The CHIL reference model architecture for multimodal perceptual systems

Due to the scale of the CHIL project, with its large number of partners contributing to the CHIL system with a diversity of technical components such as services and perceptual components, as well as their complexity, a flexible architecture that facilitates integration of components at different levels is essential. A layered architecture model was found to best meet these requirements and to allow a structured method for interfacing with sensors, integrating technology components, processing sensorial input, and composing services as collections of basic services. Furthermore, the architecture described here supports the flexible exchange of components and the replacement of unavailable components with simulators through well-defined interfaces.