diff --git a/mr/ub9/loc_framework/localize_ukf.m b/mr/ub9/loc_framework/localize_ukf.m
index 557b336..5ddd841 100644
--- a/mr/ub9/loc_framework/localize_ukf.m
+++ b/mr/ub9/loc_framework/localize_ukf.m
@@ -18,7 +18,7 @@
 
 plot_trajectory_cov(x_true, nomeas_mean, nomeas_cov, dt);
 
-% ## Evaluate full UKF with measurements: 
+%## Evaluate full UKF with measurements: 
 curr_mean = [0; 0; 0];
 curr_cov = diag([0, 0, 0]);
 ukf_mean = curr_mean;
diff --git a/mr/ub9/loc_framework/pf_prediction.m b/mr/ub9/loc_framework/pf_prediction.m
index 430ce9d..18d0e05 100644
--- a/mr/ub9/loc_framework/pf_prediction.m
+++ b/mr/ub9/loc_framework/pf_prediction.m
@@ -6,7 +6,16 @@
 
 % YOUR CODE STARTS HERE:
 
-xnew = x;
+
+% Pay attention to the representation of particles in pf_x: 
+% A trajectory is stored as a 2D matrix [x_0, x_1, x_2, x_3]
+% Columns: different time steps
+% Trajectories of all particles are concatenated along a third dimension,
+% the result is a 3D tensor.
+% The pose (3x1 vector) of particle m at timestep i can be accessed using:
+%    pf_x(:,i,m);
+
+xnew = x+motion(x,u)+;
 
 % YOUR CODE ENDS HERE:
     
diff --git a/mr/ub9/loc_framework/ukf_correction.m b/mr/ub9/loc_framework/ukf_correction.m
index 0c194d2..b526e96 100644
--- a/mr/ub9/loc_framework/ukf_correction.m
+++ b/mr/ub9/loc_framework/ukf_correction.m
@@ -7,8 +7,7 @@
 %wie bring ich hier das u unter?
 Z=zeros(size(z,1),size(X,2));
 for i =1:size(X,2)
-    a=measurement(X(:,i));
-    Z(:,i)= a(1);
+    Z(:,i)= measurement(X(:,i));
 end
 [expX,covX]=ukf_estimate_normal( X, w );
 [expZ,CovOfIn]=ukf_estimate_normal( Z, w );
diff --git a/mr/ub9/loc_framework/ukf_estimate_normal.m b/mr/ub9/loc_framework/ukf_estimate_normal.m
index e183e93..d59915a 100644
--- a/mr/ub9/loc_framework/ukf_estimate_normal.m
+++ b/mr/ub9/loc_framework/ukf_estimate_normal.m
@@ -11,6 +11,7 @@
 
 %mu = zeros(dim,1);
 
+
 mu=S*w;
 
 
diff --git a/mr/ub9/loc_framework/ukf_prediction.m b/mr/ub9/loc_framework/ukf_prediction.m
index 2a25d6a..52732be 100644
--- a/mr/ub9/loc_framework/ukf_prediction.m
+++ b/mr/ub9/loc_framework/ukf_prediction.m
@@ -7,13 +7,14 @@
 %Sm= rowfun(motion,S) % By default, rowfun returns the first output of func
 %wie bring ich hier das u unter?
 Sm=zeros(size(S));
+
 for i =1:size(S,2)
-    a=motion(S(:,i),u);
-    Sm(:,i)= a(1);
+    Sm(:,i)= motion(S(:,i),u);
 end
 [newmean,newcov]=ukf_estimate_normal( Sm, w );
 newcov = newcov+R;
 
+
 % YOUR CODE ENDS HERE:
 
 end
diff --git a/mr/ub9/loc_framework/ukf_sigma_points.m b/mr/ub9/loc_framework/ukf_sigma_points.m
index 9624a93..a185737 100644
--- a/mr/ub9/loc_framework/ukf_sigma_points.m
+++ b/mr/ub9/loc_framework/ukf_sigma_points.m
@@ -22,13 +22,13 @@
 
 S(:,1)=mu;
 w(1)=1/3;
-w(2:n)=(1-w0)/(2*n);
+w(2:n)=(1-w0)/(2*nx);
 
-RootN= sqrt(n/(1-w0))*sqrtm(cov);
-RootN2= sqrt(n/(1-w0))*sqrtm(cov);
-for i =2:nx
-    S(:,i) = mu+RootN(:,i);
-    S(:,i+nx) = mu-RootN2(:,i);
+RootN= sqrt(nx/(1-w0))*sqrtm(cov);
+
+for i =1:nx
+    S(:,i+1) = mu+RootN(:,i);
+    S(:,i+nx+1) = mu-RootN(:,i);
 end