Update documentation

Change-Id: I2fb9b20fc316b8b9ed0e1c0b52c4e44882d7f9d5
Reviewed-by: Kurt Pattyn <pattyn.kurt@gmail.com>
Add cleanup to examples

Change-Id: I28b9007a6d35575b11a608645930fa2ed71e7c7c
Reviewed-by: Kurt Pattyn <pattyn.kurt@gmail.com>