1、 紅外遙控在機器人0 摘要機器人的目的之一是使人們在做事情更加舒適生活更容易，并協(xié)助他們完成一些任務?？紤]到這一點，并考慮在船上的紅外控制廣泛使用，控制系統(tǒng)利用紅外線裝置的機器人已經(jīng)研制成功。我們專注于有紅外接口的標準設備，無論是在設備或環(huán)境需要的情況下。該系統(tǒng)已實施了名為機器人與紅外線接收器，發(fā)射機裝備。教學所需的命令后的機器人，能在多個地點放置設備。在開始的時候，一個與用戶之間的對話成立。一旦機器人已經(jīng)理解用戶想要什么，它會走向設備，并發(fā)送所需的命令。為了測試該系統(tǒng)的順利運行，我們在電視上直播了這幾個試驗。1 介紹如今，在房間里由一個有紅外遙控器操作裝置有很多：電視機，空調(diào)，錄像機，暖氣此

2、外系統(tǒng)等，預計機器人廣泛的傳播，就會發(fā)現(xiàn)一個在家里的新的世界。因此，在將來，新的家用機器人與家電通信將出現(xiàn)。此外，由于遙控器越來越復雜，我們試圖闡述他們的指揮更加容易和直觀的方式。我們特別注重我們的研究，尤其是對兒童和老年人。在這個文件，內(nèi)置式語音在個人機器人提出遠程控制。做一些任務所需的紅外命令由用戶發(fā)送請求后很容易從教遙控器發(fā)送給機器人。 對工作的最大優(yōu)勢之一是機器人之常規(guī)設備間的互動，這意味著其中的調(diào)整沒有任何改變。因此，高專業(yè)昂貴設備就沒有必要了，可以省下很多錢。我們要實現(xiàn)移動機器人，以便它可以在多個地點管理設備。該機器人承擔的任務將移動到其中的設備所在區(qū)域中進行控制。萬一出了問題（例

3、如，它不能達到的位置）機器人將通知它。例如，在一個房間里的人可以命令機器人打開位于不同的房間內(nèi)加熱系統(tǒng)，機器人將移動到所需的房間，并執(zhí)行預定的命令。這項工作已開發(fā)并且電視直播了，休息實驗被證實是安排如下。在第1條中，與此相關的一個以前的作品介紹和比較，提出了追求的目標。然后，在第二節(jié)中，我們解釋了機器人瑪吉和AD架構下這項工作。接下來，第3條提出了建議的解決方案。之后，總結顯示在第4節(jié)。之后，第5公開審判和系統(tǒng)如何進行了測試。最后，一些結論性意見第6條結束的文件。1.1 前期相關工作目前已涉及到一些以前的作品。一種通過一個紅外線信號控制配眼鏡的電腦系統(tǒng)的開發(fā)。在這里，復雜的硬件都必須連接到電腦

4、，以便能與它交流和用戶需要佩戴紅外線眼鏡。在作者提出了一種控制設備的平臺。該系統(tǒng)有一個紅外線接收器/發(fā)射機機器人，它是由MSN指揮。在這種情況下，用戶需要一臺計算機發(fā)送命令的機器人。在制定具體的想法是硬件的功能，使傳統(tǒng)的電信設備沒有連接到家庭網(wǎng)絡，這樣他們可以進行遠程控制。為期一周的一點是，新的硬件必須要在每個設備上安裝。另一種選擇是安裝網(wǎng)絡設備創(chuàng)建一個家庭網(wǎng)絡，使工作更容易控制，但它有一個重要的預算增加。有一些紅外線通信等方式。例如，使用藍牙技術作為通信協(xié)議連接幾個家電而必須提供這個接口。會思考的機器人，家用電器可以和家庭或社會互動。東芝公司已開發(fā)出的機器人叫做ApriAlpha產(chǎn)品信息主頁

5、的概念模型。 APRI的-阿爾法是一個輪子運動型人的家居先進的機器人控制家電，他們的用戶和他們之間站在作為語音控制的信息終端。作為ApriAlpha新版本，ApriPoko基本上是一個聲音操作紅外通用遙控指令和控制，學習它連接到筆記本電腦來處理所有數(shù)據(jù)。現(xiàn)在它只是一個研發(fā)演示裝置。富士通研究所已研制出一種家用機器人的實用性面向家用機器人叫做（下一代移動代理機器人）馬龍- 1。馬龍- 1可以進行遠程控制從一個移動電話，家庭安全監(jiān)控及經(jīng)營家用電器，可以響應紅外遙控信號。在這項工作中，經(jīng)常有紅外接口設備已房子，不需要新的硬件為他們每個人。該系統(tǒng)是用戶交互的一種自然方式,所以他們不要求任何儀器除了機器

6、人。1.2 目標我們的目標是整合成一個紅外線裝置瑪吉機器人，并將其納入控制體系所需的軟件。它必須能夠使用保持紅外控制小玩意,同機器人通過人類的語言交流。換句話說，用戶必須能夠與機器人互動的，就像一個人。小工具可以在不同的位置，因此系統(tǒng)必須能夠達到和面對。該模塊已建成實驗平臺的瑪吉。一個簡單的友好交流是必要的，因為兒童，老年人和殘疾人將成為第一個潛在用戶。2 工作框架本文的開發(fā)工作已經(jīng)實施的平臺瑪吉。麥琪是個人的機器人調(diào)查人機器人的互動，提高機器人的自主意。它被設想為個人援助，使生活更輕松的房子，幫助傷殘人士，保持人公司等，其對外友好機器人看起來有利的社會任務。2.1 自動協(xié)商架構Maggie的

7、軟件是基于兩個層次自動協(xié)商架構。自動水平是與硬件相關的模塊，傳感器和電機溝通。在審議水平，推理過程是兩個層次之間的溝通是雙向的，它是由短期記憶活動的信息。事件是由建筑用于在一個合作的方式工作的機制。事件是一個協(xié)調(diào)過程中捕捉他們發(fā)射和異步信號。該設計是由發(fā)布/訂閱設計模式的實現(xiàn)來完成這樣一個，不知道這些事件是否接收和其他技能，短期記憶處理能力是一個內(nèi)存區(qū)域，可以由不同進程訪問，其中最重要的數(shù)據(jù)存儲。類型不同的數(shù)據(jù)可以分布和數(shù)據(jù)提供給所有元素的AD架構。當前和以前的價值以及數(shù)據(jù)的采集日期，在寫一個新的數(shù)據(jù)，這是因為以前的版本中前一個是沒有消除。短期記憶允許登記和消除數(shù)據(jù)結構，讀，寫特定的數(shù)據(jù)，以及

8、多種技能可以共享相同的，在AD架構的重要組成部分是技能，它坐落在兩個級別。技能是對推理能力，數(shù)據(jù)處理或進行操作。軟件工程方面的，技能是一個類隱藏的數(shù)據(jù)和過程描述了機器人的任務或行動的全局行為。下了一番功夫的核心是控制回路，它可以運行（技能被激活）可以激活其他技能或程序，他們可以給回的數(shù)據(jù)或事件的激活元素或感興趣的其他技能他們。技能的特點為：- 他們有三種狀態(tài)：就緒（只是實例化），活化（運行控制回路），鎖（不運行控制回路）。- 三種工作方式：連續(xù)，周期和事件。- 每個技能是一個過程。進程之間的通信是通過短期記憶和活動。- 技能代表一個或多個任務或多種技能的組合。- 每個技能都必須認購至少一個事件

9、，它必須定義其行為時發(fā)生事件。3 系統(tǒng)的實現(xiàn)一個系統(tǒng)的總體概述顯示在圖3系統(tǒng)如何工作的地方，從開始（用戶與機器人之間的互動）來完成（機器人發(fā)送命令）顯示。由于它是指出，建議的解決方案是建立在兩個接口（人類機器人和機器人設備接口）和在移動機器人接近正確的產(chǎn)品模塊劃分收費系統(tǒng)。3.1 人機界面機器人與機器人交流有好幾種方法，但我們關注的是自然語言間的交流。當用戶想打開空調(diào)瑪吉，他有他的意圖傳達給機器人一樣，如果他向其他人互動。從而與機器人通信可以以不同的方式來完成。用戶之間的自然和平易近人和機器人互動是必要的，言語交際滿足這些要求。結果，在本實驗中，語音將成為人類的機器人接口。用戶說話的機器人和麥

10、琪是能夠理解的語音識別軟件對文法講話。我們就可以按每紅外瑪吉將執(zhí)行命令語法規(guī)則。語音識別系統(tǒng)是作為一個永久性的技能為藍本，它是一個已經(jīng)激活一次，它會繼續(xù)它的技能。3.2 機器人設備接口在這里，我們工作的主要部分是介紹。為了將命令發(fā)送到紅外操作器具，瑪吉配備USB的紅外線控制系統(tǒng)。它已被選中，是因為它的USB接口和Linux的兼容性。它已被放置在Maggie的身體可以讓后面紅外信號穿過。我們選擇的硬件配備要求工作在Linux環(huán)境中的所有軟件：它直接訪問硬件和回復客戶的請求，審判程序客戶端，需要我們自己的軟件庫的一個TCP/ IP服務器。服務器訪問一個地方經(jīng)營設備編碼在標準格式存儲的數(shù)據(jù)庫。在此應

11、用中，服務器是直接鏈接到USB紅外線收發(fā)器，它發(fā)出訂單到收發(fā)器與錯誤代碼的答復。由于紅外技術的性質，這是十分重要的機器人定位和產(chǎn)品面臨的溝通。因此，它是基本合適的導航系統(tǒng)。4 AD設備一體化整個建筑在機器人紅外系統(tǒng)的運行是解釋這一節(jié)。為了完成我們的工作，已使用各種技能的連接，涉及的技能有：1. ASR的技能：自動語音識別技術在哪些語法規(guī)則的通知已通過鑒定的收費是麥克風。一個事件（拍攝行）除檢測到的語法規(guī)則，標識，提醒發(fā)送到其他的架構。這項活動將通過訂閱釣到它每技能，在我們的例子命名語音紅外控制技能。2.語音紅外控制技術：它是一個數(shù)據(jù)處理技能，從ASR的技能轉換傳入的事件到一個新的事件上所確定的

12、通知語法規(guī)則為基礎的命令類型。如果該命令是不相關的紅外系統(tǒng)，該事件被忽略。其他情況下，所需的資料儲存在短期記憶，它是被控制的設備及訂單發(fā)送到，例如：“打開電視“。然后，語音紅外控制技術表明，Maggie有移動到位置的設備。如果達成共識，收到事件后藤行，機器人是準備發(fā)射的命令撥款，從而控制紅外發(fā)送。如果沒有，操作被中止。3.轉到技能：技能的接收后轉到，它旨在遷往短期記憶的數(shù)據(jù)確定的位置。在我們的例子中，這個技能需要的設備的名稱是從短期記憶運作及它涉及到一個姿勢在世界內(nèi)部地圖（位置和方向）。如果希望達到的位置，轉到行事件將被發(fā)送。其他情況下，轉到發(fā)送失敗。4.紅外遙控技術：控制紅外：事件是由這個技

13、能抓獲。此后，有關訪問的信息在短期記憶相應的命令。然后，信息被發(fā)送到正確的服務器和數(shù)據(jù)庫的編碼是由編碼，所有可用的命令得到?，F(xiàn)在，硬件會發(fā)出紅外線這種編碼，它已經(jīng)通知，如果一切權利。為了獲得足夠清晰的思路，整個系統(tǒng)的紅外演化順序顯示在圖6。當用戶想要瑪吉紅外工作用具，他給它進行交互語音命令（消息一圖6）。 ASR的技能確定它的語法規(guī)則和銷售加入了事件的拍攝行（消息2 fir.6）指用戶的命令。之后，演講集紅外控制它，它鏈接到一個公認的語法規(guī)則設備和共享，這是由于短期記憶指令。在這一刻，瑪吉已改變立場，以面對家電（消息3 fir.6）的名字在短期記憶中。這個名字是聯(lián)系在一起的姿態(tài)在內(nèi)部地圖和我們

14、的機器人試圖去那里。無論是實現(xiàn)與否，它是由后藤行通知或GOTO失敗事件（消息4 fir.6）。如果麥琪是準備面對設備和所需的數(shù)據(jù)，控制紅外發(fā)送，它是通過紅外遙控接收技能。它接觸的紅外線服務器，它直接連接到硬件，它發(fā)出的請求的命令。5 測試系統(tǒng)為了證明該系統(tǒng)的順利運行，我們已經(jīng)開發(fā)出在我們的實驗室多次實驗，就好像它是一個真實的房子。我們的家電已經(jīng)成為電視屏幕上，我們有不同的命令教給機器人只是面臨的遙控器內(nèi)置的紅外線接收器，按相應的按鈕。此時，遠程設備名稱，計時和編碼本身寫入數(shù)據(jù)基礎，將由命令，聯(lián)系在一起，在語音識別系統(tǒng)語法規(guī)則每個命令。由機器人操作的教訓是“打開數(shù)字電視”，“打開數(shù)字廣播”，“通

15、道向上”，“頻道下”，“音量”和“音量”。經(jīng)過大量的測試，發(fā)現(xiàn)該系統(tǒng)運行正常，但一些關鍵點。機器人的構成是一個非常相關的因素，因為它是必要的紅外線發(fā)射器指向電視屏幕，直接視線的要自由的障礙了。因此，導航系統(tǒng)是關鍵因素。由于人類與機器人互動的口語交際含鉛，使用者的語音，必須很好地理解的ASR技術。因此，一個強大和有效的語音識別系統(tǒng)是強制性的。 同樣的過程在電視屏幕上后，可輕松調(diào)整到每一個紅外線裝置。為了證明該系統(tǒng)的順利運行，我們已經(jīng)開發(fā)出在我們的實驗室多次實驗，就好像它是一個真實的房子。我們的家電已經(jīng)成為電視屏幕上，我們有不同的命令教給機器人只是面臨的遙控器內(nèi)置的紅外線接收器，按相應的按鈕。此時

16、，遠程設備名稱，計時和編碼本身寫入數(shù)據(jù)基礎，將由server.Then的命令，我們聯(lián)系在一起，在語音識別系統(tǒng)語法規(guī)則每個命令。由機器人操作的教訓是“打開數(shù)字電視”，“打開數(shù)字廣播”，“通道向上”，“頻道下”，“音量”和“音量”。經(jīng)過大量的測試，發(fā)現(xiàn)該系統(tǒng)運行正常，但一些關鍵點。機器人的構成是一個非常相關的因素，因為它是必要的紅外線發(fā)射器指向電視屏幕，直接視線的要自由的障礙了。因此，導航系統(tǒng)是關鍵因素。由于人類與機器人互動的口語交際含鉛，使用者的語音，必須很好地理解的ASR技術。因此，一個強大和有效的語音識別系統(tǒng)是強制性的。 同樣的過程在電視屏幕上后，可輕松調(diào)整到每一個紅外線裝置。6 總結我們已

17、經(jīng)達成了本文開始提出的目標。一個與家電相互作用系統(tǒng)已經(jīng)研制成功。溝通是由社會進行表演家務機器人瑪吉。人類與機器人的互動是通過使用一個語音識別系統(tǒng)的話，對人類而言，一個自然的互動，實現(xiàn)：與機器人溝通等于一個人的溝通。這方面是很重要的，因為主要使用者是孩子，老人和殘疾人（例外：有語言障礙殘疾）。指揮設備的工作由一個內(nèi)置的紅外線發(fā)射器的瑪吉。這是常規(guī)技術的使用最多的電器，因此沒有必要對其進行修改或附加任何電子設備。出于這個原因，安裝，設備或器具的費用并不適用。在機器人導航系統(tǒng)下，所提出的系統(tǒng)可在不同房間的紅外線裝置。該系統(tǒng)可以擴展到通過互聯(lián)網(wǎng)接受命令。這樣，用戶可以在工作秩序的機器人在家里打開了空調(diào)

18、的一次。不同的和可行的辦法可以指揮機器人編程，在未來的設備，如：用戶將安排機器人在空氣條件轉入15:00。在本文提出的意見是非常有用的對所有用戶，特別是殘疾人，因為我們的系統(tǒng)將幫助他們改善他們的生活質量，使他們?nèi)谌肷鐣娜恕nfrared Remote Control with a Social Robot0 Abstract. One of the aims of social robots is to make life easier for people in doing things more to their comfort and assisting them in some t

19、asks. Having this purpose in mind and taking advantage of the widely used of infrared controlled home appliances, a controlling infrared devices system on board a robot has been developed. We focus on standard appliances with infrared interface, therefore no adjustments are needed either in the appl

20、iances or in the environment. The system has been implemented at the social robot named Maggie which has been equipped with an infrared reciever，transmitter. After teaching the desired commands to the robot, Maggie can govern the devices placed at several locations. At the beginning, a dialog betwee

21、n Maggie and the user is established. Once the robot has understood what the user wants, it will move toward the device and will send the required command. For testing the smooth running of the system, several trials have been done in our lab with a TV screen.1.IntroductionNowadays there are lot of

22、devices operated by an infrared remote control at houses: televisions, air conditioning, VCRs, heating systems, etc. In addition, the expected wide spread of robots at home will reveal a new world of opportunities. So, in the next future, new household robots communicating with house appliances will

23、 appear. Besides, since remote controls have turned more and more complicated, we tried to elaborate a easier and more intuitive way of commanding them. We specially oriented our researches to children and elder people.At this paper, a built-in voice operated remote control in a personal robot is pr

24、esented. The required infrared commands for doing some tasks are easily taught from the original remote control and, subsequently, commands are sent by the robot upon request of the user.One of the biggest advantages of the work is the robot interaction with regular appliances, it means without any

25、change or adjustment of them. Therefore, high specialized expensive devices capable of being integrated with domotic controllers are not necessary and money is saved.We are going to implement it in a mobile robot so it is possible to govern appliances at several locations. The robot will move to the

26、 area where the device to be controlled is and it will realize the entrusted task. In case something goes wrong (e.g. it can not reach the location) the robot will notify it. For example, a person in a room can order the robot to turn on the heating system which is located in a dierent room, so the

27、robot will move to the desired room and will execute the intended command.This work has been developed and proved in our lab with a TV screen. The rest of the paper is organized as follows. At the rest of section 1, previous works related to this one are presented and compared and the pursued goals

28、are presented. Then, at section 2, we explain the robot Maggie and the AD architecture where this work is framed. Next, section 3 presents the proposed solution. After, the integration in AD is shown at section 4. Following, section 5 exposes the trials and how the system has been tested. Finally, s

29、ome concluding remarks end the paper in section 6.1.1Related Previous WorksThere has been several previous works related to. At, a system for controlling a computer by means of a pair of glasses equipped with infrared signals is developed. Here, complex hardware has to be attached to the computer in

30、 order to be able to communicate with it and user needs to be wearing the infrared glasses. In the authors propose a platform for control appliances. The system has a robot with infrared receiver ，transmiter and it is commanded by MSN. In this case, user needs a computer to send orders to the robot.

31、 The idea in is to develop specic hardware to enable conventional appliances without telecommunication capabilities to connect to home networks so they can be remotely controlled. The week point is that new hardware has to be installed at each device. Another option is to install networked appliance

32、 to create a home network that makes the control task easier but it has an important increase of budget.There are some other ways of communication that infrared. For example, uses bluetooth as communication protocol to connect several home appliance that have to be provided with this interface.Think

33、ing of robots, some home, social or personal robots are able to interact with persons and home appliances. Toshiba Corporation has developed a concept model of the robotic information home appliance called ApriAlpha . Apri-Alpha is a wheel locomotion type human friendly home robot which controls adv

34、anced home appliances, standing between their users and them as a voice controlled information terminal. As a newer version of ApriAlpha, ApriPoko is basically a voice-operated infrared universal remote control which learns commands and it is connected to a laptop to process all data. For now it is

35、just an R&D demonstrator device. Fujitsu Laboratories has developed an internetenabled home robot called MARON-1 (Mobile Agent Robot Of Next-generation) as practicality-oriented household robots. MARON-1 can be remotely controlled from a mobile phone to monitor home security and operate household ap

36、pliances which can respond to infrared remote control signals. All these robots are shown on g.At this work, regular house appliances with infrared interface have been used. Anyway, new hardware is not needed for each one of them. Users interact with the system in a natural way so they do not demand

37、 any apparatus apart from the robot.1.2 GoalsOur target is to integrate an infrared device into Maggie robot and incorporate necessary software into the control architecture. It has to be able to operate unchanged infrared controlled gadgets with a robot by means of natural commands in human terms.

38、In other words, user has to be able to interact with the robot just like with a person. The gadgets can be situated in dierent locations so the system must be capable to reach and face them. The module has been built in the experimental platform Maggie. An easy friendly communication is required bec

39、ause children, elder people and persons with disability will be the rst potential users.2 Frame of the WorkThe developed work in this paper has been implemented in the research robotic platform Maggie. Maggie is a personal robot intended for investigating human-robot interaction and improve robot au

40、tonomy. It was conceived for personal assistance, making life easier at houses, help handicapped persons, to keep persons company, etc. Its external friendly look facilitates its social robot task.2.1Automatic-Deliberative ArchitectureMaggies software is based in the two levels Automatic-Deliberativ

41、e architecture(AD).The automatic level is linked to modules communicating with hardware, sensors and motors. At deliberative level, reasoning processes are placed. The communication between both levels is bidirectional and it is carried out by Short Term Memory and Events .Events is the mechanism us

42、ed by the architecture for working in a cooperative way. An event is an asynchronous signal for coordinating processes emitting and capturing them. The design is accomplished by the implementation of the publisher/subscriber design pattern so a skill generating events does not know whether these eve

43、nts are received and processed by other skills or not. The Short Term Memory is a memory area which can be accessed by dierent processes, where the most important data is stored. Dierent data types can be distributed and data are available to all elements of the AD architecture. The current and the

44、previous value as well as the date of the data capture are stored. Therefore, when writing a new data, the previous one is not eliminated, it is stored as the previous version. Short Term Memory allows to register and to eliminate data structures, reading and writing particular data, and several ski

45、lls can share the same data. The essential component in the AD architecture is the skill 11 and it is located in both levels. A skill is the capacity to reasoning, processing data or carry out actions. In terms of software engineering, a skill is a class hiding data and processes describing the glob

46、al behavior of a robot task or action. The core of a skill is the control loop which could be running (skill is activated) or not. Skills can be activated by other skills or by a sequencer, and they can give back data or events to the activating element or other skills interested in them.Skill are c

47、haracterized for: They have three states: ready (just instantiated), activated (running the control loop) and locked(not running the control loop). Three ways of working: continuous, periodic and by events. Each skill is a process. Communication among processes is achieved by short term memory and e

48、vents. A skill represents one or more tasks or a combination of several skills.Each skill has to be subscribed at least to an event and it has to dene its behavior when the event arises.3 System ImplementationA general overview of the system is shown at g.3 where how the system works from start (use

49、r interaction with robot) to nish (robot sending the command) is displayed. As it is pointed out, the suggested solution is built by a system divided in two interfaces (human-robot and robot-appliance interfaces) and the module in charge of moving the robot close to the proper appliance.3.1 Human-Ro

50、bot InterfaceThere are several ways of communication with the robot but we focus on natural communication in human terms. When user wants Maggie to turn air conditioning on, he has to transmit his intention to the robot like if he was interacting to other person. Thereby communication with the robot

51、 can be accomplished in dierent ways.A natural and approachable interaction between users and robot is needed and verbal communication meets these requirements. In consequence, at this experiment, speech will form the human-robot interface. User speaks to robot and Maggie is able to understand speak

52、ing by a speech recognition software based on grammars. We connect one grammar rule per each infrared command Maggie will execute. Speech recognition system is modeled as a permanent skill, it is a skill which has been activated once and it will keep on it.3.2 Robot-Appliance InterfaceHere the main

53、part of our work is presented. In order to send commands to infrared operated appliances, Maggie es equipped with IRTrans USB infrared control system . It has been chosen because of its USB interface and Linux compatibility. It has been placed inside Maggies body behind a sphere which lets infrared

54、signal goes through.Our chosen hardware is provided with all software required to work in a Linux environment: it has a TCP/IP server for accessing directly the hardware and replying clients requests, a trial client and libraries needed to program our own software.Server accesses a database where co

55、dings for operating devices are stored in the standard IRTrans format. In this application, server is linked directly to the USB infrared transceiver and it sends orders to the transceiver which replies with error codes.Because of the nature of infrared technology, it is essential that robot is loca

56、ted and facing the appliance to communicate with. Hence it is fundamental a suitable navigation system.4 Integration in AD ArchitectureThe operating of the entire infrared system in the robot architecture is explained in this section. To accomplish our work, various skills have been used which are c

57、onnected as it is shown in g.5. The skills implicated are:1. ASR Skill: Automatic Speech Recognition skill is in charged of informing about which grammar rule has been identied through the microphones. Anevent ( REC OK ), in addition to the detected grammar rule identier, is sent to alert the rest o

58、f the architecture. This event will be catched by every skill subscribed to it, in our case a skill named Speech IR Control .2. Speech IR Control Skill: it is a data processing skill which translates an incoming event from ASR skill to a new event based on the identied grammar rule notifying the typ

59、e of command. If the command is not related to the infrared system, the event is ignored. Other case, required information is stored at short term memory, it is the device to be controlled and the order to be sent to, for example “turn on the tv“. Then, Speech IR Control skill indicates that Maggie has to move to the location where the device is