diff --git a/mr/ub9/A2ParticleFilterResample.png b/mr/ub9/A2ParticleFilterResample.png
new file mode 100644
index 0000000..27ae50c
--- /dev/null
+++ b/mr/ub9/A2ParticleFilterResample.png
Binary files differ
diff --git a/mr/ub9/A2particlefilter.png b/mr/ub9/A2particlefilter.png
new file mode 100644
index 0000000..7e60c21
--- /dev/null
+++ b/mr/ub9/A2particlefilter.png
Binary files differ
diff --git a/mr/ub9/loc_framework/localize_pf.m b/mr/ub9/loc_framework/localize_pf.m
index cd2fcab..f9ce2c6 100644
--- a/mr/ub9/loc_framework/localize_pf.m
+++ b/mr/ub9/loc_framework/localize_pf.m
@@ -1,11 +1,11 @@
 sume=zeros(3,1);
-runs = 10;
+runs = 1;
 for i=1:runs
 % ### Run some initialization initialization steps common to all filters
     localize_init;
 
     % ### Important parameters:
-    nSamples = 20;
+    nSamples = 100;
     ESSmin = 0.7*nSamples;
 
     % ### Evaluate PF without measurements: 
@@ -80,8 +80,8 @@
 merr_yaw = abs(mae(3))
 %_________________________________
 %Ergebnisse 2 e
-%1) ESSmin = 0.7*20;  errpos: 0.2921 err_yaw= 0.0044
-%2) ESSmin = 0.4*20;  errpos: 0.6017   erryaw=0.0120
-%3)ESSmin = always > ess;  errpos: 0.1254   erryaw=0.0654
-%4)ESSmin = 0.1*10= errpos= 0.4363  err_yae 0.0393
-%Sollen wir heir die Zeit auch noch messen?
\ No newline at end of file
+%1) ESSmin = 0.7*20;  errpos: 0.5078 err_yaw= 0.0464
+%2) ESSmin = 0.4*20;  errpos: 0.6882   erryaw=0.1149
+%3)ESSmin = always > ess;  errpos: 0.5342   erryaw=0.0174
+%4)ESSmin = 0.1*20= errpos= 0.8369  err_yae 0.1608
+%Sollen wir hier die Zeit auch noch messen?
\ No newline at end of file
diff --git a/mr/ub9/mr9.pdf b/mr/ub9/mr9.pdf
new file mode 100644
index 0000000..964df6e
--- /dev/null
+++ b/mr/ub9/mr9.pdf
Binary files differ
diff --git a/mr/ub9/mr9.tex b/mr/ub9/mr9.tex
new file mode 100644
index 0000000..ac2a0a5
--- /dev/null
+++ b/mr/ub9/mr9.tex
@@ -0,0 +1,127 @@
+\documentclass[a4paper,12pt]{scrartcl}
+\usepackage[ngerman]{babel}
+\usepackage{graphicx} %BIlder einbinden
+\usepackage{amsmath} %erweiterte Mathe-Zeichen
+\usepackage{amsfonts} %weitere fonts
+\usepackage[utf8]{inputenc} %Umlaute & Co
+\usepackage{hyperref} %Links
+\usepackage{ifthen} %ifthenelse
+\usepackage{enumerate}
+\usepackage{pdfpages}
+\usepackage{algpseudocode} %Pseudocode
+\usepackage{dsfont} % schöne Zahlenräumezeichen
+\usepackage{amssymb, amsthm} %noch stärker erweiterte Mathe-Zeichen
+\usepackage{tikz} %TikZ ist kein Zeichenprogramm
+\usetikzlibrary{trees,automata,arrows,shapes}
+\usepackage{qtree}
+\usepackage{listings}
+\lstset{language=Matlab}
+
+\pagestyle{empty}
+
+
+\topmargin-50pt
+
+\newcounter{aufgabe}
+\def\tand{&}
+
+\newcommand{\makeTableLine}[2][0]{%
+  \setcounter{aufgabe}{1}%
+  \whiledo{\value{aufgabe} < #1}%
+  {%
+    #2\tand\stepcounter{aufgabe}%
+  }
+}
+
+\newcommand{\aufgTable}[1]{
+  \def\spalten{\numexpr #1 + 1 \relax}
+  \begin{tabular}{|*{\spalten}{p{1cm}|}}
+    \makeTableLine[\spalten]{A\theaufgabe}$\Sigma$~~\\ \hline
+    \rule{0pt}{15pt}\makeTableLine[\spalten]{}\\
+  \end{tabular}
+}
+
+\def\header#1#2#3#4#5#6#7{\pagestyle{empty}
+\begin{minipage}[t]{0.47\textwidth}
+\begin{flushleft}
+{\bf #4}\\
+#5
+\end{flushleft}
+\end{minipage}
+\begin{minipage}[t]{0.5\textwidth}
+\begin{flushright}
+#6 \vspace{0.5cm}\\
+%                 Number of Columns    Definition of Columns      second empty line
+% \begin{tabular}{|*{5}{C{1cm}|}}\hline A1&A2&A3&A4&$\Sigma$\\\hline&&&&\\\hline\end{tabular}\\\vspace*{0.1cm}
+\aufgTable{#7}
+\end{flushright}
+\end{minipage}
+\vspace{1cm}
+\begin{center}
+{\Large\bf Assignment #1}
+
+{(Hand-in date #3)}
+\end{center}
+}
+
+
+
+%counts the exercisenumber
+\newcounter{n}
+
+%Kommando für Aufgaben
+%\Aufgabe{AufgTitel}{Punktezahl}
+\newcommand{\Aufgabe}[2]{\stepcounter{n}
+\textbf{Exercise \arabic{n}: #1} (#2 Punkte)\\}
+
+\newcommand{\Normal}[3]{\mathcal{N}\left(#1,#2,#3\right)}
+\newcommand{\Normalf}[3]{\frac{\left|#3\right|^{-\frac{1}{2}}}{\sqrt{2\pi}}e^{-\frac{\left(#1 - #2 \right)^2\cdot \left(#3\right)^{-1}}{2}}}
+
+
+
+
+\begin{document}
+    %\header{BlattNr}{Tutor}{Abgabedatum}{Vorlesungsname}{Namen}{Semester}{Anzahl Aufgaben}
+    \header{9}{}{2015-06-30}{Mobile Robots}{
+        \textit{Jan-Peter Hohloch}\\ \textit{Maximus Mutschler}
+    }{SS 15}{2}
+    \vspace{1cm}
+
+    \Aufgabe{Unscented Kalman Filter}{10}
+    \begin{figure}[!htb]
+\centering
+\includegraphics[width=0.7\linewidth]{a1f1}
+\caption{ UKF without measurements}
+\label{fig:a1f1}
+\end{figure}
+\begin{figure}[!htb]
+\centering
+\includegraphics[width=0.7\linewidth]{a1f2}
+\caption{UKF with measurements}
+\label{fig:a1f2}
+\end{figure}
+
+   \pagebreak
+\Aufgabe{Particle Filter}{10}
+\begin{figure}[!htb]
+\centering
+\includegraphics[width=0.7\linewidth]{A2particlefilter}
+\caption{PF without measurements}
+\label{fig:A2particlefilter}
+\end{figure}
+\begin{figure}[!htb]
+\centering
+\includegraphics[width=0.7\linewidth]{A2ParticleFilterResample}
+\caption{PF with measurements}
+\label{fig:A2ParticleFilterResample}
+\end{figure}
+\\\\\\\\\
+2e:\\
+1) ESSmin = 0.7*20;  errpos: 0.5078 erryaw= 0.0464\\
+2) ESSmin = 0.4*20;  errpos: 0.6882   erryaw=0.1149\\
+3)ESSmin = always $>$ ess;  errpos: 0.5342   erryaw=0.0174\\
+4)ESSmin = 0.1*20= errpos= 0.8369  erryaw 0.1608\\
+
+
+\end{document}
+