diff --git a/ps-config/basicFunctionalities/basicFunctionalities.conf b/ps-config/basicFunctionalities/basicFunctionalities.conf
index 2340f14d7bb2e0c581e9b64c57d750eb147ee021..74ea963041d74cd98c5cc634df0a0eb26ee52218 100644
--- a/ps-config/basicFunctionalities/basicFunctionalities.conf
+++ b/ps-config/basicFunctionalities/basicFunctionalities.conf
@@ -7,9 +7,9 @@ openDeviceDirectly=yes;
 
 [pocketsphinxinstance]
 name=basicFunctionalities;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/basicFunctionalities/basicFunctionalities.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/basicFunctionalities/basicFunctionalities.jsgf;
 rsbscope=/speechrec/psa/basicFunctionalities;
 bestpath=no;
 autoload=yes;
diff --git a/ps-config/basicFunctionalities/basicFunctionalities.conf~ b/ps-config/basicFunctionalities/basicFunctionalities.conf~
deleted file mode 100644
index 5777d75d67b0a6016c46ead5639d2e703537526f..0000000000000000000000000000000000000000
--- a/ps-config/basicFunctionalities/basicFunctionalities.conf~
+++ /dev/null
@@ -1,15 +0,0 @@
-[main]
-startdb=30;
-uttdb=35;
-silence=400;
-timeout=8;
-openDeviceDirectly=yes;
-
-[pocketsphinxinstance]
-name=whatDidISay;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/basicFunctionalities/basicFunctionalities.jsgf;
-rsbscope=/speechrec/psa/basicFunctionalities;
-bestpath=no;
-autoload=yes;
diff --git a/ps-config/cleanUp/cleanUp.conf b/ps-config/cleanUp/cleanUp.conf
index bfc174a983fa1393d908eba65b81c2b8c7ec32c1..738ecf8a767a596ad5aa718c3cf3ee8780fa2c86 100644
--- a/ps-config/cleanUp/cleanUp.conf
+++ b/ps-config/cleanUp/cleanUp.conf
@@ -6,18 +6,18 @@ timeout=8;
 openDeviceDirectly=yes;
 [pocketsphinxinstance]
 name=cleanUp;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/cleanUp/cleanUp.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/cleanUp/cleanUp.jsgf;
 rsbscope=/speechrec/psa/cleanUp;
 bestpath=no;
 autoload=yes;
 
 [pocketsphinxinstance]
 name=confirm;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
 rsbscope=/speechrec/psa/confirm;
 bestpath=no;
 autoload=yes;
diff --git a/ps-config/cocktailparty/cocktailparty.conf b/ps-config/cocktailparty/cocktailparty.conf
index 71bfa718afb2967ed80b4ebbd78f77dd0a9516b1..b003e552d846c31a95f2749578bc5e2f699ae036 100644
--- a/ps-config/cocktailparty/cocktailparty.conf
+++ b/ps-config/cocktailparty/cocktailparty.conf
@@ -6,27 +6,27 @@ timeout=8;
 openDeviceDirectly=yes;
 [pocketsphinxinstance]
 name=person;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/person/person.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/person/person.jsgf;
 rsbscope=/speechrec/psa/person;
 bestpath=no;
 autoload=yes;
 
 [pocketsphinxinstance]
 name=object;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/cocktailparty/object.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/cocktailparty/object.jsgf;
 rsbscope=/speechrec/psa/object;
 bestpath=no;
 autoload=yes;
 
 [pocketsphinxinstance]
 name=confirm;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
 rsbscope=/speechrec/psa/confirm;
 bestpath=no;
 autoload=yes;
diff --git a/ps-config/demo/demoCentralLab.conf b/ps-config/demo/demoCentralLab.conf
index cbd4b7c56d0c0388df9e77a8b7455b8c6c20db0f..e7cf7402ee78524f04bb2866be1b7ed848ff0818 100644
--- a/ps-config/demo/demoCentralLab.conf
+++ b/ps-config/demo/demoCentralLab.conf
@@ -6,36 +6,36 @@ timeout=8;
 openDeviceDirectly=yes;
 [pocketsphinxinstance]
 name=shellgame;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/shellgame/shellgame.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/shellgame/shellgame.jsgf;
 rsbscope=/speechrec/psa/shellgame;
 bestpath=no;
 autoload=yes;
 
 [pocketsphinxinstance]
 name=confirm;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
 rsbscope=/speechrec/psa/confirm;
 bestpath=no;
 autoload=yes;
 
 [pocketsphinxinstance]
 name=commands;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/commands/commands.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/commands/commands.jsgf;
 rsbscope=/speechrec/psa/commands;
 bestpath=no;
 autoload=yes;
 
 [pocketsphinxinstance]
 name=sfbreview;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/sfb/review.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/sfb/review.jsgf;
 rsbscope=/speechrec/psa/sfbreview;
 bestpath=no;
 autoload=yes;
diff --git a/ps-config/demoChallange/demoChallange.conf b/ps-config/demoChallange/demoChallange.conf
index 4cb3a1865881ad3ced464ce78487060ea5e0da33..a28449f61bfd9182bca586e0401126fa18da0ebb 100644
--- a/ps-config/demoChallange/demoChallange.conf
+++ b/ps-config/demoChallange/demoChallange.conf
@@ -6,18 +6,18 @@ timeout=8;
 openDeviceDirectly=yes;
 [pocketsphinxinstance]
 name=demoChallange;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/demoChallange/demoChallange.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/demoChallange/demoChallange.jsgf;
 rsbscope=/speechrec/psa/demoChallange;
 bestpath=no;
 autoload=yes;
 
 [pocketsphinxinstance]
 name=confirm;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
 rsbscope=/speechrec/psa/confirm;
 bestpath=no;
 autoload=yes;
diff --git a/ps-config/demoChallenge/demoChallenge.conf b/ps-config/demoChallenge/demoChallenge.conf
index 3670aacd3b7fe036a8d5a8eeb759715709cb72d5..8d263771a06ff2759c646e115cffdc7d132ac894 100644
--- a/ps-config/demoChallenge/demoChallenge.conf
+++ b/ps-config/demoChallenge/demoChallenge.conf
@@ -1,24 +1,24 @@
 [main]
-startdb=30;
-uttdb=35;
+startdb=40;
+uttdb=45;
 silence=400;
 timeout=8;
 openDeviceDirectly=yes;
 
 [pocketsphinxinstance]
 name=confirm;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
 rsbscope=/speechrec/psa/confirm;
 bestpath=no;
 autoload=yes;
 
 [pocketsphinxinstance]
 name=commands;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/demoChallenge/commands.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/demoChallenge/commands.jsgf;
 rsbscope=/speechrec/psa/commands;
 bestpath=no;
 autoload=yes;
diff --git a/ps-config/emergencySituation/emergencySituation.conf b/ps-config/emergencySituation/emergencySituation.conf
index 2455ec0aff660028c325179541d0dfc649c02ab2..008ef17e65136ed6e1b6d41d665c4bb3feb3cd83 100644
--- a/ps-config/emergencySituation/emergencySituation.conf
+++ b/ps-config/emergencySituation/emergencySituation.conf
@@ -1,15 +1,24 @@
 [main]
-startdb=30;
-uttdb=35;
+startdb=40;
+uttdb=45;
 silence=400;
 timeout=8;
 openDeviceDirectly=yes;
+
 [pocketsphinxinstance]
 name=confirm;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
 rsbscope=/speechrec/psa/confirm;
 bestpath=no;
 autoload=yes;
 
+[pocketsphinxinstance]
+name=object;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/emergencySituation/object.jsgf;
+rsbscope=/speechrec/psa/object;
+bestpath=no;
+autoload=yes;
diff --git a/ps-config/fireInTheApartment/fireInTheApartment.conf b/ps-config/fireInTheApartment/fireInTheApartment.conf
index f906ed96622ffde9ae64809bb5dd1b2a620f05ee..7abd2dee147fc1b4a22d7aaf08c8e5bef14da0dc 100644
--- a/ps-config/fireInTheApartment/fireInTheApartment.conf
+++ b/ps-config/fireInTheApartment/fireInTheApartment.conf
@@ -6,9 +6,9 @@ timeout=8;
 openDeviceDirectly=yes;
 [pocketsphinxinstance]
 name=confirm;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
 rsbscope=/speechrec/psa/confirm;
 bestpath=no;
 autoload=yes;
diff --git a/ps-config/followMe/followMe.conf b/ps-config/followMe/followMe.conf
index 974998b835f957b96448b347eeb0d2097793be87..d8807dd728bbe1d79461a257cf9ae9cdf06fa3fa 100644
--- a/ps-config/followMe/followMe.conf
+++ b/ps-config/followMe/followMe.conf
@@ -6,18 +6,18 @@ timeout=8;
 openDeviceDirectly=yes;
 [pocketsphinxinstance]
 name=followMe;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/followMe/followMe.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/followMe/followMe.jsgf;
 rsbscope=/speechrec/psa/followMe;
 bestpath=no;
 autoload=yes;
 
 [pocketsphinxinstance]
 name=confirm;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/followMe/confirm.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/followMe/confirm.jsgf;
 rsbscope=/speechrec/psa/confirm;
 bestpath=no;
 autoload=yes;
diff --git a/ps-config/gprs/gprs.conf b/ps-config/gprs/gprs.conf
index 45388dde2fe2ce6f21abccb418b55227a28d6bab..009039de1f9742e47d785d92b74dd5d76063b3fc 100644
--- a/ps-config/gprs/gprs.conf
+++ b/ps-config/gprs/gprs.conf
@@ -6,54 +6,54 @@ timeout=8;
 openDeviceDirectly=yes;
 [pocketsphinxinstance]
 name=gprs;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/gprs/gprs.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/gprs/gprs.jsgf;
 rsbscope=/speechrec/psa/gprs;
 bestpath=no;
 autoload=yes;
 
 [pocketsphinxinstance]
 name=gprsPerson;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/gprsPerson/gprsPerson.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/gprsPerson/gprsPerson.jsgf;
 rsbscope=/speechrec/psa/gprsPerson;
 bestpath=no;
 autoload=yes;
 
 [pocketsphinxinstance]
 name=location;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/location/location.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/location/location.jsgf;
 rsbscope=/speechrec/psa/location;
 bestpath=no;
 autoload=yes;
 
 [pocketsphinxinstance]
 name=object;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/object/object.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/object/object.jsgf;
 rsbscope=/speechrec/psa/object;
 bestpath=no;
 autoload=yes;
 
 [pocketsphinxinstance]
 name=confirm;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
 rsbscope=/speechrec/psa/confirm;
 bestpath=no;
 autoload=yes;
 
 [pocketsphinxinstance]
 name=basicFunctionalities;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/basicFunctionalities/basicFunctionalities.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/basicFunctionalities/basicFunctionalities.jsgf;
 rsbscope=/speechrec/psa/basicFunctionalities;
 bestpath=no;
 autoload=yes;
diff --git a/ps-config/inspection/inspection.conf b/ps-config/inspection/inspection.conf
index f06b022b22acf016c8be9ec92853ee4344e046cf..58ad05a8b6f79f69e59daf66c61f81c41f38671b 100644
--- a/ps-config/inspection/inspection.conf
+++ b/ps-config/inspection/inspection.conf
@@ -6,18 +6,18 @@ timeout=8;
 openDeviceDirectly=yes;
 [pocketsphinxinstance]
 name=leave;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/leave/leave.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/leave/leave.jsgf;
 rsbscope=/speechrec/psa/leave;
 bestpath=no;
 autoload=yes;
 
 [pocketsphinxinstance]
 name=bironLeave;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/bironLeave/bironLeave.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/bironLeave/bironLeave.jsgf;
 rsbscope=/speechrec/psa/bironLeave;
 bestpath=no;
 autoload=yes;
diff --git a/ps-config/inspectionRobot1/inspectionRobot1.conf b/ps-config/inspectionRobot1/inspectionRobot1.conf
index bb31b6cc05fd6f2ef7437e195d34b8bb76f3d6af..294b65e59e637e6d16cfc49f16393c78a7a3b73b 100644
--- a/ps-config/inspectionRobot1/inspectionRobot1.conf
+++ b/ps-config/inspectionRobot1/inspectionRobot1.conf
@@ -6,9 +6,9 @@ timeout=8;
 openDeviceDirectly=yes;
 [pocketsphinxinstance]
 name=leave;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/leave/leave.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/leave/leave.jsgf;
 rsbscope=/speechrec/psa/leave;
 bestpath=no;
 autoload=yes;
diff --git a/ps-config/inspectionRobot2/inspectionRobot2.conf b/ps-config/inspectionRobot2/inspectionRobot2.conf
index 4a2093b38e71fbed3fccaf1770f3426b8cf09688..0562192825bdb6c34ff60a80734d80890b18f688 100644
--- a/ps-config/inspectionRobot2/inspectionRobot2.conf
+++ b/ps-config/inspectionRobot2/inspectionRobot2.conf
@@ -6,9 +6,9 @@ timeout=8;
 openDeviceDirectly=yes;
 [pocketsphinxinstance]
 name=bironLeave;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/bironLeave/bironLeave.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/bironLeave/bironLeave.jsgf;
 rsbscope=/speechrec/psa/bironLeave;
 bestpath=no;
 autoload=yes;
diff --git a/ps-config/install_pocketsphinx_conf.sh b/ps-config/install_pocketsphinx_conf.sh
index 749fc98011b2229b068f02a14a36c496d2429c79..3bf24d11ea966a8825b5f55af70198d6279defc1 100755
--- a/ps-config/install_pocketsphinx_conf.sh
+++ b/ps-config/install_pocketsphinx_conf.sh
@@ -1,14 +1,21 @@
 #!/bin/sh
-if [ $1 ]
- then installdir=$1
- else installdir="/vol/robocup/2013/share/SpeechRec/"
+
+set -e
+
+BASEDIR=$(dirname $(readlink -f $0))
+cd ${BASEDIR}
+
+if [ ! -n "$prefix" ]; then
+        echo "Environment variable \"\$prefix\" must be set!"
+        exit 1
 fi
-mkdir -p $installdir/psConfig
+
+mkdir -p ${prefix}/share/SpeechRec/psConfig
 
 for i in `ls` 
 do
   if [ -d $i ]
-    then cp -r $i $installdir/psConfig
+    then cp -r $i ${prefix}/share/SpeechRec/psConfig
   fi
 done
 
diff --git a/ps-config/openChallange/openChallange.conf b/ps-config/openChallange/openChallange.conf
index f906ed96622ffde9ae64809bb5dd1b2a620f05ee..7abd2dee147fc1b4a22d7aaf08c8e5bef14da0dc 100644
--- a/ps-config/openChallange/openChallange.conf
+++ b/ps-config/openChallange/openChallange.conf
@@ -6,9 +6,9 @@ timeout=8;
 openDeviceDirectly=yes;
 [pocketsphinxinstance]
 name=confirm;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
 rsbscope=/speechrec/psa/confirm;
 bestpath=no;
 autoload=yes;
diff --git a/ps-config/openChallenge/openChallenge.conf b/ps-config/openChallenge/openChallenge.conf
index 3ab56fb41094a038067e80a91a5e939f172a47b3..43407e8b8b7b68be0049bbe8c4e97cc6da00970f 100644
--- a/ps-config/openChallenge/openChallenge.conf
+++ b/ps-config/openChallenge/openChallenge.conf
@@ -1,42 +1,42 @@
 [main]
-startdb=30;
-uttdb=35;
+startdb=40;
+uttdb=45;
 silence=400;
 timeout=8;
 openDeviceDirectly=yes;
 
 [pocketsphinxinstance]
 name=confirm;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
 rsbscope=/speechrec/psa/confirm;
 bestpath=no;
 autoload=yes;
 
 [pocketsphinxinstance]
 name=commands;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/commands/commands.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/commands/commands.jsgf;
 rsbscope=/speechrec/psa/commands;
 bestpath=no;
 autoload=yes;
 
 [pocketsphinxinstance]
 name=sfbreview;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/sfb/review.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/sfb/review.jsgf;
 rsbscope=/speechrec/psa/sfbreview;
 bestpath=no;
 autoload=yes;
 
 [pocketsphinxinstance]
 name=rsm;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/rsm/rsm.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/rsm/rsm.jsgf;
 rsbscope=/speechrec/psa/rsm;
 bestpath=no;
 autoload=yes;
diff --git a/ps-config/restaurant/restaurant.conf b/ps-config/restaurant/restaurant.conf
index 9a4365d7b4a5b3066211ada592fb46403c3c91bf..5f2cc9e32dd30063889115a7c762116f6f2d149e 100644
--- a/ps-config/restaurant/restaurant.conf
+++ b/ps-config/restaurant/restaurant.conf
@@ -1,23 +1,42 @@
 [main]
-startdb=30;
-uttdb=35;
+startdb=40;
+uttdb=45;
 silence=400;
 timeout=8;
 openDeviceDirectly=yes;
+
 [pocketsphinxinstance]
-name=restaurant;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/restaurant/restaurant.jsgf;
-rsbscope=/speechrec/psa/restaurant;
+name=confirm;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
+rsbscope=/speechrec/psa/confirm;
 bestpath=no;
 autoload=yes;
 
 [pocketsphinxinstance]
-name=confirm;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
-rsbscope=/speechrec/psa/confirm;
+name=ordering;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/restaurant/ordering.jsgf;
+rsbscope=/speechrec/psa/ordering;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=saveCommand;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/restaurant/saveCommand.jsgf;
+rsbscope=/speechrec/psa/saveCommand;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=otherCommand;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/restaurant/otherCommand.jsgf;
+rsbscope=/speechrec/psa/otherCommand;
 bestpath=no;
 autoload=yes;
diff --git a/ps-config/robotZoo/roboZoo.conf b/ps-config/robotZoo/roboZoo.conf
index 6c2336d17cdff68aa146f84d249bbb10fea599b5..ae07f4da911e7cc3e8f97e58d3e73a694cfa9cf5 100644
--- a/ps-config/robotZoo/roboZoo.conf
+++ b/ps-config/robotZoo/roboZoo.conf
@@ -1,33 +1,42 @@
 [main]
-startdb=30;
-uttdb=35;
+startdb=40;
+uttdb=45;
 silence=400;
 timeout=8;
 openDeviceDirectly=yes;
 
 [pocketsphinxinstance]
 name=confirm;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/robotZoo/confirm.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/robotZoo/confirm.jsgf;
 rsbscope=/speechrec/psa/confirm;
 bestpath=no;
 autoload=yes;
 
 [pocketsphinxinstance]
 name=roboZoo;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/robotZoo/roboZoo.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/robotZoo/roboZoo.jsgf;
 rsbscope=/speechrec/psa/roboZoo;
 bestpath=no;
 autoload=yes;
 
+[pocketsphinxinstance]
+name=Ask4Task;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/robotZoo/Ask4Task.jsgf;
+rsbscope=/speechrec/psa/Ask4Task;
+bestpath=no;
+autoload=yes;
+
 [pocketsphinxinstance]
 name=person;
-hmm=/vol/robocup/2013/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2013/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2013/share/SpeechRec/psGrammar/person/person.jsgf;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/person/person.jsgf;
 rsbscope=/speechrec/psa/person;
 bestpath=no;
 autoload=yes;
diff --git a/ps-grammar/basicFunctionalities/basicFunctionalities.jsgf b/ps-grammar/basicFunctionalities/basicFunctionalities.jsgf
index 760d1d7d5e353d0af98bba8af69b5c67ff3a08f6..252fd39fee6a16f3686436a281dfb619bdf3576d 100644
--- a/ps-grammar/basicFunctionalities/basicFunctionalities.jsgf
+++ b/ps-grammar/basicFunctionalities/basicFunctionalities.jsgf
@@ -1,8 +1,8 @@
 #JSGF V1.0;
 grammar basicFunctionalities;
 
-public <basicFunctionalities> = <question1> | <question2> | <question3> | <question4> | <question5> | <question6> | <question7> | <question8> | <question9> | <question10> | <startServing> | <stop>;
-<startServing> = tobi continue;
+public <basicFunctionalities> = <question1> | <question2> | <question3> | <question4> | <question5> | <question6> | <question7> | <question8> | <question9> | <question10> | <continue> | <stop>;
+<continue> = tobi continue | continue;
 <stop> = tobi stop;
 <dummy> = take | look;
 <question1> = what time is it;
diff --git a/ps-grammar/basicFunctionalities/basicFunctionalities.jsgf~ b/ps-grammar/basicFunctionalities/basicFunctionalities.jsgf~
deleted file mode 100644
index 579ca5350f1cbb06e9092ac5604276959c466829..0000000000000000000000000000000000000000
--- a/ps-grammar/basicFunctionalities/basicFunctionalities.jsgf~
+++ /dev/null
@@ -1,17 +0,0 @@
-#JSGF V1.0;
-grammar basicFunctionalities;
-
-public <basicFunctionalities> = <question1> | <question2> | <question3> | <question4> | <question5> | <question6> | <question7> | <question8> | <question9> | <question10> | <startServing> | <stop>;
-<startServing> = continue | tobi continue;
-<stop> = tobi stop;
-<dummy> = take | look;
-<question1> = what time is it;
-<question2> = what is your name;
-<question3> = what is your teams name;
-<question4> = what is the answer to the ultimate question about life the universe and everything;
-<question5> = what is the capital of poland;
-<question6> = which country grows the most potatoes;
-<question7> = which country grew the first orange;
-<question8> = how many countries are in europe;
-<question9> = what is the oldest most widely used drug on earth;
-<question10> = which fish can hold objects in its tail;
diff --git a/ps-grammar/cocktailparty/object.jsgf b/ps-grammar/cocktailparty/object.jsgf
index e789872e6116581ee81a13c19b141f43c35eb543..ad816b8e9b5b593ca00e8ff567aa8feb2cbb4f85 100644
--- a/ps-grammar/cocktailparty/object.jsgf
+++ b/ps-grammar/cocktailparty/object.jsgf
@@ -3,7 +3,7 @@ grammar ToBI_object;
 public <statement> = <objectPhrase>;
 
 <objectPhrase> = [<verb>] [<personal_pronoun>] [<article>] <objects>;
-<objects> = orange_juice | fruit_juice | ice_tea | coffee | beer;
+<objects> = orange juice | fruit juice | ice tea | coffee | beer;
 
 <personal_pronoun> = me;
 <verb> = bring | carry | retrieve | fetch | get | give;
diff --git a/ps-grammar/confirm/confirm.jsgf b/ps-grammar/confirm/confirm.jsgf
index 0874b691fb24b62dcfafec447daa23930a61c7ff..5e90506a9c4fa9ce66980c4c44c34f0aff8d015d 100644
--- a/ps-grammar/confirm/confirm.jsgf
+++ b/ps-grammar/confirm/confirm.jsgf
@@ -1,5 +1,10 @@
 #JSGF V1.0;
 grammar ToBI_confirm;
-public <confirm> = [tobi] (<confirm_yes> | <confirm_no>) [tobi];
-<confirm_yes> =  ([please] yes [please]) | ([that is] correct);
-<confirm_no> = ([that is] not correct) | (no [thanks]); 
+public <confirm> = <confirm_yes> | <confirm_no>;
+
+<confirm_yes> = <robot> <yes_words>;
+<confirm_no> = <robot> <no_words>; 
+
+<yes_words> = (yes | confirmed);
+<no_words> = (no);
+<robot> = (tobi | robot | biron);
diff --git a/ps-grammar/demoChallenge/commands.jsgf b/ps-grammar/demoChallenge/commands.jsgf
index 512cf62538d6d4bbe49414ae6216592deeccdd5d..2dce336a5c72f710b9a017b97ae681774d4b183a 100644
--- a/ps-grammar/demoChallenge/commands.jsgf
+++ b/ps-grammar/demoChallenge/commands.jsgf
@@ -2,6 +2,9 @@
 grammar bebot_demo;
 public <statement> = [tobi] [please] <command> [please] [tobi];
 
-<command> = <clean>;
-<clean> = clean up | start cleaning;
-
+<command> =  <mapping> | <clean> | <party> | <teach>;
+<clean> = (clean up) | (start cleaning);
+<mapping> = ( start mapping );
+<party> = ( [the] party starts) | (party beginning) | (party starting)  | (lets start the party);
+<teach> = ( (this is [a | an | the] ) | ( these are [the] ) ) <object>;
+<object> = trashbin;
diff --git a/ps-grammar/emergencySituation/object.jsgf b/ps-grammar/emergencySituation/object.jsgf
new file mode 100644
index 0000000000000000000000000000000000000000..f2b21ab1d4fa22125c02d8916411a2e52681411d
--- /dev/null
+++ b/ps-grammar/emergencySituation/object.jsgf
@@ -0,0 +1,11 @@
+#JSGF V1.0;
+grammar emergencySituation_object;
+
+public <emergencySituation> = <objectPhrase>;
+
+<objectPhrase> = <water> | <firstaidkit> | <cellphone> | <nothing>;
+
+<water> = water;
+<firstaidkit> = first aid kit;
+<cellphone> = cell phone;
+<nothing> = nothing;
diff --git a/ps-grammar/gprs/gprs.jsgf b/ps-grammar/gprs/gprs.jsgf
index dc4d42f56cfb699de072ac47a08c8c655ee75455..a3e3407f903a8f53b43072e6d4c6eca4dc329d9a 100644
--- a/ps-grammar/gprs/gprs.jsgf
+++ b/ps-grammar/gprs/gprs.jsgf
@@ -2,7 +2,7 @@
 grammar ToBI_GPRS;
 public <task> = [tobi] [(would | could) you] [please] <command> [please] [tobi];
 
-<command> = <bring_command> | <goto_command>;
+<command> = <bring_command> | <goto_command> | <find_command> | <follow_command> | <cleanup_command> | <show_command>;
 
 <bring_command> = (<bringVerb> [<person>] [<article>] <grab_object> [<preposition> [<article>] <location>] [(to|into) [<article>] <second_location>]) | (<bringVerb> [<article>] <person> <preposition> <article> <location>);
 <goto_command> = <gotoVerb> <preposition> ([<article>] <location>);
diff --git a/ps-grammar/install_pocketsphinx.sh b/ps-grammar/install_pocketsphinx.sh
index 0482d391e8ef16cfbbf1c5b509d717d01b6b5ccd..af35fa5ee267a767accbfdfdb607afa14360169f 100755
--- a/ps-grammar/install_pocketsphinx.sh
+++ b/ps-grammar/install_pocketsphinx.sh
@@ -1,14 +1,20 @@
 #!/bin/sh
-if [ $1 ]
- then installdir=$1
- else installdir="/vol/robocup/2013/share/SpeechRec/"
+set -e
+
+BASEDIR=$(dirname $(readlink -f $0))
+cd ${BASEDIR}
+
+if [ ! -n "$prefix" ]; then
+        echo "Environment variable \"\$prefix\" must be set!"
+        exit 1
 fi
-mkdir -p $installdir/psGrammar
+
+mkdir -p ${prefix}/share/SpeechRec/psGrammar
 
 for i in `ls` 
 do
   if [ -d $i ]
-    then cp -r $i $installdir/psGrammar
+    then cp -r $i ${prefix}/share/SpeechRec/psGrammar
   fi
 done
 
diff --git a/ps-grammar/restaurant/command.jsgf b/ps-grammar/restaurant/command.jsgf
new file mode 100644
index 0000000000000000000000000000000000000000..1eebd9386c26f8b41d051620b47e7982fc3c1fde
--- /dev/null
+++ b/ps-grammar/restaurant/command.jsgf
@@ -0,0 +1,12 @@
+#JSGF V1.0;
+grammar restaurant_command;
+
+public <restaurant> = [tobi] [please] <command> [please] [tobi];
+<command> = <followMe> | <stop> | <ordering> | <savePlaceLeft> | <savePlaceRight> | <savePlace>;
+<followMe> = (follow me) | (come [(with me) | here]) | (keep up);
+<stop> = stop [this];
+<ordering> = ordering;
+<savePlaceLeft> = left;
+<savePlaceRight> = right;
+<savePlace> = <save>;
+<save> = save [the] (place | location) [[to | on] [the | my] (<savePlaceRight> | <savePlaceLeft>)];
diff --git a/ps-grammar/restaurant/location.jsgf b/ps-grammar/restaurant/location.jsgf
new file mode 100644
index 0000000000000000000000000000000000000000..b1b49f78e4ff8bd11faea0f44b030273168ce02b
--- /dev/null
+++ b/ps-grammar/restaurant/location.jsgf
@@ -0,0 +1,8 @@
+#JSGF V1.0;
+grammar restaurant_location;
+
+public <restaurant> = [tobi] [please] <command> [please] [tobi];
+<command> = <objectCategory> | <deliveryLocations>;
+
+<deliveryLocations> = table (one | two | three);
+<objectCategory> = drinks | snacks;
diff --git a/ps-grammar/restaurant/object.jsgf b/ps-grammar/restaurant/object.jsgf
new file mode 100644
index 0000000000000000000000000000000000000000..8e42f447924ca437e2a63701c914fc3582b213a2
--- /dev/null
+++ b/ps-grammar/restaurant/object.jsgf
@@ -0,0 +1,9 @@
+#JSGF V1.0;
+grammar restaurant_object;
+
+public <restaurant> = [tobi] [please] <command> [please] [tobi];
+<command> = <objects>;
+<objects> = <drinks> | <snacks>;
+
+<drinks> = (orange juice) | (fruit juice) | (ice tea) | coffee | beer;
+<snacks> = chocolates | (chewing gum) | peanuts;
diff --git a/ps-grammar/restaurant/ordering.jsgf b/ps-grammar/restaurant/ordering.jsgf
new file mode 100644
index 0000000000000000000000000000000000000000..b06003b1dd36f68f73d45d2653bd070e5f0ebabd
--- /dev/null
+++ b/ps-grammar/restaurant/ordering.jsgf
@@ -0,0 +1,13 @@
+#JSGF V1.0;
+grammar restaurant_ordering;
+
+public <restaurant> = [tobi] [please] bring <objects> to <deliveryLocations>;
+
+<deliveryLocations> = table <numberOfTable>;
+
+<numberOfTable> = one | two | three;
+
+<objects> = <drinks> | <snacks>;
+
+<drinks> = (orange juice) | (fruit juice) | (ice tea) | coffee | beer;
+<snacks> = chocolates | (chewing gum) | peanuts;
diff --git a/ps-grammar/restaurant/otherCommand.jsgf b/ps-grammar/restaurant/otherCommand.jsgf
new file mode 100644
index 0000000000000000000000000000000000000000..abf79d1cc39575059ea2f37b3213540da76eeafb
--- /dev/null
+++ b/ps-grammar/restaurant/otherCommand.jsgf
@@ -0,0 +1,8 @@
+#JSGF V1.0;
+grammar restaurant_save_command;
+
+public <restaurant> = [tobi] [please] (<followMe> | <stop> | <ordering> | <save>);
+<save> = save [[the | a] location];
+<followMe> = (follow me) | (come [(with me) | here]) | (keep up);
+<ordering> = ordering;
+<stop> = stop [this];
diff --git a/ps-grammar/restaurant/restaurant.jsgf b/ps-grammar/restaurant/restaurant.jsgf
index 3c547ef908276658b6363d915c23fd4a784dbdb2..ccd78a23d14a9e9acac535626ef6bb05e38960de 100644
--- a/ps-grammar/restaurant/restaurant.jsgf
+++ b/ps-grammar/restaurant/restaurant.jsgf
@@ -6,11 +6,11 @@ public <restaurant> = [tobi] [please] <command> [please] [tobi];
 <followMe> = (follow me) | (come [(with me) | here]) | (keep up);
 <stop> = stop [this];
 <beverages> = <objectCategory> | <objects>;
-<objectCategory> = drinks | food;
-<objects> = <drinks> | <food>;
+<objectCategory> = drinks | snacks;
+<objects> = <drinks> | <snacks>;
 
-<drinks> = milk | coke | beer;
-<food> = pringles red | pringles green | pringles blue | cookies;
+<drinks> = (orange juice) | (fruit juice) | (ice tea) | coffee | beer;
+<snacks> = chocolates | (chewing gum) | peanuts;
 
 <ordering> = ordering;
 <deliveryLocations> = table (one | two | three);
diff --git a/ps-grammar/restaurant/saveCommand.jsgf b/ps-grammar/restaurant/saveCommand.jsgf
new file mode 100644
index 0000000000000000000000000000000000000000..10fad9be0911efb931c3933cb59ce0c953441026
--- /dev/null
+++ b/ps-grammar/restaurant/saveCommand.jsgf
@@ -0,0 +1,9 @@
+#JSGF V1.0;
+grammar restaurant_save_command;
+
+public <restaurant> = [tobi] [please] save ( <deliveryLocations> | <objectCategory> ) [[to | on] [the | my] ( <savePlaceLeft> | <savePlaceRight> )];
+<savePlaceLeft> = left;
+<savePlaceRight> = right;
+<deliveryLocations> = table <numberOfTable>;
+<numberOfTable> = one | two | three;
+<objectCategory> = drinks | snacks;
diff --git a/ps-grammar/robotZoo/Ask4Task.jsgf b/ps-grammar/robotZoo/Ask4Task.jsgf
new file mode 100644
index 0000000000000000000000000000000000000000..0910a6b0440467adc28fa5bf74d444a07c572bcc
--- /dev/null
+++ b/ps-grammar/robotZoo/Ask4Task.jsgf
@@ -0,0 +1,11 @@
+#JSGF V1.0;
+grammar ToBI_Ask4Task;
+
+public <statement> = [tobi] ( <dance> | <joke> | <show> ) [tobi];
+
+
+<dance> = dance;
+<joke> = [tell] [me] [a] (  joke | gag );
+<show> = [show] (  team | (team member) );
+
+
diff --git a/ps-grammar/robotZoo/roboZoo.jsgf b/ps-grammar/robotZoo/roboZoo.jsgf
index 9a498a49826953ca17dc34bb1bae07dd3ce7420d..01a73eb95f73a717e3fc15a842f0170759646d6b 100644
--- a/ps-grammar/robotZoo/roboZoo.jsgf
+++ b/ps-grammar/robotZoo/roboZoo.jsgf
@@ -3,7 +3,7 @@ grammar ToBI_roboZoo;
 
 public <statement> = [tobi] (<biron> | <andi> | <leon> | <kai> | <martin> | <christian> | <leroy> | <suchit> | <niksa> | <sven> | <sebastian> | <timo> | <team>) [tobi];
 
-<biron> =  biron;
+<biron> =  ( biron | tobi );
 <andi> = andreas; 
 <leon> = leon;
 <kai> = kai;
@@ -15,4 +15,4 @@ public <statement> = [tobi] (<biron> | <andi> | <leon> | <kai> | <martin> | <chr
 <niksa> = niksa;
 <sven> = sven;
 <timo> = timo;
-<team> = team | whole;
+<team> = ( team | whole | everyone );