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+\chapter{Text to speech}
+
+During the implementation of our solution for the objective stated in \ref{sec
+  problem statement} we included suitable functions to get a feedback about
+what the robot is doing at the moment during code execution. In addition to the
+text output on the console we decided to let the robot speak about what he is
+doing using Voice output. We therefore implemented a Speech output using the
+official Aldebaran NAOqi API \cite{nao} which provides a Text-to-Speech
+function. We implemented the Speech output in such a way, that the robot does
+not repeat the same sentence over and over again, if he remains in the same
+state. We also ensured, that the Speech output does not influence the actual
+execution of the problem solution by running it in a separate thread.
+
+\chapter{Goal confirmation}
+
+It makes sense to let the robot check, if he has actually scored a goal after
+he performed a goal kick. We therefore implemented a simple goal confirmation
+algorithm, which is visualized in figure \ref{j figure goal confirmation}. The
+robot tries to find the goal and the ball. If the ball is between both goal
+posts after the goal kick is performed, a successful goal kick is confirmed.
+
+\begin{figure}[ht]
+  \includegraphics[width=\textwidth]{\fig goal-confirmation}
+  \caption{Goal confirmation}
+  \label{j figure goal confirmation}
+\end{figure}