diff --git a/CMakeLists.txt b/CMakeLists.txt
index abe1594..954cc39 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -10,6 +10,7 @@ cmake_minimum_required(VERSION 3.13)
 # build config
 option(USE_HILS "Use HILS" OFF)
 option(USE_C2A "Use C2A" ON)
+option(USE_C2A_COMMAND_SENDER "Use command sender to C2A" ON)
 
 # preprocessor
 if(WIN32)
@@ -80,7 +81,11 @@ add_subdirectory(${S2E_CORE_DIR}/src/disturbances s2e_core/disturbances)
 add_subdirectory(${S2E_CORE_DIR}/src/dynamics s2e_core/dynamics)
 add_subdirectory(${S2E_CORE_DIR}/src/environment/global s2e_core/environment/global)
 add_subdirectory(${S2E_CORE_DIR}/src/environment/local s2e_core/environment/local)
-add_subdirectory(${S2E_CORE_DIR}/src/library s2e_core/library)
+add_subdirectory(${S2E_CORE_DIR}/src/math_physics s2e-core/math_physics)
+add_subdirectory(${S2E_CORE_DIR}/src/setting_file_reader s2e-core/setting_file_reader)
+add_subdirectory(${S2E_CORE_DIR}/src/logger s2e-core/logger)
+add_subdirectory(${S2E_CORE_DIR}/src/utilities s2e-core/utilities)
+add_subdirectory(${S2E_CORE_DIR}/ExtLibraries/inih s2e-core/inih)
 add_subdirectory(${S2E_CORE_DIR}/src/simulation s2e_core/simulation)
 
 # Add all cpp files as SOURCE_FILES
@@ -138,13 +143,14 @@ set(S2E_LIBRARIES
   IGRF WRAPPER_NRLMSISE00 INIH SGP4 UTIL OPTICS RELATIVE_ORBIT_MODELS ORBIT_MODELS GEODESY MATH
 )
 # Initialize link
-target_link_libraries(COMPONENT DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT LIBRARY)
-target_link_libraries(DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT SIMULATION LIBRARY)
-target_link_libraries(DISTURBANCE DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT LIBRARY)
-target_link_libraries(SIMULATION DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT DISTURBANCE LIBRARY)
-target_link_libraries(GLOBAL_ENVIRONMENT ${CSPICE_LIB} LIBRARY)
-target_link_libraries(LOCAL_ENVIRONMENT GLOBAL_ENVIRONMENT ${CSPICE_LIB} LIBRARY)
-target_link_libraries(LIBRARY ${NRLMSISE00_LIB})
+target_link_libraries(COMPONENT DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT MATH_PHYSICS SETTING_FILE_READER LOGGER UTILITIES)
+target_link_libraries(DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT SIMULATION MATH_PHYSICS)
+target_link_libraries(DISTURBANCE DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT MATH_PHYSICS)
+target_link_libraries(SIMULATION DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT DISTURBANCE MATH_PHYSICS)
+target_link_libraries(GLOBAL_ENVIRONMENT ${CSPICE_LIB} MATH_PHYSICS)
+target_link_libraries(LOCAL_ENVIRONMENT GLOBAL_ENVIRONMENT ${CSPICE_LIB} MATH_PHYSICS)
+target_link_libraries(MATH_PHYSICS ${NRLMSISE00_LIB})
+target_link_libraries(SETTING_FILE_READER INIH)
 
 target_link_libraries(${PROJECT_NAME} DYNAMICS)
 target_link_libraries(${PROJECT_NAME} DISTURBANCE)
@@ -167,8 +173,6 @@ if(USE_HILS)
   set_target_properties(SIMULATION PROPERTIES COMMON_LANGUAGE_RUNTIME "")
   set_target_properties(GLOBAL_ENVIRONMENT PROPERTIES COMMON_LANGUAGE_RUNTIME "")
   set_target_properties(LOCAL_ENVIRONMENT PROPERTIES COMMON_LANGUAGE_RUNTIME "")
-  set_target_properties(HILS_IO PROPERTIES COMMON_LANGUAGE_RUNTIME "")
-  set_target_properties(RELATIVE_INFO PROPERTIES COMMON_LANGUAGE_RUNTIME "")
 endif()
 
 ## Cmake debug
diff --git a/data/initialize_files/components/oem7600.ini b/data/initialize_files/components/oem7600.ini
index c04e6a7..686ad8f 100644
--- a/data/initialize_files/components/oem7600.ini
+++ b/data/initialize_files/components/oem7600.ini
@@ -6,37 +6,31 @@ antenna_position_b_m(0) =  0.0125
 antenna_position_b_m(1) =  0.0000
 antenna_position_b_m(2) =  0.1815
 
-// Quaternion from body frame to component frame
+// Quaternion from body frame to component frame of the antenna
+// Note: The antenna boresight direction is +Z direction at the component frame
 quaternion_b2c(0) = 0.0
 quaternion_b2c(1) = 0.0
 quaternion_b2c(2) = 0.0
 quaternion_b2c(3) = 1.0
 
 // Antenna model
-// 0... simple model : GNSS sats are visible when antenna directs anti-earth direction
-// 1... cone model : GNSS sats visible when a sat is in a cone
-antenna_model = 0
+// SIMPLE: We assume that GNSS satellites are visible when antenna directs anti-earth direction
+// CONE: We calculate the number of GNSS satellites in the antenna,
+//       and the position is observable when more than 4 satellites are in the antenna.
+//       Note : We need to enable the GNSS satellite calculation when we use this mode.
+//              All satellites managed in the GnssSatellite class are used in this model.
+antenna_model = SIMPLE
 
 // Antenna half width [deg]
 antenna_half_width_deg = 60
 
-// Number of channels
-maximum_channel = 12
-
-// GNSS ID 
-// G...GPS
-// R...GLONASS
-// E...Galileo
-// C...Beidou
-// J...QZSS
-// if your receiver is compatible with all kind of gnss satellites : GRECJ
-// if your receiver is compatible with GPS and QZSS : GJ
-gnss_id = GJ
-
-//Random noise [m]
-white_noise_standard_deviation_eci_m(0) = 1.5
-white_noise_standard_deviation_eci_m(1) = 1.5
-white_noise_standard_deviation_eci_m(2) = 1.5
+// Random noise for simple position observation
+white_noise_standard_deviation_position_ecef_m(0) = 2000.0
+white_noise_standard_deviation_position_ecef_m(1) = 1000.0
+white_noise_standard_deviation_position_ecef_m(2) = 1500.0
+white_noise_standard_deviation_velocity_ecef_m_s(0) = 1.0
+white_noise_standard_deviation_velocity_ecef_m_s(1) = 1.5
+white_noise_standard_deviation_velocity_ecef_m_s(2) = 2.0
 
 [POWER_PORT]
 minimum_voltage_V = 3.3
diff --git a/data/initialize_files/local_environment.ini b/data/initialize_files/local_environment.ini
index 2a4997c..d8b93c6 100644
--- a/data/initialize_files/local_environment.ini
+++ b/data/initialize_files/local_environment.ini
@@ -1,7 +1,7 @@
 [MAGNETIC_FIELD_ENVIRONMENT]
 calculation = ENABLE
 logging = ENABLE
-coefficient_file = CORE_DIR_FROM_EXE/src/library/external/igrf/igrf13.coef
+coefficient_file = CORE_DIR_FROM_EXE/src/math_physics/geomagnetic/igrf13.coef
 magnetic_field_random_walk_standard_deviation_nT = 10.0
 magnetic_field_random_walk_limit_nT = 400.0
 magnetic_field_white_noise_standard_deviation_nT = 50.0
diff --git a/s2e-core b/s2e-core
index 6385e16..db02f9f 160000
--- a/s2e-core
+++ b/s2e-core
@@ -1 +1 @@
-Subproject commit 6385e1625df7be158e04ec9fb0d271eaeec55bd4
+Subproject commit db02f9f3f3eafb0da80e37ae2c00c18f8e0e38d2
diff --git a/src/component/aocs/aobc.cpp b/src/component/aocs/aobc.cpp
index 1e7aa8e..908c6cf 100644
--- a/src/component/aocs/aobc.cpp
+++ b/src/component/aocs/aobc.cpp
@@ -5,7 +5,7 @@
 
 #include "aobc.hpp"
 
-#include <library/utilities/macros.hpp>
+#include <utilities/macros.hpp>
 
 #include "../../simulation/spacecraft/aocs_module_components.hpp"
 
diff --git a/src/component/aocs/mpu9250_gyro_sensor.cpp b/src/component/aocs/mpu9250_gyro_sensor.cpp
index 66da774..e84583c 100644
--- a/src/component/aocs/mpu9250_gyro_sensor.cpp
+++ b/src/component/aocs/mpu9250_gyro_sensor.cpp
@@ -5,8 +5,8 @@
 
 #include "mpu9250_gyro_sensor.hpp"
 
-#include <library/math/constants.hpp>
-#include <library/utilities/macros.hpp>
+#include <math_physics/math/constants.hpp>
+#include <utilities/macros.hpp>
 
 Mpu9250GyroSensor::Mpu9250GyroSensor(GyroSensor gyro, const int sils_port_id, const unsigned int hils_port_id, const unsigned char i2c_address,
                                      OnBoardComputer *obc, HilsPortManager *hils_port_manager)
diff --git a/src/component/aocs/mpu9250_magnetometer.cpp b/src/component/aocs/mpu9250_magnetometer.cpp
index 508897a..a09d7b7 100644
--- a/src/component/aocs/mpu9250_magnetometer.cpp
+++ b/src/component/aocs/mpu9250_magnetometer.cpp
@@ -5,7 +5,7 @@
 
 #include "mpu9250_magnetometer.hpp"
 
-#include <library/utilities/macros.hpp>
+#include <utilities/macros.hpp>
 
 Mpu9250Magnetometer::Mpu9250Magnetometer(Magnetometer magnetometer, const int sils_port_id, const unsigned int hils_port_id,
                                          const unsigned char i2c_address, OnBoardComputer *obc, HilsPortManager *hils_port_manager,
diff --git a/src/component/aocs/mtq_seiren.cpp b/src/component/aocs/mtq_seiren.cpp
index ac219f5..df37947 100644
--- a/src/component/aocs/mtq_seiren.cpp
+++ b/src/component/aocs/mtq_seiren.cpp
@@ -6,7 +6,7 @@
 
 #include "mtq_seiren.hpp"
 
-#include <library/utilities/macros.hpp>
+#include <utilities/macros.hpp>
 
 MtqSeiren::MtqSeiren(Magnetorquer magnetorquer, std::vector<int> gpio_ports, OnBoardComputer *obc)
     : Magnetorquer(magnetorquer), GpioConnectionWithObc(gpio_ports, obc) {}
diff --git a/src/component/aocs/nano_ssoc_d60.cpp b/src/component/aocs/nano_ssoc_d60.cpp
index 19b42c6..0780d05 100644
--- a/src/component/aocs/nano_ssoc_d60.cpp
+++ b/src/component/aocs/nano_ssoc_d60.cpp
@@ -9,8 +9,8 @@
 #include <string.h>  // for memcpy
 
 #include <algorithm>
-#include <library/math/constants.hpp>
-#include <library/utilities/macros.hpp>
+#include <math_physics/math/constants.hpp>
+#include <utilities/macros.hpp>
 
 NanoSsocD60::NanoSsocD60(SunSensor sun_sensor, const int sils_port_id, const unsigned int hils_port_id, const unsigned char i2c_address,
                          OnBoardComputer *obc, HilsPortManager *hils_port_manager)
diff --git a/src/component/aocs/oem7600.cpp b/src/component/aocs/oem7600.cpp
index f2890b1..dacc6d2 100644
--- a/src/component/aocs/oem7600.cpp
+++ b/src/component/aocs/oem7600.cpp
@@ -6,8 +6,8 @@
 #include "oem7600.hpp"
 
 #include <algorithm>  // toupper
-#include <library/utilities/macros.hpp>
 #include <locale>
+#include <utilities/macros.hpp>
 
 #define MAX_CMD_LEN 1024                        // TBD
 #define MAX_TLM_LEN 1024                        // TBD
@@ -66,15 +66,15 @@ void Oem7600::UpdateLocal() {
     // should be modified to add noise in the future
     Vector<3> pos_true_ecef_m = dynamics_->GetOrbit().GetPosition_ecef_m();
     velocity_ecef_m_s_ = dynamics_->GetOrbit().GetVelocity_ecef_m_s();
-    position_llh_ = dynamics_->GetOrbit().GetLatLonAlt();
+    geodetic_position_ = dynamics_->GetOrbit().GetGeodeticPosition();
     AddNoise(pos_true_eci_m, pos_true_ecef_m);
 
     last_position_fix_time_local_ = simulation_time_->GetElapsedTime_s();  // store position fixed time [sec]
     utc_ = simulation_time_->GetCurrentUtc();
-    ConvertJulianDayToGPSTime(simulation_time_->GetCurrentTime_jd());
+    ConvertJulianDayToGpsTime(simulation_time_->GetCurrentTime_jd());
   } else {
     utc_ = simulation_time_->GetCurrentUtc();
-    ConvertJulianDayToGPSTime(simulation_time_->GetCurrentTime_jd());
+    ConvertJulianDayToGpsTime(simulation_time_->GetCurrentTime_jd());
   }
 }
 
@@ -748,10 +748,10 @@ std::string Oem7600::GenerateGpggaTelemetry(void) {
     str_tmp += StringZeroPaddingLocal(str_utc_tmp, 6);
 
     // lat in [ddmm.mm] + indicator "N" or "S"
-    str_tmp += ConvLatLonToNmea(position_llh_[0], "lat");
+    str_tmp += ConvLatLonToNmea(geodetic_position_.GetLatitude_rad(), "lat");
 
     // lon in [dddmm.mm] + indicator "E" or "W"
-    str_tmp += ConvLatLonToNmea(position_llh_[1], "lon");
+    str_tmp += ConvLatLonToNmea(geodetic_position_.GetLongitude_rad(), "lon");
 
     // quality
     if (is_gnss_visible_) {
@@ -767,7 +767,7 @@ std::string Oem7600::GenerateGpggaTelemetry(void) {
     str_tmp += "1.0,";
 
     // alt in [m]
-    str_tmp += WriteScalar(position_llh_[2]);
+    str_tmp += WriteScalar(geodetic_position_.GetAltitude_m());
 
     // units of alt(fix to M in default)
     str_tmp += "M,";
diff --git a/src/component/aocs/rm3100.cpp b/src/component/aocs/rm3100.cpp
index 1400221..6672ca3 100644
--- a/src/component/aocs/rm3100.cpp
+++ b/src/component/aocs/rm3100.cpp
@@ -5,7 +5,7 @@
 
 #include "rm3100.hpp"
 
-#include <library/utilities/macros.hpp>
+#include <utilities/macros.hpp>
 
 Rm3100::Rm3100(Magnetometer magnetometer, const int sils_port_id, const unsigned int hils_port_id, const unsigned char i2c_address,
                OnBoardComputer *obc, HilsPortManager *hils_port_manager)
diff --git a/src/component/aocs/rw0003.cpp b/src/component/aocs/rw0003.cpp
index e353167..3a9e865 100644
--- a/src/component/aocs/rw0003.cpp
+++ b/src/component/aocs/rw0003.cpp
@@ -7,8 +7,8 @@
 
 #include <math.h>
 
-#include <library/utilities/macros.hpp>
-#include <library/utilities/slip.hpp>
+#include <utilities/macros.hpp>
+#include <utilities/slip.hpp>
 
 Rw0003::Rw0003(ReactionWheel rw, const int sils_port_id, const unsigned int hils_port_id, const unsigned char i2c_address, OnBoardComputer *obc,
                HilsPortManager *hils_port_manager)
diff --git a/src/component/aocs/sagitta.cpp b/src/component/aocs/sagitta.cpp
index 2b4b046..645d8ac 100644
--- a/src/component/aocs/sagitta.cpp
+++ b/src/component/aocs/sagitta.cpp
@@ -6,7 +6,7 @@
 
 #include "sagitta.hpp"
 
-#include <library/utilities/slip.hpp>
+#include <utilities/slip.hpp>
 
 Sagitta::Sagitta(StarSensor stt, const int sils_port_id, OnBoardComputer *obc) : StarSensor(stt), UartCommunicationWithObc(sils_port_id, obc) {}
 
diff --git a/src/component/aocs/stim210.cpp b/src/component/aocs/stim210.cpp
index 29ce6bd..5c630f7 100644
--- a/src/component/aocs/stim210.cpp
+++ b/src/component/aocs/stim210.cpp
@@ -5,7 +5,7 @@
 
 #include "stim210.hpp"
 
-#include <library/utilities/macros.hpp>
+#include <utilities/macros.hpp>
 
 Stim210::Stim210(GyroSensor gyro, double compo_step_sec, const int sils_port_id, OnBoardComputer *obc)
     : GyroSensor(gyro), UartCommunicationWithObc(sils_port_id, obc), counter_(0), compo_step_sec_(compo_step_sec) {}
diff --git a/src/component/power/power_controller.cpp b/src/component/power/power_controller.cpp
index 3de329e..cffc929 100644
--- a/src/component/power/power_controller.cpp
+++ b/src/component/power/power_controller.cpp
@@ -5,7 +5,7 @@
 
 #include "power_controller.hpp"
 
-#include <library/utilities/macros.hpp>
+#include <utilities/macros.hpp>
 
 #include "../../simulation/spacecraft/aocs_module_port_config.hpp"
 
@@ -45,7 +45,7 @@ void PowerController::MainRoutine(const int time_count) {
 #ifdef USE_HILS  // TODO GPIO操作もHILSでできるようになったら削除する
   for (int i = 0; i < (int)PowerPortIdx::MAX; i++) {
     PowerPort *power_port = GetPowerPort(i);
-    power_port->SetVoltage(output_voltage_list_[i]);
+    power_port->SetVoltage_V(output_voltage_list_[i]);
   }
   return;
 #else
diff --git a/src/interface/hils/hils_if_driver.cpp b/src/interface/hils/hils_if_driver.cpp
index 0c83f36..f210f9b 100644
--- a/src/interface/hils/hils_if_driver.cpp
+++ b/src/interface/hils/hils_if_driver.cpp
@@ -5,7 +5,7 @@
 
 #include "hils_if_driver.hpp"
 
-#include <library/utilities/macros.hpp>
+#include <utilities/macros.hpp>
 
 HilsIfDriver::HilsIfDriver(const int prescaler, ClockGenerator *clock_generator, const unsigned int hils_port_id, const unsigned int baud_rate,
                            HilsPortManager *hils_port_manager, std::vector<int> gpio_ports, OnBoardComputer *obc)
diff --git a/src/s2e_aobc.cpp b/src/s2e_aobc.cpp
index d7db5e6..4f2b420 100644
--- a/src/s2e_aobc.cpp
+++ b/src/s2e_aobc.cpp
@@ -15,9 +15,9 @@
 #include <string>
 
 // Simulator includes
-#include <library/logger/initialize_log.hpp>
-#include <library/utilities/macros.hpp>
+#include <logger/initialize_log.hpp>
 #include <simulation/monte_carlo_simulation/initialize_monte_carlo_simulation.hpp>
+#include <utilities/macros.hpp>
 
 // Add custom include files
 #include "./simulation/case/sample_case.hpp"
diff --git a/src/simulation/spacecraft/aocs_module_components.cpp b/src/simulation/spacecraft/aocs_module_components.cpp
index 4616e27..3393682 100644
--- a/src/simulation/spacecraft/aocs_module_components.cpp
+++ b/src/simulation/spacecraft/aocs_module_components.cpp
@@ -6,7 +6,7 @@
 #include "aocs_module_components.hpp"
 
 #include <components/real/power/csv_scenario_interface.hpp>
-#include <library/initialize/initialize_file_access.hpp>
+#include <setting_file_reader/initialize_file_access.hpp>
 #include <vector>
 
 #include "../../component/aocs/aobc.hpp"
diff --git a/src/simulation/spacecraft/aocs_module_components.hpp b/src/simulation/spacecraft/aocs_module_components.hpp
index 2de33ed..a28e30f 100644
--- a/src/simulation/spacecraft/aocs_module_components.hpp
+++ b/src/simulation/spacecraft/aocs_module_components.hpp
@@ -7,7 +7,7 @@
 #define S2E_AOBC_SIMULATION_SPACECRAFT_AOCS_MODULE_COMPONENTS_HPP_
 
 #include <dynamics/dynamics.hpp>
-#include <library/math/vector.hpp>
+#include <math_physics/math/vector.hpp>
 #include <simulation/spacecraft/installed_components.hpp>
 
 // CDH