First I think the diagram is not very clear. You should be more expressive in the description of your elements. For instance: What does "command" mean? I guess from the context it means "command received".
Another thing that is unclear to me is what you mean with the signals at the start: You first receive the signal "command", then make some unclear decision and then, if the decision goes one way, send the signal "failed". As the command does not get executed I guess its not valid in this path. Please say that your decision. (You could tag your branches [valid command] and [invalid command]).
As for the merge-bars I agree with the comment that you should not use them this way. But my favorite source says you should not point the arrows directly to the actions (But it also says that in practise you often do that :) ). Instead you should use a diamond, just like in a decision, but with multiple ingoing arrows and one outgoing arrow.
A little opinion afterwards: I find that UML can often be distracting. I have sat in more than one meeting where we should have discussed the design of our software but instead discussed UML. The important part is that UML helps you communicate effectively, not that every notch and twitch is according to the standard. Except, of course, if you want to generate code/stuff out of it.