Documentation-of-the-Knowledge-Graph.md

@@ -67,7 +67,15 @@ In the case of the robotic arm, there is no connection, because it can move free
 
 ## Coordinate systems in more detail
 
-The coordinates are given in a cartesian reference frame that is relative to a larger cartesian frame. For instance, each machine is located at coordinates defined with respect to the IT'm factory, while components of a machine are located at coordinates relative to the machine itself. This way, the components of a rigid machine are located once and for all, even if the machine moves. The precise description of the coordinates is given by the following diagram (**TO BE COMPLETED**).
+The coordinates are given in a cartesian reference frame that is relative to a larger cartesian frame. For instance, each machine is located at coordinates defined with respect to the IT'm factory, while components of a machine are located at coordinates relative to the machine itself. This way, the components of a rigid machine are located once and for all, even if the machine moves. The precise description of the coordinates is given by the following diagram:
+
+![relative-coordinates.svg](uploads/90d404e1204b5f6aeac4c3c2fd29368c/relative-coordinates.svg)
+
+Computing coordinates in different frames of reference can be done in 2 dimension using trigonometry, as illustrated by the following figure:
+
+![coordinates.svg](uploads/47c0c96e1fb8fddd63dc35df6495be60/coordinates.svg)
+
+The device has coordinates relative to the factory that are computed as follows: *x*_fac = 
 
 ## Relations between sensing/actuating devices, observable/actuatable properties, and property/action affordances