diff --git a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StateEditorController.cpp b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StateEditorController.cpp
index caf9d0ca6388cfab24592ae974359a010a86bc7d..43ffa05b65d5c4a4c5e99b1ffa1b06652f38b1f1 100644
--- a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StateEditorController.cpp
+++ b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StateEditorController.cpp
@@ -38,7 +38,7 @@
 namespace armarx
 {
 
-    StateEditorController::StateEditorController(StatechartEditorMainWindow* mainWindow, StateTreeControllerPtr treeController, Ice::CommunicatorPtr communicator, VariantInfoPtr variantInfo, StatechartProfiles::StatechartProfilePtr currentProfile, QPointer<TipDialog> tipDialog, QObject* parent) :
+    StateEditorController::StateEditorController(StatechartEditorMainWindow* mainWindow, StateTreeControllerPtr treeController, Ice::CommunicatorPtr communicator, VariantInfoPtr variantInfo, StatechartProfilePtr currentProfile, QPointer<TipDialog> tipDialog, QObject* parent) :
         QObject(parent),
         mainWindow(mainWindow),
         treeController(treeController),
diff --git a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StateEditorController.h b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StateEditorController.h
index e811aa9ff049fb5d368afe10eefd92d0c524d851..c041cdb5cb12fa6bf3a6c6930e5e5366954b2cb7 100644
--- a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StateEditorController.h
+++ b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StateEditorController.h
@@ -54,7 +54,7 @@ namespace armarx
         Q_OBJECT
 
     public:
-        explicit StateEditorController(StatechartEditorMainWindow* mainWindow, StateTreeControllerPtr treeController, Ice::CommunicatorPtr communicator, VariantInfoPtr variantInfo, StatechartProfiles::StatechartProfilePtr currentProfile, QPointer<TipDialog> tipDialog, QObject* parent = 0);
+        explicit StateEditorController(StatechartEditorMainWindow* mainWindow, StateTreeControllerPtr treeController, Ice::CommunicatorPtr communicator, VariantInfoPtr variantInfo, StatechartProfilePtr currentProfile, QPointer<TipDialog> tipDialog, QObject* parent = 0);
 
         QList<QString> getRelevantProfiles() const;
     signals:
@@ -77,7 +77,7 @@ namespace armarx
         EditorFileOpener opener;
         Ice::CommunicatorPtr communicator;
         VariantInfoPtr variantInfo;
-        StatechartProfiles::StatechartProfilePtr currentProfile;
+        StatechartProfilePtr currentProfile;
         QPointer<TipDialog> tipDialog;
         bool lockRemoteStates;
         QMenu menu;
diff --git a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StateTreeController.cpp b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StateTreeController.cpp
index 29b4bbed947cda7729eccc7595476b2ded4025da..70680f6430435fcefddff7575e563da7a43bba61 100644
--- a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StateTreeController.cpp
+++ b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StateTreeController.cpp
@@ -54,7 +54,7 @@ using namespace armarx;
 using namespace statechartio;
 using namespace statechartmodel;
 
-StateTreeController::StateTreeController(Ice::CommunicatorPtr ic, VariantInfoPtr variantInfo, QList<QVariant> headerInfo, QTreeView* treeView, QLineEdit* filterLineEdit, const ArmarXPackageToolInterfacePtr& packageTool, const StatechartProfilesPtr& statechartProfiles, StatechartProfiles::StatechartProfilePtr currentProfile, QObject* parent)
+StateTreeController::StateTreeController(Ice::CommunicatorPtr ic, VariantInfoPtr variantInfo, QList<QVariant> headerInfo, QTreeView* treeView, QLineEdit* filterLineEdit, const ArmarXPackageToolInterfacePtr& packageTool, const StatechartProfilesPtr& statechartProfiles, StatechartProfilePtr currentProfile, QObject* parent)
     : QAbstractItemModel(parent)
 {
     qRegisterMetaType<StateTreeNodePtr>("StateTreeNodePtr");
diff --git a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StateTreeController.h b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StateTreeController.h
index 800e689d1618fe29087903ef605fc1b571fb108e..6a0e6bd5ee85c50aa218ff33481f4848fe836680 100644
--- a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StateTreeController.h
+++ b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StateTreeController.h
@@ -64,7 +64,7 @@ namespace armarx
         Q_OBJECT
 
     public:
-        StateTreeController(Ice::CommunicatorPtr ic, VariantInfoPtr variantInfo, QList<QVariant> headerInfo, QTreeView* treeView, QLineEdit* filterLineEdit, const ArmarXPackageToolInterfacePtr& packageTool, const StatechartProfilesPtr& statechartProfiles, StatechartProfiles::StatechartProfilePtr currentProfile, QObject* parent = 0);
+        StateTreeController(Ice::CommunicatorPtr ic, VariantInfoPtr variantInfo, QList<QVariant> headerInfo, QTreeView* treeView, QLineEdit* filterLineEdit, const ArmarXPackageToolInterfacePtr& packageTool, const StatechartProfilesPtr& statechartProfiles, StatechartProfilePtr currentProfile, QObject* parent = 0);
         ~StateTreeController();
 
         QVariant data(const QModelIndex& index, int role) const;
@@ -191,7 +191,7 @@ namespace armarx
         QMap<QString, QProcess*> processes;
         VariantInfoPtr variantInfo;
         StatechartProfilesPtr profiles;
-        StatechartProfiles::StatechartProfilePtr currentProfile;
+        StatechartProfilePtr currentProfile;
         Ice::CommunicatorPtr communicator;
 
         struct StateMimeData : AbstractStateMimeData
diff --git a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StatechartEditorController.h b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StatechartEditorController.h
index 4ea0c6e1eec829aeb6b9a72d5522f30a8fd56cd0..46aebb5eb37f3d9853279d2bc1e09a6851bfaa86 100644
--- a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StatechartEditorController.h
+++ b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/StatechartEditorController.h
@@ -209,7 +209,7 @@ namespace armarx
             QStringList groupsToLoad;
             bool lockRemoteStates;
             bool openAllStatesWasSelected;
-            StatechartProfiles::StatechartProfilePtr selectedProfile;
+            StatechartProfilePtr selectedProfile;
         } config;
 
 
diff --git a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/view/StatechartEditorMainWindow.h b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/view/StatechartEditorMainWindow.h
index 3b38eb540d590cc29ed6974cd6a3c90b950d77d0..1422b05751b59af0a0dc27670961ab0ddbfa36bf 100644
--- a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/view/StatechartEditorMainWindow.h
+++ b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/view/StatechartEditorMainWindow.h
@@ -60,7 +60,7 @@ namespace armarx
         {
             this->variantInfo = variantInfo;
         }
-        void setCurrentProfile(StatechartProfiles::StatechartProfilePtr currentProfile)
+        void setCurrentProfile(StatechartProfilePtr currentProfile)
         {
             this->currentProfile = currentProfile;
         }
@@ -87,7 +87,7 @@ namespace armarx
         CppHighlighter* highlighter;
         Ice::CommunicatorPtr communicator;
         VariantInfoPtr variantInfo;
-        StatechartProfiles::StatechartProfilePtr currentProfile;
+        StatechartProfilePtr currentProfile;
         QPointer<TipDialog> tipDialog;
     };
 
diff --git a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/view/dialogs/EditStatechartGroupDialog.cpp b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/view/dialogs/EditStatechartGroupDialog.cpp
index d37259a3c83a2b7749e3af939dc6e7d8d2a91d09..0e349f47cd486f5cd58cc8fd5c8e19ea6c9d2e7e 100644
--- a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/view/dialogs/EditStatechartGroupDialog.cpp
+++ b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/view/dialogs/EditStatechartGroupDialog.cpp
@@ -125,13 +125,13 @@ namespace armarx
         connect(ui->lineEditProxyFilter, SIGNAL(textChanged(QString)), filterModel, SLOT(setFilterFixedString(QString)));
 
 
-        std::list<StatechartProfiles::StatechartProfilePtr> profileQueue;
+        std::list<StatechartProfilePtr> profileQueue;
         profileQueue.push_back(statechartProfiles->getRootProfile());
         connect(ui->comboBoxStatechartProfiles, SIGNAL(currentIndexChanged(QString)), this, SLOT(updateConfigurationTextField(QString)));
         connect(ui->tabWidget, SIGNAL(currentChanged(int)), this, SLOT(updateConfigurationContent(int)));
         while (!profileQueue.empty())
         {
-            StatechartProfiles::StatechartProfilePtr currentProfile = profileQueue.front();
+            StatechartProfilePtr currentProfile = profileQueue.front();
             profileQueue.pop_front();
             ui->comboBoxStatechartProfiles->addItem(QString(currentProfile->getNesting(), '-') + " " + QString::fromStdString(currentProfile->getName()),
                                                     QString::fromStdString(currentProfile->getName()));
diff --git a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/view/dialogs/StateDialog.cpp b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/view/dialogs/StateDialog.cpp
index 90942941dabefd98b3888747df4ca6eec5043f14..1ecbff352bb122d7c754cf7db54daaebbe5c71f3 100644
--- a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/view/dialogs/StateDialog.cpp
+++ b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/view/dialogs/StateDialog.cpp
@@ -43,7 +43,7 @@ namespace armarx
 
     QMap<QString, DynamicLibraryPtr> StateDialog::Libraries = QMap<QString, DynamicLibraryPtr>();
 
-    StateDialog::StateDialog(statechartmodel::StateInstancePtr stateInstance, Ice::CommunicatorPtr communicator, VariantInfoPtr variantInfo, StatechartProfiles::StatechartProfilePtr currentProfile, bool locked, bool readOnly, QPointer<TipDialog> tipDialog, QWidget* parent) :
+    StateDialog::StateDialog(statechartmodel::StateInstancePtr stateInstance, Ice::CommunicatorPtr communicator, VariantInfoPtr variantInfo, StatechartProfilePtr currentProfile, bool locked, bool readOnly, QPointer<TipDialog> tipDialog, QWidget* parent) :
         QDialog(parent),
         ui(new Ui::StateDialog),
         stateInstance(stateInstance),
@@ -399,7 +399,7 @@ namespace armarx
         statechartmodel::StateParameterMap newValues = parameterEditor.getStateParameters();
 
         QSet<QString> profiles;
-        StatechartProfiles::StatechartProfilePtr p = currentProfile;
+        StatechartProfilePtr p = currentProfile;
 
         while (p)
         {
diff --git a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/view/dialogs/StateDialog.h b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/view/dialogs/StateDialog.h
index 1415d6c90aedb71118126bcb82c29ab2f1792155..9f6d98654a4d91040879506dc8e780a8f5a2d043 100644
--- a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/view/dialogs/StateDialog.h
+++ b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/view/dialogs/StateDialog.h
@@ -53,7 +53,7 @@ namespace armarx
         Q_OBJECT
 
     public:
-        explicit StateDialog(statechartmodel::StateInstancePtr stateInstance, Ice::CommunicatorPtr communicator, VariantInfoPtr variantInfo, StatechartProfiles::StatechartProfilePtr currentProfile, bool locked, bool readOnly, QPointer<TipDialog> tipDialog, QWidget* parent = 0);
+        explicit StateDialog(statechartmodel::StateInstancePtr stateInstance, Ice::CommunicatorPtr communicator, VariantInfoPtr variantInfo, StatechartProfilePtr currentProfile, bool locked, bool readOnly, QPointer<TipDialog> tipDialog, QWidget* parent = 0);
         ~StateDialog();
 
         statechartmodel::StateParameterMap getInputParams() const;
diff --git a/source/ArmarXGui/gui-plugins/StatechartEventSenderPlugin/StateParameterEditor.h b/source/ArmarXGui/gui-plugins/StatechartEventSenderPlugin/StateParameterEditor.h
index 0197bfd9ed4eb859cf933fe614fb6a762c97d74b..5b3a35ab01593adc288a50ebd0ed33a19a4fada5 100644
--- a/source/ArmarXGui/gui-plugins/StatechartEventSenderPlugin/StateParameterEditor.h
+++ b/source/ArmarXGui/gui-plugins/StatechartEventSenderPlugin/StateParameterEditor.h
@@ -15,9 +15,9 @@
  * You should have received a copy of the GNU General Public License
  * along with this program. If not, see <http://www.gnu.org/licenses/>.
  *
- * @package    
- * @author     
- * @date       
+ * @package
+ * @author
+ * @date
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
@@ -62,7 +62,7 @@ namespace armarx
         {
             this->variantInfo = variantInfo;
         }
-        void setCurrentProfile(StatechartProfiles::StatechartProfilePtr currentProfile)
+        void setCurrentProfile(StatechartProfilePtr currentProfile)
         {
             this->currentProfile = currentProfile;
         }
@@ -121,7 +121,7 @@ namespace armarx
         VariantInfoPtr variantInfo;
         Qt::CheckState defaultValueState;
         QSet<QString> keyBlackList;
-        StatechartProfiles::StatechartProfilePtr currentProfile;
+        StatechartProfilePtr currentProfile;
 
     };
 
diff --git a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StateWatcher.h b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StateWatcher.h
index 0c11c7dc17abb5070ce490c8ce87ef886c6e71df..9e79481bbe2fb0036fa9a54ef6e92eda38d1818e 100644
--- a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StateWatcher.h
+++ b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StateWatcher.h
@@ -25,7 +25,7 @@
 
 #include <ArmarXGui/gui-plugins/StatechartViewerPlugin/model/State.h>
 #include <ArmarXCore/observers/variant/DatafieldRef.h>
-
+#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
 #include <ArmarXCore/interface/observers/ProfilerObserverInterface.h>
 
 namespace armarx