diff --git a/conception/th_sendImage.txt b/conception/th_sendImage.txt
deleted file mode 100644
index e69de29..0000000
diff --git a/conception/th_sendImageAndPosition.txt b/conception/th_sendImageAndPosition.txt
new file mode 100644
index 0000000..82d52e7
--- /dev/null
+++ b/conception/th_sendImageAndPosition.txt
@@ -0,0 +1,21 @@
+@startuml
+skinparam monochrome true
+start
+:start_period(100 ms);
+while ()
+  :wait_next_period();
+  if(shouldSendImage)then(true)
+      :Img image=camera.Grab();
+      if (shouldComputePosition)then(true)
+          :Position position=image.SearchRobot();
+          :image.DrawRobot(position);
+      endif
+      if (arena)then(null)
+      else
+          :image.DrawArena(arena);
+      endif
+      :messageToMon!image;
+  endif
+endwhile
+stop
+@enduml
\ No newline at end of file