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            <body>the path to the katana config file</body>
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            <body>Serial = katana is connected over the serial port
Lan = katana is connected over the network</body>
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            <body>the goal is reached when the difference between the
goal and current tcp positions are smaller then this value [mm]</body>
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            <body>the goal is reached when the difference between the
goal and current tcp angles are smaller then this value [rad]</body>
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            <body>the x offset of the katana relative to the robot [mm]</body>
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            <body>the y offset of the katana relative to the robot [mm]</body>
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          <ownedComment xmi:id="_NmEkoMDUEd-8M4BqCz5X3A" annotatedElement="_08Xc0D1yEd-LwfxoX8f4iA">
            <body>the z offset of the katana relative to the robot [mm]</body>
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            <body>the azimuth angle of the katana relative to the robot [rad]</body>
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            <body>the elevation angle of the katana relative to the robot [rad]</body>
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            <body>the roll angle of the katana relative to the robot [rad]</body>
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            <body>the component checks if the katana is already calibrated
by moving the first joint</body>
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            <body>activate/deactivate info messages</body>
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          <type xmi:type="uml:PrimitiveType" href="pathmap://SMARTMARS_PROFILE/SmartMARS.profile.uml#_HFxeAIggEd6Va88Rz-zvaQ"/>
          <defaultValue xmi:type="uml:LiteralBoolean" xmi:id="_WA7zEF22Ed-saMjdL6BmJg" value="true"/>
        </ownedAttribute>
        <ownedAttribute xmi:id="_a4sMANBQEd-4JLnph6-rZg" name="gripper_timeout" visibility="public" isUnique="false">
          <ownedComment xmi:id="_tv9iENBSEd-4JLnph6-rZg" annotatedElement="_a4sMANBQEd-4JLnph6-rZg">
            <body>Timeout for open or close gripper action [ms]</body>
          </ownedComment>
          <type xmi:type="uml:PrimitiveType" href="pathmap://SMARTMARS_PROFILE/SmartMARS.profile.uml#_RGEicIgZEd6Va88Rz-zvaQ"/>
          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_tUe8cNBREd-4JLnph6-rZg" value="1"/>
          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_tUeVYNBREd-4JLnph6-rZg" value="1"/>
          <defaultValue xmi:type="uml:LiteralInteger" xmi:id="_rWskoNBSEd-4JLnph6-rZg" value="3000"/>
        </ownedAttribute>
        <ownedAttribute xmi:id="_aVoksEAOEeC2VZxsEHDewQ" name="gripper_empty_angle" isUnique="false">
          <ownedComment xmi:id="_S5oQsEAPEeC2VZxsEHDewQ" annotatedElement="_aVoksEAOEeC2VZxsEHDewQ">
            <body>If the angle of the gripper is bigger than this value the GOAL_REACHED_GRIPPER_EMPTY event is send. Value in [rad]</body>
          </ownedComment>
          <type xmi:type="uml:PrimitiveType" href="pathmap://SMARTMARS_PROFILE/SmartMARS.profile.uml#_jmdUcIgZEd6Va88Rz-zvaQ"/>
          <defaultValue xmi:type="uml:LiteralString" xmi:id="_ribA0EAOEeC2VZxsEHDewQ" value="0.43"/>
        </ownedAttribute>
        <ownedAttribute xmi:id="_4m0dEHsbEeCVQOGc0_ELSA" name="faulhaberGripper" isUnique="false">
          <type xmi:type="uml:PrimitiveType" href="pathmap://SMARTMARS_PROFILE/SmartMARS.profile.uml#_HFxeAIggEd6Va88Rz-zvaQ"/>
          <defaultValue xmi:type="uml:LiteralBoolean" xmi:id="_8QcPIHsbEeCVQOGc0_ELSA" value="true"/>
        </ownedAttribute>
      </packagedElement>
      <packagedElement xmi:type="uml:Class" xmi:id="__68xMNTuEd6cerV4vDaVGg" name="KatanaMutex"/>
      <packagedElement xmi:type="uml:Class" xmi:id="_awBSMNUbEd6I2533l4SMIw" name="network">
        <ownedAttribute xmi:id="_EDjhUNUbEd6I2533l4SMIw" name="ip_address" isUnique="false">
          <ownedComment xmi:id="_tuWlIMDTEd-8M4BqCz5X3A" annotatedElement="_EDjhUNUbEd6I2533l4SMIw">
            <body>the ip address where the katana is connected</body>
          </ownedComment>
          <type xmi:type="uml:PrimitiveType" href="pathmap://SMARTMARS_PROFILE/SmartMARS.profile.uml#_W8SH4IgZEd6Va88Rz-zvaQ"/>
          <defaultValue xmi:type="uml:LiteralString" xmi:id="_IGsmoNUbEd6I2533l4SMIw" value="127.0.0.1"/>
        </ownedAttribute>
        <ownedAttribute xmi:id="_LVbzgNUbEd6I2533l4SMIw" name="port" isUnique="false">
          <ownedComment xmi:id="_vQKWIMDTEd-8M4BqCz5X3A" annotatedElement="_LVbzgNUbEd6I2533l4SMIw">
            <body>the port where the katana is connected</body>
          </ownedComment>
          <type xmi:type="uml:PrimitiveType" href="pathmap://SMARTMARS_PROFILE/SmartMARS.profile.uml#_RGEicIgZEd6Va88Rz-zvaQ"/>
          <defaultValue xmi:type="uml:LiteralInteger" xmi:id="_Uin70NUbEd6I2533l4SMIw" value="5566"/>
        </ownedAttribute>
      </packagedElement>
      <packagedElement xmi:type="uml:Class" xmi:id="_jLcmYNUbEd6I2533l4SMIw" name="serial_port">
        <ownedAttribute xmi:id="__S4AkNUaEd6I2533l4SMIw" name="device" isUnique="false">
          <ownedComment xmi:id="_sWidoMDTEd-8M4BqCz5X3A" annotatedElement="__S4AkNUaEd6I2533l4SMIw">
            <body>the serial device where the katana is connected</body>
          </ownedComment>
          <type xmi:type="uml:PrimitiveType" href="pathmap://SMARTMARS_PROFILE/SmartMARS.profile.uml#_W8SH4IgZEd6Va88Rz-zvaQ"/>
          <defaultValue xmi:type="uml:LiteralString" xmi:id="_CiW0UNUbEd6I2533l4SMIw" value="/dev/katana"/>
        </ownedAttribute>
        <ownedAttribute xmi:id="_lLE2EHsbEeCVQOGc0_ELSA" name="faulhaberDevice" isUnique="false">
          <type xmi:type="uml:PrimitiveType" href="pathmap://SMARTMARS_PROFILE/SmartMARS.profile.uml#_W8SH4IgZEd6Va88Rz-zvaQ"/>
          <defaultValue xmi:type="uml:LiteralString" xmi:id="_pcUo0HsbEeCVQOGc0_ELSA" value="/dev/ttyS0"/>
        </ownedAttribute>
      </packagedElement>
      <packagedElement xmi:type="uml:Class" xmi:id="_lyeZ8N9WEd6ez-ul3It3lg" name="StateChangeHandler"/>
      <packagedElement xmi:type="uml:Class" xmi:id="_UXZ_UN9YEd6ez-ul3It3lg" name="EventTestHandler"/>
      <packagedElement xmi:type="uml:Class" xmi:id="_GxVOYN9cEd6ez-ul3It3lg" name="demonstration"/>
      <packagedElement xmi:type="uml:Class" xmi:id="_LVpHEN9cEd6ez-ul3It3lg" name="demonstration"/>
      <packagedElement xmi:type="uml:Class" xmi:id="_yjxrUN_cEd6mtOmaBIShAA" name="trajectory"/>
      <packagedElement xmi:type="uml:Class" xmi:id="_00fJsN_cEd6mtOmaBIShAA" name="trajectory"/>
      <packagedElement xmi:type="uml:Class" xmi:id="_UuLKwOozEd6QY6y_9WRSQw" name="ParameterMutex"/>
      <packagedElement xmi:type="uml:Class" xmi:id="_8ptN4D1wEd-LwfxoX8f4iA" name="base">
        <ownedAttribute xmi:id="__VQ1MD1wEd-LwfxoX8f4iA" name="on_base" isUnique="false">
          <ownedComment xmi:id="_m3uW0FggEd-Ak4dTrgkA9w" annotatedElement="__VQ1MD1wEd-LwfxoX8f4iA">
            <body>specify if manipulator is mounted on a base.
if false the values below are used.</body>
          </ownedComment>
          <type xmi:type="uml:PrimitiveType" href="pathmap://SMARTMARS_PROFILE/SmartMARS.profile.uml#_HFxeAIggEd6Va88Rz-zvaQ"/>
          <defaultValue xmi:type="uml:LiteralBoolean" xmi:id="_DrkuID1xEd-LwfxoX8f4iA" value="true"/>
        </ownedAttribute>
        <ownedAttribute xmi:id="_e7A68D1xEd-LwfxoX8f4iA" name="x" visibility="public" isUnique="false">
          <ownedComment xmi:id="_RisAoMDTEd-8M4BqCz5X3A" annotatedElement="_e7A68D1xEd-LwfxoX8f4iA">
            <body>the x world coordinate [mm]</body>
          </ownedComment>
          <type xmi:type="uml:PrimitiveType" href="pathmap://SMARTMARS_PROFILE/SmartMARS.profile.uml#_NqLqYIgZEd6Va88Rz-zvaQ"/>
          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_iUO5gD1xEd-LwfxoX8f4iA" value="1"/>
          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_iUEhcD1xEd-LwfxoX8f4iA" value="1"/>
          <defaultValue xmi:type="uml:LiteralInteger" xmi:id="_sr73sD1yEd-LwfxoX8f4iA"/>
        </ownedAttribute>
        <ownedAttribute xmi:id="_iqsRsD1xEd-LwfxoX8f4iA" name="y" isUnique="false">
          <ownedComment xmi:id="_TeDhIMDTEd-8M4BqCz5X3A" annotatedElement="_iqsRsD1xEd-LwfxoX8f4iA">
            <body>the y world coordinate [mm]</body>
          </ownedComment>
          <type xmi:type="uml:PrimitiveType" href="pathmap://SMARTMARS_PROFILE/SmartMARS.profile.uml#_NqLqYIgZEd6Va88Rz-zvaQ"/>
          <defaultValue xmi:type="uml:LiteralInteger" xmi:id="_tS5xED1yEd-LwfxoX8f4iA"/>
        </ownedAttribute>
        <ownedAttribute xmi:id="_i4AU8D1xEd-LwfxoX8f4iA" name="z" isUnique="false">
          <ownedComment xmi:id="_Uv_qIMDTEd-8M4BqCz5X3A" annotatedElement="_i4AU8D1xEd-LwfxoX8f4iA">
            <body>the z world coordinate [mm]</body>
          </ownedComment>
          <type xmi:type="uml:PrimitiveType" href="pathmap://SMARTMARS_PROFILE/SmartMARS.profile.uml#_NqLqYIgZEd6Va88Rz-zvaQ"/>
          <defaultValue xmi:type="uml:LiteralInteger" xmi:id="_ty11YD1yEd-LwfxoX8f4iA"/>
        </ownedAttribute>
        <ownedAttribute xmi:id="_jGWS8D1xEd-LwfxoX8f4iA" name="base_a" visibility="public" isUnique="false">
          <ownedComment xmi:id="_ZXQJIMDTEd-8M4BqCz5X3A" annotatedElement="_jGWS8D1xEd-LwfxoX8f4iA">
            <body>the orientation of the base [rad]</body>
          </ownedComment>
          <type xmi:type="uml:PrimitiveType" href="pathmap://SMARTMARS_PROFILE/SmartMARS.profile.uml#_jmdUcIgZEd6Va88Rz-zvaQ"/>
          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_k-pRUD1xEd-LwfxoX8f4iA" value="1"/>
          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_k-e5QD1xEd-LwfxoX8f4iA" value="1"/>
          <defaultValue xmi:type="uml:LiteralInteger" xmi:id="_uXVpkD1yEd-LwfxoX8f4iA"/>
        </ownedAttribute>
        <ownedAttribute xmi:id="_jLAJcD1xEd-LwfxoX8f4iA" name="steer_a" visibility="public" isUnique="false">
          <ownedComment xmi:id="_a121IMDTEd-8M4BqCz5X3A" annotatedElement="_jLAJcD1xEd-LwfxoX8f4iA">
            <body>the steering angle of the base [rad]</body>
          </ownedComment>
          <type xmi:type="uml:PrimitiveType" href="pathmap://SMARTMARS_PROFILE/SmartMARS.profile.uml#_jmdUcIgZEd6Va88Rz-zvaQ"/>
          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_nXsMUD1xEd-LwfxoX8f4iA" value="1"/>
          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_nXhNMD1xEd-LwfxoX8f4iA" value="1"/>
          <defaultValue xmi:type="uml:LiteralInteger" xmi:id="_u3LnQD1yEd-LwfxoX8f4iA"/>
        </ownedAttribute>
        <ownedAttribute xmi:id="_tjoxMD1xEd-LwfxoX8f4iA" name="turret_a" isUnique="false">
          <ownedComment xmi:id="_cTi7IMDTEd-8M4BqCz5X3A" annotatedElement="_tjoxMD1xEd-LwfxoX8f4iA">
            <body>the angle of the turret on the base [rad]</body>
          </ownedComment>
          <type xmi:type="uml:PrimitiveType" href="pathmap://SMARTMARS_PROFILE/SmartMARS.profile.uml#_jmdUcIgZEd6Va88Rz-zvaQ"/>
          <defaultValue xmi:type="uml:LiteralInteger" xmi:id="_vZfDED1yEd-LwfxoX8f4iA"/>
        </ownedAttribute>
      </packagedElement>
      <packagedElement xmi:type="uml:Class" xmi:id="_OB2YsEJDEd-4KrZIfmLq6Q" name="Scan3dHandler"/>
      <packagedElement xmi:type="uml:Class" xmi:id="_P7FQkEJWEd-bo6v4Zd4LLA" name="laser">
        <ownedAttribute xmi:id="_VXVd4EJWEd-bo6v4Zd4LLA" name="laser_is_mounted" visibility="public" isUnique="false">
          <ownedComment xmi:id="_fWBNoMDTEd-8M4BqCz5X3A" annotatedElement="_VXVd4EJWEd-bo6v4Zd4LLA">
            <body>true if a laser ranger is mounted on the katana</body>
          </ownedComment>
          <type xmi:type="uml:PrimitiveType" href="pathmap://SMARTMARS_PROFILE/SmartMARS.profile.uml#_HFxeAIggEd6Va88Rz-zvaQ"/>
          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_cEItEEJWEd-bo6v4Zd4LLA" value="1"/>
          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_cD9t8EJWEd-bo6v4Zd4LLA" value="1"/>
          <defaultValue xmi:type="uml:LiteralBoolean" xmi:id="_fNaLIEJWEd-bo6v4Zd4LLA"/>
        </ownedAttribute>
        <ownedAttribute xmi:id="_07LD8GMXEd-JQMHJ2GmZcQ" name="x" visibility="public" isUnique="false">
          <ownedComment xmi:id="_hqLooMDTEd-8M4BqCz5X3A" annotatedElement="_07LD8GMXEd-JQMHJ2GmZcQ">
            <body>the x offset of the laser relative to the tcp [mm]</body>
          </ownedComment>
          <type xmi:type="uml:PrimitiveType" href="pathmap://SMARTMARS_PROFILE/SmartMARS.profile.uml#_NqLqYIgZEd6Va88Rz-zvaQ"/>
          <upperValue xmi:type="uml:LiteralUnlimitedNatural" xmi:id="_52YZsGMXEd-JQMHJ2GmZcQ" value="1"/>
          <lowerValue xmi:type="uml:LiteralInteger" xmi:id="_52XLkGMXEd-JQMHJ2GmZcQ" value="1"/>
          <defaultValue xmi:type="uml:LiteralInteger" xmi:id="_8zoN8GMXEd-JQMHJ2GmZcQ"/>
        </ownedAttribute>
        <ownedAttribute xmi:id="_9KsqIGMXEd-JQMHJ2GmZcQ" name="y" isUnique="false">
          <ownedComment xmi:id="_i_LFoMDTEd-8M4BqCz5X3A" annotatedElement="_9KsqIGMXEd-JQMHJ2GmZcQ">
            <body>the y offset of the laser relative to the tcp [mm]</body>
          </ownedComment>
          <type xmi:type="uml:PrimitiveType" href="pathmap://SMARTMARS_PROFILE/SmartMARS.profile.uml#_NqLqYIgZEd6Va88Rz-zvaQ"/>
          <defaultValue xmi:type="uml:LiteralInteger" xmi:id="__7DR4GMXEd-JQMHJ2GmZcQ"/>
        </ownedAttribute>
        <ownedAttribute xmi:id="_AN9m0GMYEd-JQMHJ2GmZcQ" name="z" isUnique="false">
          <ownedComment xmi:id="_kaksoMDTEd-8M4BqCz5X3A" annotatedElement="_AN9m0GMYEd-JQMHJ2GmZcQ">
            <body>the z offset of the laser relative to the tcp [mm]</body>
          </ownedComment>
          <type xmi:type="uml:PrimitiveType" href="pathmap://SMARTMARS_PROFILE/SmartMARS.profile.uml#_NqLqYIgZEd6Va88Rz-zvaQ"/>
          <defaultValue xmi:type="uml:LiteralInteger" xmi:id="_CVKj4GMYEd-JQMHJ2GmZcQ"/>
        </ownedAttribute>
        <ownedAttribute xmi:id="_C7OeUGMYEd-JQMHJ2GmZcQ" name="azimuth" isUnique="false">
          <ownedComment xmi:id="_lxA7IMDTEd-8M4BqCz5X3A" annotatedElement="_C7OeUGMYEd-JQMHJ2GmZcQ">
            <body>the azimuth angle relative to the tcp [rad]</body>
          </ownedComment>
          <type xmi:type="uml:PrimitiveType" href="pathmap://SMARTMARS_PROFILE/SmartMARS.profile.uml#_jmdUcIgZEd6Va88Rz-zvaQ"/>
          <defaultValue xmi:type="uml:LiteralInteger" xmi:id="_FXGq4GMYEd-JQMHJ2GmZcQ"/>
        </ownedAttribute>
        <ownedAttribute xmi:id="_FotYQGMYEd-JQMHJ2GmZcQ" name="elevation" isUnique="false">
          <ownedComment xmi:id="_nKvHIMDTEd-8M4BqCz5X3A" annotatedElement="_FotYQGMYEd-JQMHJ2GmZcQ">
            <body>the elevation angle relative to the tcp [rad]</body>
          </ownedComment>
          <type xmi:type="uml:PrimitiveType" href="pathmap://SMARTMARS_PROFILE/SmartMARS.profile.uml#_jmdUcIgZEd6Va88Rz-zvaQ"/>
          <defaultValue xmi:type="uml:LiteralInteger" xmi:id="_HSjD4GMYEd-JQMHJ2GmZcQ"/>
        </ownedAttribute>
        <ownedAttribute xmi:id="_HhjwQGMYEd-JQMHJ2GmZcQ" name="roll" isUnique="false">
          <ownedComment xmi:id="_omhIoMDTEd-8M4BqCz5X3A" annotatedElement="_HhjwQGMYEd-JQMHJ2GmZcQ">
            <body>the roll angle relative to the tcp [rad]</body>
          </ownedComment>
          <type xmi:type="uml:PrimitiveType" href="pathmap://SMARTMARS_PROFILE/SmartMARS.profile.uml#_jmdUcIgZEd6Va88Rz-zvaQ"/>
          <defaultValue xmi:type="uml:LiteralInteger" xmi:id="_JO-7YGMYEd-JQMHJ2GmZcQ"/>
        </ownedAttribute>
      </packagedElement>
      <packagedElement xmi:type="uml:Class" xmi:id="_jgPBQEMREd-9nrDkiEAkqQ" name="scan"/>
      <packagedElement xmi:type="uml:Class" xmi:id="_l8r1kEMREd-9nrDkiEAkqQ" name="scan"/>
      <packagedElement xmi:type="uml:Class" xmi:id="_U3s4UEMWEd-PtKUQ_GOJ6g" name="PointCloudMutex"/>
      <packagedElement xmi:type="uml:Class" xmi:id="_v1m0YF2dEd-saMjdL6BmJg" name="EncoderMutex"/>
      <packagedElement xmi:type="uml:Class" xmi:id="_deeogLBREd-06-HZ0NYnCg" name="RequestScan3dHandler"/>
      <packagedElement xmi:type="uml:Class" xmi:id="_PMi-gLBSEd-06-HZ0NYnCg" name="ScanEventTestHandler"/>
      <packagedElement xmi:type="uml:Class" xmi:id="_S7lNgHsgEeCVQOGc0_ELSA" name="FaulhaberGripperLock"/>
      <packagedElement xmi:type="uml:Class" xmi:id="_DOuqsM9BEeCXs-xeNsnF8Q" name="PoseQueryHandler"/>
    </packagedElement>
    <profileApplication xmi:id="_bUOs8dTjEd6cerV4vDaVGg">
      <eAnnotations xmi:id="_bUOs8tTjEd6cerV4vDaVGg" source="http://www.eclipse.org/uml2/2.0.0/UML">
        <references xmi:type="ecore:EPackage" href="http://www.eclipse.org/uml2/schemas/Standard/1#/"/>
      </eAnnotations>
      <appliedProfile href="pathmap://UML_PROFILES/Standard.profile.uml#_0"/>
    </profileApplication>
    <profileApplication xmi:id="_bUOs89TjEd6cerV4vDaVGg">
      <eAnnotations xmi:id="_bUOs9NTjEd6cerV4vDaVGg" source="http://www.eclipse.org/uml2/2.0.0/UML">
        <references xmi:type="ecore:EPackage" href="pathmap://SMARTMARS_PROFILE/SmartMARS.profile.uml#_NXWQEKlbEeC66fsk0J29Zw"/>
      </eAnnotations>
      <appliedProfile href="pathmap://SMARTMARS_PROFILE/SmartMARS.profile.uml#_v9mxoC8UEd6sM5axkYt24g"/>
    </profileApplication>
  </uml:Model>
  <SmartMARS:SmartComponent xmi:id="_ba9nENTjEd6cerV4vDaVGg" base_Component="_bUOs8NTjEd6cerV4vDaVGg"/>
  <SmartMARS_1:SmartQueryServer xmi:id="_50fKQNTjEd6cerV4vDaVGg" serviceName="performTrajectory" smartQueryHandler="_-1SKoNTjEd6cerV4vDaVGg">
    <commRequestObject href="file://home/wopfner/SOFTWARE/smartsoft-ACE-5.6+TAO-1.6/src/workspace_mdsd/CommManipulatorObjects/model/pim/CommManipulatorObjects_pim.uml#_mPzmwNRAEd6nTeGEf54M4w"/>
  </SmartMARS_1:SmartQueryServer>
  <SmartMARS_1:SmartQueryHandler xmi:id="_-1SKoNTjEd6cerV4vDaVGg" isActive="true"/>
  <SmartMARS:SmartSendServer xmi:id="_iYWagNTkEd6cerV4vDaVGg" base_Port="_iXTRoNTkEd6cerV4vDaVGg" serviceName="performTrajectory" smartSendHandler="_l8EY4NTkEd6cerV4vDaVGg">
    <commObject href="../../../CommManipulatorObjects/model/pim/CommManipulatorObjects_pim.uml#_mPzmwNRAEd6nTeGEf54M4w"/>
  </SmartMARS:SmartSendServer>
  <SmartMARS:SmartSendHandler xmi:id="_l8EY4NTkEd6cerV4vDaVGg" base_Class="_l72WcNTkEd6cerV4vDaVGg" isActive="true"/>
  <SmartMARS:SmartPushTimedServer xmi:id="_AROHsNTlEd6cerV4vDaVGg" base_Port="_AQfH4NTlEd6cerV4vDaVGg" serviceName="currentPose" smartPushTimedHandler="_MJXaYNTlEd6cerV4vDaVGg" cycle="100" timeUnit="ms">
    <commObject href="../../../CommManipulatorObjects/model/pim/CommManipulatorObjects_pim.uml#_a_vAsNRAEd6nTeGEf54M4w"/>
  </SmartMARS:SmartPushTimedServer>
  <SmartMARS:SmartPushTimedHandler xmi:id="_MJXaYNTlEd6cerV4vDaVGg" base_Class="_MJIw4NTlEd6cerV4vDaVGg"/>
  <SmartMARS:SmartParameterServer xmi:id="_kqEwENTlEd6cerV4vDaVGg" base_Port="_kpRe0NTlEd6cerV4vDaVGg" serviceName="param" smartParameterHandler="_oA9MUNTlEd6cerV4vDaVGg">
    <commObject href="../../../CommManipulatorObjects/model/pim/CommManipulatorObjects_pim.uml#_fhLWINRBEd6nTeGEf54M4w"/>
  </SmartMARS:SmartParameterServer>
  <SmartMARS:SmartParameterHandler xmi:id="_oA9MUNTlEd6cerV4vDaVGg" base_Class="_oAtUsNTlEd6cerV4vDaVGg"/>
  <SmartMARS_1:SmartPushNewestClient xmi:id="_1Q9CwNTlEd6cerV4vDaVGg" serviceName="unknown" serverName="unknown">
    <commObject href="file://home/wopfner/SOFTWARE/smartsoft-ACE-5.6+TAO-1.6/src/workspace_mdsd/CommManipulatorObjects/model/pim/CommManipulatorObjects_pim.uml#_qKM-wNRLEd6zv9zsUcRbiQ"/>
  </SmartMARS_1:SmartPushNewestClient>
  <SmartMARS_1:SmartQueryServer xmi:id="_KraZMNTmEd6cerV4vDaVGg" smartQueryHandler="_SrGMkNTmEd6cerV4vDaVGg"/>
  <SmartMARS_1:SmartQueryServer xmi:id="_PZFpQNTmEd6cerV4vDaVGg"/>
  <SmartMARS_1:SmartQueryHandler xmi:id="_SrGMkNTmEd6cerV4vDaVGg"/>
  <SmartMARS_1:SmartQueryHandler xmi:id="_VIOWUNTmEd6cerV4vDaVGg"/>
  <SmartMARS:SmartIniParameterGroup xmi:id="_5Xx_INTuEd6cerV4vDaVGg" base_Class="_5TcRsNTuEd6cerV4vDaVGg"/>
  <SmartMARS:SmartMutex xmi:id="__7I-cNTuEd6cerV4vDaVGg" base_Class="__68xMNTuEd6cerV4vDaVGg"/>
  <SmartMARS:SmartIniParameterGroup xmi:id="_a1wt0NUbEd6I2533l4SMIw" base_Class="_awBSMNUbEd6I2533l4SMIw"/>
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