diff --git a/source/RobotAPI/applications/ForceTorqueObserver/CMakeLists.txt b/source/RobotAPI/applications/ForceTorqueObserver/CMakeLists.txt
index 07d5eedc2fd66b04c60faf76313152d4c582e847..ec2db460d037b4fc9710dcf221b46b0e85974caf 100755
--- a/source/RobotAPI/applications/ForceTorqueObserver/CMakeLists.txt
+++ b/source/RobotAPI/applications/ForceTorqueObserver/CMakeLists.txt
@@ -20,7 +20,7 @@ armarx_build_if(ArmarXCoreObservers_ENABLED "ArmarXCoreObservers library disable
 if (ARMARX_BUILD)
     set(COMPONENT_LIBS RobotAPIUnits RobotAPICore RobotAPIInterfaces  ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRemoteRobot)
 
-    set(SOURCES ForceTorqueObserverApp.h)
+    set(SOURCES main.cpp ForceTorqueObserverApp.h)
 
     armarx_add_component_executable("${SOURCES}")
 endif()
diff --git a/source/RobotAPI/applications/ForceTorqueObserver/main.cpp b/source/RobotAPI/applications/ForceTorqueObserver/main.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..bac39a88eee491d7a92ca4ef02782e3d783248e7
--- /dev/null
+++ b/source/RobotAPI/applications/ForceTorqueObserver/main.cpp
@@ -0,0 +1,33 @@
+/**
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation; either version 2 of
+ * the License, or (at your option) any later version.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * 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    RobotAPI::application::ForceTorqueObserver
+ * @author     Manfred Kroehnert
+ * @date       2014
+ * @copyright  http://www.gnu.org/licenses/gpl.txt
+ *             GNU General Public License
+ */
+
+#include "ForceTorqueObserverApp.h"
+#include <Core/core/logging/Logging.h>
+
+int main(int argc, char* argv[])
+{
+    armarx::ApplicationPtr app = armarx::Application::createInstance<armarx::ForceTorqueObserverApp>();
+    app->setName("ForceTorqueObserver");
+
+    return app->main(argc, argv);
+}
diff --git a/source/RobotAPI/applications/MotionControl/CMakeLists.txt b/source/RobotAPI/applications/MotionControl/CMakeLists.txt
index fc628f1e4d91b4a7bc1235e97b2f4539838e2b79..8ef8e13303ec444a8e10202806c6cd7250d8d4d8 100755
--- a/source/RobotAPI/applications/MotionControl/CMakeLists.txt
+++ b/source/RobotAPI/applications/MotionControl/CMakeLists.txt
@@ -20,7 +20,7 @@ armarx_build_if(ArmarXCoreObservers_ENABLED "ArmarXCoreObservers library disable
 if (ARMARX_BUILD)
     set(COMPONENT_LIBS MotionControl RobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRobotStateComponent ArmarXCoreStatechart ArmarXCoreOperations)
 
-    set(SOURCES MotionControlApp.h)
+    set(SOURCES main.cpp MotionControlApp.h)
 
     armarx_add_component_executable("${SOURCES}")
 endif()
diff --git a/source/RobotAPI/applications/MotionControl/main.cpp b/source/RobotAPI/applications/MotionControl/main.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..4e68781696f2a7efbe8d1c3780281625df93d2af
--- /dev/null
+++ b/source/RobotAPI/applications/MotionControl/main.cpp
@@ -0,0 +1,33 @@
+/**
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation; either version 2 of
+ * the License, or (at your option) any later version.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI::application::MotionControl
+ * @author     Manfred Kroehnert
+ * @date       2014
+ * @copyright  http://www.gnu.org/licenses/gpl.txt
+ *             GNU General Public License
+ */
+
+#include "MotionControlApp.h"
+#include <Core/core/logging/Logging.h>
+
+int main(int argc, char* argv[])
+{
+    armarx::ApplicationPtr app = armarx::Application::createInstance<armarx::MotionControlApp>();
+    app->setName("MotionControl");
+
+    return app->main(argc, argv);
+}
diff --git a/source/RobotAPI/applications/MotionControlTest/CMakeLists.txt b/source/RobotAPI/applications/MotionControlTest/CMakeLists.txt
index 54cdd89036872e86d6d1c1154d456dbc1289a373..d3aa797522176b234a18e409bae4d0208a29ba44 100644
--- a/source/RobotAPI/applications/MotionControlTest/CMakeLists.txt
+++ b/source/RobotAPI/applications/MotionControlTest/CMakeLists.txt
@@ -22,7 +22,7 @@ if (ARMARX_BUILD)
     include_directories(${Simox_INCLUDE_DIRS})
     set(COMPONENT_LIBS MotionControl RobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRobotStateComponent ArmarXCoreStatechart ArmarXCoreOperations ${Simox_LIBRARIES})
 
-    set(SOURCES MotionControlTestApp.h)
+    set(SOURCES main.cpp MotionControlTestApp.h)
 
     armarx_add_component_executable("${SOURCES}")
 endif()
diff --git a/source/RobotAPI/applications/MotionControlTest/main.cpp b/source/RobotAPI/applications/MotionControlTest/main.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..630ae96d899591c77ae2eb9326e2cbb21f7e5e1a
--- /dev/null
+++ b/source/RobotAPI/applications/MotionControlTest/main.cpp
@@ -0,0 +1,33 @@
+/**
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation; either version 2 of
+ * the License, or (at your option) any later version.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI::application::MotionControlTest
+ * @author     Manfred Kroehnert
+ * @date       2014
+ * @copyright  http://www.gnu.org/licenses/gpl.txt
+ *             GNU General Public License
+ */
+
+#include "MotionControlTestApp.h"
+#include <Core/core/logging/Logging.h>
+
+int main(int argc, char* argv[])
+{
+    armarx::ApplicationPtr app = armarx::Application::createInstance<armarx::MotionControlTestApp>();
+    app->setName("MotionControlTest");
+
+    return app->main(argc, argv);
+}
diff --git a/source/RobotAPI/applications/TCPControlUnit/CMakeLists.txt b/source/RobotAPI/applications/TCPControlUnit/CMakeLists.txt
index 1a1a725f4ff9039810753fc77e5f8e62b495aaa5..81d0f4e078f3201247d40e4d759d1a4c29f06faf 100755
--- a/source/RobotAPI/applications/TCPControlUnit/CMakeLists.txt
+++ b/source/RobotAPI/applications/TCPControlUnit/CMakeLists.txt
@@ -22,7 +22,7 @@ if (ARMARX_BUILD)
     include_directories(${Simox_INCLUDE_DIRS})
     set(COMPONENT_LIBS RobotAPIUnits RobotAPICore RobotAPIInterfaces  ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRemoteRobot ${Simox_LIBRARIES})
 
-    set(SOURCES TCPControlUnitApp.h)
+    set(SOURCES main.cpp TCPControlUnitApp.h)
 
     armarx_add_component_executable("${SOURCES}")
 endif()
diff --git a/source/RobotAPI/applications/TCPControlUnit/main.cpp b/source/RobotAPI/applications/TCPControlUnit/main.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..07873e9ab1c32dad9e3057c79d25ef2a5a59da3c
--- /dev/null
+++ b/source/RobotAPI/applications/TCPControlUnit/main.cpp
@@ -0,0 +1,33 @@
+/**
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation; either version 2 of
+ * the License, or (at your option) any later version.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * 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    RobotAPI::application::TCPControlUnit
+ * @author     Manfred Kroehnert
+ * @date       2014
+ * @copyright  http://www.gnu.org/licenses/gpl.txt
+ *             GNU General Public License
+ */
+
+#include "TCPControlUnitApp.h"
+#include <Core/core/logging/Logging.h>
+
+int main(int argc, char* argv[])
+{
+    armarx::ApplicationPtr app = armarx::Application::createInstance<armarx::TCPControlUnitApp>();
+    app->setName("TCPControlUnit");
+
+    return app->main(argc, argv);
+}