diff --git a/Doxyfile b/Doxyfile
index d730fed28..206679c1d 100644
--- a/Doxyfile
+++ b/Doxyfile
@@ -1026,7 +1026,7 @@ HTML_OUTPUT            = html
 # The default value is: .html.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
-HTML_FILE_EXTENSION    = .html
+HTML_FILE_EXTENSION    = .xhtml
 
 # The HTML_HEADER tag can be used to specify a user-defined HTML header file for
 # each generated HTML page. If the tag is left blank doxygen will generate a
@@ -2212,7 +2212,7 @@ DIRECTORY_GRAPH        = YES
 # The default value is: png.
 # This tag requires that the tag HAVE_DOT is set to YES.
 
-DOT_IMAGE_FORMAT       = png
+DOT_IMAGE_FORMAT       = svg
 
 # If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to
 # enable generation of interactive SVG images that allow zooming and panning.
diff --git a/documentation/Concept.md b/documentation/Concept.md
index 5dff765df..e06dcb3ca 100644
--- a/documentation/Concept.md
+++ b/documentation/Concept.md
@@ -11,47 +11,33 @@ For bidirectional communication a corresponding path in the reverse direction mu
 The server is designed to allow multiple outgoing nodes as an extension.
 @todo This has **not** been implemented at the moment!
 
-\diafile path_simple.dia
+@diafile path_simple.dia
 
 ## Path
 
 @todo Add documentation
 
-@see path
+@see path For a detailed descriptions of the fields.
 
 ## Node
 
 @todo Add documentation
 
-@see node
+@see node For a detailed descriptions of the fields.
 
 ## Message
 
 @todo Add documentation
 
+@diafile msg_format.dia
+
 A message contains a variable number of values.
 Usually a a simulator sends one message per timestep.
 
-The format of a message is defined by the following structure:
-
-~~~{.c}
-struct msg
-{
-	/** Sender device ID */
-	uint16_t device;
-	/** Message ID */
-	uint32_t sequence;
-	/** Message length (data only) */
-	uint16_t length;
-	/** Message data */
-	double data[MAX_VALUES];
-} __attribute__((packed));
-~~~
-
-@see msg
+@see msg For a detailed descriptions of the fields.
 
 ## Interface
 
 @todo Add documentation
 
-@see interface
+@see interface For a detailed descriptions of the fields.
diff --git a/documentation/Configuration.md b/documentation/Configuration.md
index aa54de244..26716c34d 100644
--- a/documentation/Configuration.md
+++ b/documentation/Configuration.md
@@ -49,5 +49,5 @@ This are some proposals for the selection of appropriate server hardware:
 - Server-grade network cards: Intel PRO/1000
   - These allow offloading of UDP checksumming to the hardware
 
-\example etc/loopback.conf
-\example etc/example.conf
+\example server/etc/loopback.conf
+\example server/etc/example.conf
diff --git a/documentation/Timing.md b/documentation/Timing.md
new file mode 100644
index 000000000..337cd101a
--- /dev/null
+++ b/documentation/Timing.md
@@ -0,0 +1,2 @@
+
+@diafile timing.dia
diff --git a/documentation/figures/msg_format.dia b/documentation/figures/msg_format.dia
new file mode 100644
index 000000000..996e0a5a9
Binary files /dev/null and b/documentation/figures/msg_format.dia differ
diff --git a/documentation/figures/timing.dia b/documentation/figures/timing.dia
new file mode 100644
index 000000000..fdaec5c03
Binary files /dev/null and b/documentation/figures/timing.dia differ