrG5h" value="G_CEM_LEVEL3_COLLISION_NL_2" />
@@ -1530,16 +1530,16 @@
       </node>
     </node>
     <node concept="3VeUTF" id="41_NtXJvllk" role="2vhqc$">
-      <ref role="3VeSjP" node="41_NtXJvkSF" />
-      <ref role="3VeSjQ" node="41_NtXJvl3j" />
+      <ref role="3VeSjP" node="41_NtXJvkSF" resolve="S_CEM_LEVEL3_COLLISION_NL_1" />
+      <ref role="3VeSjQ" node="41_NtXJvl3j" resolve="G_CEM_LEVEL3_COLLISION_NL_2" />
     </node>
     <node concept="3VeUTF" id="41_NtXJvloO" role="2vhqc$">
-      <ref role="3VeSjP" node="41_NtXJvkSF" />
-      <ref role="3VeSjQ" node="41_NtXJvl6r" />
+      <ref role="3VeSjP" node="41_NtXJvkSF" resolve="S_CEM_LEVEL3_COLLISION_NL_1" />
+      <ref role="3VeSjQ" node="41_NtXJvl6r" resolve="G_CEM_LEVEL3_COLLISION_NL_3" />
     </node>
     <node concept="3VeUTF" id="41_NtXJvlrr" role="2vhqc$">
-      <ref role="3VeSjP" node="41_NtXJvkSF" />
-      <ref role="3VeSjQ" node="41_NtXJvlh7" />
+      <ref role="3VeSjP" node="41_NtXJvkSF" resolve="S_CEM_LEVEL3_COLLISION_NL_1" />
+      <ref role="3VeSjQ" node="41_NtXJvlh7" resolve="G_CEM_LEVEL3_COLLISION_NL_4                                     " />
     </node>
   </node>
 </model>
diff --git a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_500_real_world_examples._010_uber_atg_safety_case.mps b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_500_real_world_examples._010_uber_atg_safety_case.mps
index 513edb5bf..09a17699d 100644
--- a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_500_real_world_examples._010_uber_atg_safety_case.mps
+++ b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_500_real_world_examples._010_uber_atg_safety_case.mps
@@ -92,8 +92,8 @@
       </node>
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     <node concept="3VeUTF" id="6_zXlNgIxEX" role="2vhqc$">
-      <ref role="3VeSjQ" node="6_zXlNgIxEU" />
-      <ref role="3VeSjP" node="6_zXlNgIxER" />
+      <ref role="3VeSjQ" node="6_zXlNgIxEU" resolve="G1" />
+      <ref role="3VeSjP" node="6_zXlNgIxER" resolve="G0" />
     </node>
     <node concept="2vn7WC" id="6_zXlNgIxEY" role="2vn1q5">
       <property role="TrG5h" value="G1.1" />
@@ -104,8 +104,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="6_zXlNgIxF1" role="2vhqc$">
-      <ref role="3VeSjQ" node="6_zXlNgIxEY" />
-      <ref role="3VeSjP" node="6_zXlNgIxEU" />
+      <ref role="3VeSjQ" node="6_zXlNgIxEY" resolve="G1.1" />
+      <ref role="3VeSjP" node="6_zXlNgIxEU" resolve="G1" />
     </node>
     <node concept="2vmxQI" id="6_zXlNgIxF2" role="2vn1q5">
       <property role="TrG5h" value="S1.1.1" />
@@ -116,8 +116,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="6_zXlNgIxF5" role="2vhqc$">
-      <ref role="3VeSjQ" node="6_zXlNgIxF2" />
-      <ref role="3VeSjP" node="6_zXlNgIxEY" />
+      <ref role="3VeSjQ" node="6_zXlNgIxF2" resolve="S1.1.1" />
+      <ref role="3VeSjP" node="6_zXlNgIxEY" resolve="G1.1" />
     </node>
     <node concept="2vn7WC" id="6_zXlNgIxF6" role="2vn1q5">
       <property role="TrG5h" value="G1.1.1.1" />
@@ -128,8 +128,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="6_zXlNgIxF9" role="2vhqc$">
-      <ref role="3VeSjP" node="6_zXlNgIxF2" />
-      <ref role="3VeSjQ" node="6_zXlNgIxF6" />
+      <ref role="3VeSjP" node="6_zXlNgIxF2" resolve="S1.1.1" />
+      <ref role="3VeSjQ" node="6_zXlNgIxF6" resolve="G1.1.1.1" />
     </node>
     <node concept="2vn7WC" id="6_zXlNgIxFa" role="2vn1q5">
       <property role="TrG5h" value="G1.1.1.1.1" />
@@ -140,8 +140,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="6_zXlNgIxFd" role="2vhqc$">
-      <ref role="3VeSjP" node="6_zXlNgIxF6" />
-      <ref role="3VeSjQ" node="6_zXlNgIxFa" />
+      <ref role="3VeSjP" node="6_zXlNgIxF6" resolve="G1.1.1.1" />
+      <ref role="3VeSjQ" node="6_zXlNgIxFa" resolve="G1.1.1.1.1" />
     </node>
     <node concept="2vn7WC" id="6_zXlNgIxFe" role="2vn1q5">
       <property role="TrG5h" value="G1.1.1.1.1.1" />
@@ -152,8 +152,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="6_zXlNgIxFh" role="2vhqc$">
-      <ref role="3VeSjQ" node="6_zXlNgIxFe" />
-      <ref role="3VeSjP" node="6_zXlNgIxFa" />
+      <ref role="3VeSjQ" node="6_zXlNgIxFe" resolve="G1.1.1.1.1.1" />
+      <ref role="3VeSjP" node="6_zXlNgIxFa" resolve="G1.1.1.1.1" />
     </node>
     <node concept="2vmhmH" id="6_zXlNgIxFi" role="2vn1q5">
       <property role="TrG5h" value="Sn1.1.1.1.1.1.1" />
@@ -164,8 +164,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="6_zXlNgIxFl" role="2vhqc$">
-      <ref role="3VeSjP" node="6_zXlNgIxFe" />
-      <ref role="3VeSjQ" node="6_zXlNgIxFi" />
+      <ref role="3VeSjP" node="6_zXlNgIxFe" resolve="G1.1.1.1.1.1" />
+      <ref role="3VeSjQ" node="6_zXlNgIxFi" resolve="Sn1.1.1.1.1.1.1" />
     </node>
     <node concept="2vn7WC" id="6_zXlNgIxFm" role="2vn1q5">
       <property role="TrG5h" value="G1.1.1.1.1.2" />
@@ -176,8 +176,8 @@
       </node>
     </node>
     <node concept="3VeUTF" id="6_zXlNgIxFp" role="2vhqc$">
-      <ref role="3VeSjQ" node="6_zXlNgIxFm" />
-      <ref role="3VeSjP" node="6_zXlNgIxFa" />
+      <ref role="3VeSjQ" node="6_zXlNgIxFm" resolve="G1.1.1.1.1.2" />
+      <ref role="3VeSjP" node="6_zXlNgIxFa" resolve="G1.1.1.1.1" />
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     <node concept="2vmhmH" id="6_zXlNgIxFq" role="2vn1q5">
       <property role="TrG5h" value=" Sn1.1.1.1.1.2.1" />
@@ -188,8 +188,8 @@
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     <node concept="3VeUTF" id="6_zXlNgIxFt" role="2vhqc$">
-      <ref role="3VeSjP" node="6_zXlNgIxFm" />
-      <ref role="3VeSjQ" node="6_zXlNgIxFq" />
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diff --git a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_500_real_world_examples._010_uber_atg_safety_case_modularized.mps b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_500_real_world_examples._010_uber_atg_safety_case_modularized.mps
index cfd63274c..8cf1171db 100644
--- a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_500_real_world_examples._010_uber_atg_safety_case_modularized.mps
+++ b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.tutorial/models/_500_real_world_examples._010_uber_atg_safety_case_modularized.mps
@@ -97,28 +97,28 @@
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@@ -129,8 +129,8 @@
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+      <ref role="3VeSjQ" node="1e9opmpdGeU" resolve="G2" />
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@@ -141,20 +141,20 @@
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+      <ref role="3VeSjQ" node="1e9opmpdGeW" resolve="S2.1" />
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@@ -165,16 +165,16 @@
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@@ -185,16 +185,16 @@
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@@ -205,16 +205,16 @@
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diff --git a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.users_guide/com.mbeddr.formal.safety.users_guide.msd b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.users_guide/com.mbeddr.formal.safety.users_guide.msd
index 0c7b90fc6..98991bc7b 100644
--- a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.users_guide/com.mbeddr.formal.safety.users_guide.msd
+++ b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.users_guide/com.mbeddr.formal.safety.users_guide.msd
@@ -17,7 +17,7 @@
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index 0da1c6879..a113763d7 100644
--- a/code/tutorial-safety/solutions/com.mbeddr.formal.safety.users_guide/models/doc.mps
+++ b/code/tutorial-safety/solutions/com.mbeddr.formal.safety.users_guide/models/doc.mps
@@ -165,7 +165,7 @@
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+          <ref role="1_0j5g" node="3I9hGreJfoL" resolve="_030_safety_engineering_models" />
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-          <ref role="1_0j5g" node="4U3OABz7YA0" />
+          <ref role="1_0j5g" node="4U3OABz7YA0" resolve="_050_assurance_models" />
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     <node concept="1_0j5j" id="2rbLpQ_WoiY" role="1DXQ57">
-      <ref role="1_0j5g" node="2rbLpQ_WohI" />
+      <ref role="1_0j5g" node="2rbLpQ_WohI" resolve="_010_requirements_modeling" />
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     <node concept="1_0j5j" id="4U3OABz7Y_T" role="1DXQ57">
-      <ref role="1_0j5g" node="4U3OABz7QoU" />
+      <ref role="1_0j5g" node="4U3OABz7QoU" resolve="_020_hazards_and_risks_analysis" />
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     <node concept="1_0j5j" id="1LeaOOd9Z9y" role="1DXQ57">
-      <ref role="1_0j5g" node="3I9hGreJfoL" />
+      <ref role="1_0j5g" node="3I9hGreJfoL" resolve="_030_safety_engineering_models" />
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     <node concept="1_0j5j" id="1LeaOOd9Z9G" role="1DXQ57">
-      <ref role="1_0j5g" node="4U3OABz7YA0" />
+      <ref role="1_0j5g" node="4U3OABz7YA0" resolve="_050_assurance_models" />
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     <property role="yApLE" value="1" />
     <property role="TrG5h" value="_010_requirements_modeling" />
     <property role="3GE5qa" value="features" />
-    <ref role="G9hjw" node="2mjHtwTu9dY" />
+    <ref role="G9hjw" node="2mjHtwTu9dY" resolve="conf" />
     <node concept="1mvXsy" id="4U3OABz7KUi" role="1_0VJ0">
       <property role="TrG5h" value="requirements" />
       <property role="1_0VJr" value="Requirements Specification" />
@@ -401,7 +401,7 @@
           <node concept="2bctqb" id="1LeaOOdakEs" role="3z_lpT" />
           <node concept="2NCZwO" id="1LeaOOdakEu" role="3z_lpI">
             <node concept="2NCMab" id="1LeaOOdakEG" role="2NCMaf">
-              <ref role="2NCMaa" to="c3og:5FhZjqTMMrD" />
+              <ref role="2NCMaa" to="c3og:5FhZjqTMMrD" resolve="_010_simple_text_requirements" />
             </node>
           </node>
         </node>
@@ -429,7 +429,7 @@
           <node concept="2bctqb" id="1LeaOOdakF8" role="3z_lpT" />
           <node concept="2NCZwO" id="1LeaOOdakFa" role="3z_lpI">
             <node concept="2NCMab" id="1LeaOOdakFr" role="2NCMaf">
-              <ref role="2NCMaa" to="c3og:5FhZjqTNhvP" />
+              <ref role="2NCMaa" to="c3og:5FhZjqTNhvP" resolve="_020_text_tl_boilerplates_specs" />
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           </node>
         </node>
@@ -457,7 +457,7 @@
           <node concept="2bctqb" id="1LeaOOdakFZ" role="3z_lpT" />
           <node concept="2NCZwO" id="1LeaOOdakG1" role="3z_lpI">
             <node concept="2NCMab" id="1LeaOOdakGr" role="2NCMaf">
-              <ref role="2NCMaa" to="c3og:5FhZjqTO18E" />
+              <ref role="2NCMaa" to="c3og:5FhZjqTO18E" resolve="_030_formal_architecture_driven_req_spec" />
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           </node>
         </node>
@@ -471,10 +471,10 @@
         <node concept="2SaynC" id="4U3OABz7LiY" role="1_0VJ0">
           <property role="TrG5h" value="checking_requirements_consistency" />
           <property role="2Sbq$t" value="true" />
-          <ref role="1wz7Nk" to="c3og:5FhZjqTO18E" />
+          <ref role="1wz7Nk" to="c3og:5FhZjqTO18E" resolve="_030_formal_architecture_driven_req_spec" />
           <node concept="2Sb_l4" id="4U3OABz7Ljn" role="2SbwM5">
             <property role="2Sb_kV" value="checking_tl_formal_requirements.png" />
-            <ref role="2Sb_kU" node="9TY4XGZias" />
+            <ref role="2Sb_kU" node="9TY4XGZias" resolve="img" />
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           <node concept="OjmMv" id="4U3OABz7Lj2" role="2SaI5j">
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@@ -509,7 +509,7 @@
           <node concept="2bctqb" id="1LeaOOdakGZ" role="3z_lpT" />
           <node concept="2NCZwO" id="1LeaOOdakH1" role="3z_lpI">
             <node concept="2NCMab" id="1LeaOOdakHi" role="2NCMaf">
-              <ref role="2NCMaa" to="c3og:5FhZjqTO18E" />
+              <ref role="2NCMaa" to="c3og:5FhZjqTO18E" resolve="_030_formal_architecture_driven_req_spec" />
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@@ -520,7 +520,7 @@
     <property role="yApLE" value="1" />
     <property role="TrG5h" value="_020_hazards_and_risks_analysis" />
     <property role="3GE5qa" value="features" />
-    <ref role="G9hjw" node="2mjHtwTu9dY" />
+    <ref role="G9hjw" node="2mjHtwTu9dY" resolve="conf" />
     <node concept="1mvXsy" id="4U3OABz7QoV" role="1_0VJ0">
       <property role="TrG5h" value="hara" />
       <property role="1_0VJr" value="Hazards and Risks Analysis" />
@@ -578,10 +578,10 @@
           <node concept="2SaynC" id="5cnt3YR8YeN" role="1_0VJ0">
             <property role="TrG5h" value="Control_Structure" />
             <property role="2Sbq$t" value="true" />
-            <ref role="1wz7Nk" to="xtgl:1L4MZBxVgwF" />
+            <ref role="1wz7Nk" to="xtgl:1L4MZBxVgwF" resolve="_010_airbag_controller_functional_control_structure" />
             <node concept="2Sb_l4" id="5cnt3YR8Yfa" role="2SbwM5">
               <property role="2Sb_kV" value="stpa_control_structure_explanations.png" />
-              <ref role="2Sb_kU" node="9TY4XGZias" />
+              <ref role="2Sb_kU" node="9TY4XGZias" resolve="img" />
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             <node concept="OjmMv" id="5cnt3YR8YeR" role="2SaI5j">
               <node concept="19SGf9" id="5cnt3YR8YeS" role="OjmMu">
@@ -596,7 +596,7 @@
             <property role="3z_lpW" value="mbeddr" />
             <node concept="2NCZwO" id="4U3OABz7Qp1" role="3z_lpI">
               <node concept="2NCMab" id="4U3OABz7YyZ" role="2NCMaf">
-                <ref role="2NCMaa" to="xtgl:1L4MZBxVgwF" />
+                <ref role="2NCMaa" to="xtgl:1L4MZBxVgwF" resolve="_010_airbag_controller_functional_control_structure" />
               </node>
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@@ -623,7 +623,7 @@
             <node concept="2bctqb" id="1LeaOOdakHW" role="3z_lpT" />
             <node concept="2NCZwO" id="1LeaOOdakHY" role="3z_lpI">
               <node concept="2NCMab" id="1LeaOOdakIf" role="2NCMaf">
-                <ref role="2NCMaa" to="xtgl:1L4MZBxVgKw" />
+                <ref role="2NCMaa" to="xtgl:1L4MZBxVgKw" resolve="_020_airbag_unsafe_control_analysis" />
               </node>
             </node>
           </node>
@@ -652,7 +652,7 @@
           <node concept="2bctqb" id="1LeaOOdakIy" role="3z_lpT" />
           <node concept="2NCZwO" id="1LeaOOdakI$" role="3z_lpI">
             <node concept="2NCMab" id="1LeaOOdakIX" role="2NCMaf">
-              <ref role="2NCMaa" to="xtgl:7Jm8RM1zooG" />
+              <ref role="2NCMaa" to="xtgl:7Jm8RM1zooG" resolve="_100_losses" />
             </node>
           </node>
         </node>
@@ -669,7 +669,7 @@
           <node concept="2bctqb" id="1LeaOOdakJm" role="3z_lpT" />
           <node concept="2NCZwO" id="1LeaOOdakJn" role="3z_lpI">
             <node concept="2NCMab" id="1LeaOOdakJM" role="2NCMaf">
-              <ref role="2NCMaa" to="xtgl:1LvcKAYEWJH" />
+              <ref role="2NCMaa" to="xtgl:1LvcKAYEWJH" resolve="_110_operational_situations" />
             </node>
           </node>
         </node>
@@ -686,7 +686,7 @@
           <node concept="2bctqb" id="1LeaOOdakKf" role="3z_lpT" />
           <node concept="2NCZwO" id="1LeaOOdakKg" role="3z_lpI">
             <node concept="2NCMab" id="1LeaOOdakLb" role="2NCMaf">
-              <ref role="2NCMaa" to="xtgl:1L4MZBxVFrv" />
+              <ref role="2NCMaa" to="xtgl:1L4MZBxVFrv" resolve="_110_airbag_hazards" />
             </node>
           </node>
         </node>
@@ -700,7 +700,7 @@
     <property role="yApLE" value="1" />
     <property role="TrG5h" value="_050_assurance_models" />
     <property role="3GE5qa" value="features" />
-    <ref role="G9hjw" node="2mjHtwTu9dY" />
+    <ref role="G9hjw" node="2mjHtwTu9dY" resolve="conf" />
     <node concept="1mvXsy" id="4U3OABz7YA1" role="1_0VJ0">
       <property role="TrG5h" value="assurance" />
       <property role="1_0VJr" value="Structured Assurance Cases" />
@@ -733,7 +733,7 @@
           <node concept="2bctqb" id="1LeaOOdal3o" role="3z_lpT" />
           <node concept="2NCZwO" id="1LeaOOdal3q" role="3z_lpI">
             <node concept="2NCMab" id="1LeaOOdal3F" role="2NCMaf">
-              <ref role="2NCMaa" to="io0z:7L33HENduwy" />
+              <ref role="2NCMaa" to="io0z:7L33HENduwy" resolve="_010_plain_text_gsn" />
             </node>
           </node>
         </node>
@@ -760,7 +760,7 @@
           <node concept="2bctqb" id="75La0fJ_mRp" role="3z_lpT" />
           <node concept="2NCZwO" id="75La0fJ_mRq" role="3z_lpI">
             <node concept="2NCMab" id="75La0fJ_mT7" role="2NCMaf">
-              <ref role="2NCMaa" to="io0z:2ojFC2JbceD" />
+              <ref role="2NCMaa" to="io0z:2ojFC2JbceD" resolve="_011_plain_text_cae" />
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@@ -803,7 +803,7 @@
           <node concept="2bctqb" id="1LeaOOdal7R" role="3z_lpT" />
           <node concept="2NCZwO" id="1LeaOOdal7T" role="3z_lpI">
             <node concept="2NCMab" id="1LeaOOdal8i" role="2NCMaf">
-              <ref role="2NCMaa" to="io0z:3jaLROLvqKj" />
+              <ref role="2NCMaa" to="io0z:3jaLROLvqKj" resolve="_020_patterns_instantiated_from_library" />
             </node>
           </node>
         </node>
@@ -847,7 +847,7 @@
           <node concept="2bctqb" id="64FnLWQhGgY" role="3z_lpT" />
           <node concept="2NCZwO" id="64FnLWQhGgZ" role="3z_lpI">
             <node concept="2NCMab" id="64FnLWQhGl8" role="2NCMaf">
-              <ref role="2NCMaa" to="gc7o:x1FXqHGAV" />
+              <ref role="2NCMaa" to="gc7o:x1FXqHGAV" resolve="Process Level Reusable Entities" />
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           </node>
         </node>
@@ -870,7 +870,7 @@
           <node concept="2bctqb" id="64FnLWQhGh6" role="3z_lpT" />
           <node concept="2NCZwO" id="64FnLWQhGh7" role="3z_lpI">
             <node concept="2NCMab" id="64FnLWQhGh8" role="2NCMaf">
-              <ref role="2NCMaa" to="io0z:3jaLROLvqKj" />
+              <ref role="2NCMaa" to="io0z:3jaLROLvqKj" resolve="_020_patterns_instantiated_from_library" />
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           </node>
         </node>
@@ -898,7 +898,7 @@
           <node concept="2bctqb" id="1LeaOOdal9O" role="3z_lpT" />
           <node concept="2NCZwO" id="1LeaOOdal9Q" role="3z_lpI">
             <node concept="2NCMab" id="1LeaOOdala7" role="2NCMaf">
-              <ref role="2NCMaa" to="xumq:1$M4_qbIaTb" />
+              <ref role="2NCMaa" to="xumq:1$M4_qbIaTb" resolve="_100_toplevel_safety_arg_pattern" />
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         </node>
@@ -938,7 +938,7 @@
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           <node concept="2NCZwO" id="1LeaOOdaldI" role="3z_lpI">
             <node concept="2NCMab" id="1LeaOOdale7" role="2NCMaf">
-              <ref role="2NCMaa" to="io0z:1TD_kqsR8Z6" />
+              <ref role="2NCMaa" to="io0z:1TD_kqsR8Z6" resolve="_050_linking_solutions_to_external_documents" />
             </node>
           </node>
         </node>
@@ -985,7 +985,7 @@
           <node concept="2bctqb" id="1LeaOOdalhu" role="3z_lpT" />
           <node concept="2NCZwO" id="1LeaOOdalhw" role="3z_lpI">
             <node concept="2NCMab" id="1LeaOOdalhT" role="2NCMaf">
-              <ref role="2NCMaa" to="io0z:3I9hGreIU2l" />
+              <ref role="2NCMaa" to="io0z:3I9hGreIU2l" resolve="_060_linking_solutions_to_external_tools" />
             </node>
           </node>
         </node>
@@ -1019,7 +1019,7 @@
           <node concept="2bctqb" id="1LeaOOdaljp" role="3z_lpT" />
           <node concept="2NCZwO" id="1LeaOOdaljr" role="3z_lpI">
             <node concept="2NCMab" id="1LeaOOdaljJ" role="2NCMaf">
-              <ref role="2NCMaa" to="io0z:4eD_5l3mJSY" />
+              <ref role="2NCMaa" to="io0z:4eD_5l3mJSY" resolve="_030_confidence_dempster_schafer_evidence_annotated_with_confidence" />
             </node>
           </node>
         </node>
@@ -1042,7 +1042,7 @@
     <property role="yApLE" value="1" />
     <property role="TrG5h" value="_030_safety_engineering_models" />
     <property role="3GE5qa" value="features" />
-    <ref role="G9hjw" node="2mjHtwTu9dY" />
+    <ref role="G9hjw" node="2mjHtwTu9dY" resolve="conf" />
     <node concept="1mvXsy" id="3I9hGreJfoM" role="1_0VJ0">
       <property role="TrG5h" value="safety_engineering_models" />
       <property role="1_0VJr" value="Safety Engineering Models" />
@@ -1076,7 +1076,7 @@
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           <node concept="2NCZwO" id="1LeaOOdakM3" role="3z_lpI">
             <node concept="2NCMab" id="1LeaOOdakMw" role="2NCMaf">
-              <ref role="2NCMaa" to="688z:4eD_5l3mJwO" />
+              <ref role="2NCMaa" to="688z:4eD_5l3mJwO" resolve="_020_failure_modes_of_components" />
             </node>
           </node>
         </node>
@@ -1100,7 +1100,7 @@
           <node concept="2bctqb" id="1LeaOOdakNn" role="3z_lpT" />
           <node concept="2NCZwO" id="1LeaOOdakNp" role="3z_lpI">
             <node concept="2NCMab" id="1LeaOOdakNU" role="2NCMaf">
-              <ref role="2NCMaa" to="688z:4eD_5l3mJyA" />
+              <ref role="2NCMaa" to="688z:4eD_5l3mJyA" resolve="_030_failure_effects_on_system" />
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           </node>
         </node>
@@ -1124,7 +1124,7 @@
           <node concept="2bctqb" id="1LeaOOdakOT" role="3z_lpT" />
           <node concept="2NCZwO" id="1LeaOOdakOV" role="3z_lpI">
             <node concept="2NCMab" id="1LeaOOdakPw" role="2NCMaf">
-              <ref role="2NCMaa" to="688z:4eD_5l3mJzG" />
+              <ref role="2NCMaa" to="688z:4eD_5l3mJzG" resolve="_040_dfmea" />
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           </node>
         </node>
@@ -1162,7 +1162,7 @@
           <node concept="2bctqb" id="1LeaOOdakQz" role="3z_lpT" />
           <node concept="2NCZwO" id="1LeaOOdakQ_" role="3z_lpI">
             <node concept="2NCMab" id="1LeaOOdakRa" role="2NCMaf">
-              <ref role="2NCMaa" to="688z:1TeaL8RdKfy" />
+              <ref role="2NCMaa" to="688z:1TeaL8RdKfy" resolve="_210_failure_modes" />
             </node>
           </node>
         </node>
@@ -1186,7 +1186,7 @@
           <node concept="2bctqb" id="1LeaOOdakSh" role="3z_lpT" />
           <node concept="2NCZwO" id="1LeaOOdakSj" role="3z_lpI">
             <node concept="2NCMab" id="1LeaOOdakSW" role="2NCMaf">
-              <ref role="2NCMaa" to="688z:4eD_5l3mJEf" />
+              <ref role="2NCMaa" to="688z:4eD_5l3mJEf" resolve="_220_IFMEAs" />
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           </node>
         </node>
@@ -1220,7 +1220,7 @@
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           <node concept="2NCZwO" id="1LeaOOdakZZ" role="3z_lpI">
             <node concept="2NCMab" id="1LeaOOdal0G" role="2NCMaf">
-              <ref role="2NCMaa" to="688z:1TeaL8RdujH" />
+              <ref role="2NCMaa" to="688z:1TeaL8RdujH" resolve="_200_arch" />
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           </node>
         </node>
@@ -1233,15 +1233,15 @@
     <property role="WqcPg" value="FASTEN.Safe" />
     <node concept="1TaS0h" id="1LeaOOd9Zli" role="30GjaH" />
     <node concept="1_0j5j" id="1LeaOOd9Zlf" role="30Gjbj">
-      <ref role="1_0j5g" node="2mjHtwTu97P" />
+      <ref role="1_0j5g" node="2mjHtwTu97P" resolve="FASTEN_Safety_Tutorial_Documentation" />
     </node>
     <node concept="2SbEIf" id="1LeaOOd9Zll" role="30Gjbg">
       <property role="2SbEId" value="img" />
-      <ref role="2SbEIe" node="9TY4XGZias" />
+      <ref role="2SbEIe" node="9TY4XGZias" resolve="img" />
     </node>
     <node concept="2SbEIf" id="1LeaOOd9Zlq" role="30Gjbg">
       <property role="2SbEId" value="tmp" />
-      <ref role="2SbEIe" node="2mjHtwTu9e1" />
+      <ref role="2SbEIe" node="2mjHtwTu9e1" resolve="tmp" />
     </node>
     <node concept="1_05Lf" id="1LeaOOda0Mx" role="30Gjbi" />
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diff --git a/gradle.lockfile b/gradle.lockfile
index 1bdc7d4c5..7618b3e89 100644
--- a/gradle.lockfile
+++ b/gradle.lockfile
@@ -3,11 +3,11 @@
 # This file is expected to be part of source control.
 com.jetbrains.jdk:jbr_jcef:17.0.6-b653.34=jbrLinux,jbrMac,jbrWin
 com.jetbrains:mps:2022.2=mps
-com.mbeddr:platform:2022.2.23910.af50257=languageLibs
+com.mbeddr:platform:2022.2.24226.5efe184=languageLibs
 junit:junit:4.12=antLib
 org.apache.ant:ant-junit:1.10.6=antLib
 org.apache.ant:ant-launcher:1.10.6=antLib
 org.apache.ant:ant:1.10.6=antLib
 org.hamcrest:hamcrest-core:1.3=antLib
-org.mpsqa:all-in-one:2022.2.196.16ea23c=languageLibs
+org.mpsqa:all-in-one:2022.2.280.2af29a4=languageLibs
 empty=