diff --git a/paper/main.tex b/paper/main.tex
index a8496e84ad07d5948f6cc3445584c246389a1d51..e96e0c4da5cffd8a09c82ab6d9134935da23418a 100644
--- a/paper/main.tex
+++ b/paper/main.tex
@@ -65,7 +65,7 @@
 
 \begin{document}
 
-\title{Cyber-Physical Modeling of GPS Receivers for Power Efficient Localization Systems}
+\title{Modeling of Power Consumption in GPS Receivers for Power Aware Localization Systems}
 \author{Claudio Mandrioli}
 \affiliation{%
   \institution{Department of Automatic Control,\\Lund University}
diff --git a/paper/sections/01-intro.tex b/paper/sections/01-intro.tex
index 2bbe6d16f7333066a395c5af5d43a79906a7d8ef..534805ceed84f4460f0373034ce8b9e18c75f406 100644
--- a/paper/sections/01-intro.tex
+++ b/paper/sections/01-intro.tex
@@ -60,6 +60,9 @@ to our model we are able to capture the trade-offs (of the different
 merging algorithms) programmatically and to expose the characteristics
 of each solution.
 \end{itemize}
+
+\textcolor{red}{Even though then notions used to build the presented model are known in the litterature, their systematic study and integration has not been seen elsewhere by the authors. The development of this first-principle and simulable model allows, among the others, to: (i) the quantitative evaluaion of the energy cost of different sampling strategies at design phase, (ii) the possibility of comparing different sampling strategies without depending on the specific testing conditions.}
+
 %
 This paper is organized as follows. As much research has been done on
 the topic of GPS optimization, Section~\ref{sec:related} describes
diff --git a/paper/sections/03-model.tex b/paper/sections/03-model.tex
index c5ecaf492dc8990bc02f61bd6db27d9d4ad3306a..f0115809bd55b6d5d5077b91bb308a3f01212795 100644
--- a/paper/sections/03-model.tex
+++ b/paper/sections/03-model.tex
@@ -36,7 +36,7 @@ Not Available Info   & Not Available           & Not Available         & Off
 GPS sensors locate themselves through a process called
 \emph{trilateration}~\cite{bib:gps-book}. This process consists in
 measuring the distance from 4 or more points in space (satellites),
-whose position is known. Given the distance measurements, the GPS
+whose positions are known. Given the distance measurements, the GPS
 sensor then performs a least square estimation to determine its
 current position. Figure~\ref{fig:globe} shows an example with five
 satellites. To correctly estimate the current position, the GPS
@@ -204,8 +204,8 @@ font=\footnotesize]
 
 The GPS receiver provides a position estimate when it has collected
 both the ephemeris and the ranging data for at least 4 satellites.
-Detecting data from more than 4 satellites improves the positioning
-accuracy. As for power consumption, the receiver always consumes a
+Detecting data from more than 4 satellites can improve the positioning
+accuracy. \textcolor{red}{This depents on many factors which are hard to model, e.g. the relative position of the stellites in sapce and the geography of the environment around the sensor. Therefore, for the sake of keeping the model at a reasonable complexity, it is only required to set a minimum number of satellites to be tracked, depending on the specific application. This number has to be equal to or greater than 4 and it being higher represents the the constraint of higher accuracy in the given application.} As for power consumption, the receiver always consumes a
 (negligible) idle power. On top of that, the sensor consumes
 additional power when its radio is turned on, which is precisely the
 cause of battery draining. This power has been experimentally shown to
diff --git a/paper/sections/04-fusion.tex b/paper/sections/04-fusion.tex
index 8001dc7c468dd942ecd4e07cbb36f83e8f19d1f6..f2c901b529fd827958568b7c67a5c2e811c713b2 100644
--- a/paper/sections/04-fusion.tex
+++ b/paper/sections/04-fusion.tex
@@ -11,7 +11,7 @@ Measurement Units (IMUs) in conjunction with the GPS receiver.
 
 IMUs are sensors that usually include an accelerometer and a
 gyroscope. The accelerometer measures the acceleration along the three
-axis while the gyroscope measures the angular velocity of the
+axes while the gyroscope measures the angular velocity of the
 orientation changes. IMUs can be considered complementary to the
 GPS. In fact, they provide a relative measurement (while the GPS
 position is absolute), and are characterized by low power consumption,