diff --git a/.dockerignore b/.dockerignore
new file mode 100644
index 00000000000..2717ed259e3
--- /dev/null
+++ b/.dockerignore
@@ -0,0 +1,5 @@
+# dockerignore file to minimalize the size of docker image
+#
+# Ignore .git and dev directories
+/**
+
diff --git a/.gitignore b/.gitignore
index ed66c79d1c8..f0541072ba7 100644
--- a/.gitignore
+++ b/.gitignore
@@ -7,6 +7,12 @@
 !/src/*/Makefile
 !/src/*/README
 
+# TechUnited begin
+/log/
+/src/gst-plugin/kaldimarshal.cc
+/src/gst-plugin/kaldimarshal.h
+# TechUnited end
+
 # Compiled Object files and python ciles
 *.slo
 *.lo
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1403ae001ee..aaad303f8f7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,6 +1,9 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 project(kaldi)
 
+set(GENERATED_LIBS "" CACHE INTERNAL "")
+set(ALL_TARGETS "" CACHE INTERNAL "")
+
 set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake;${CMAKE_MODULE_PATH}")
 include(GNUInstallDirs)
 include(Utils)
@@ -220,6 +223,20 @@ configure_package_config_file(
     ${CMAKE_BINARY_DIR}/cmake/kaldi-config.cmake
     INSTALL_DESTINATION lib/cmake/kaldi
 )
+
+message(STATUS "The list of generated libraries is: ${GENERATED_LIBS}")
+set(DEST_DIR "${CMAKE_INSTALL_PREFIX}")
+
+foreach(LIB ${GENERATED_LIBS})
+  set(PRIVATE_LIBS "${PRIVATE_LIBS} -l${LIB}")
+endforeach()
+
+configure_package_config_file(
+    ${CMAKE_CURRENT_SOURCE_DIR}/cmake/kaldi.pc.in
+    ${CMAKE_BINARY_DIR}/pkgconfig/kaldi.pc
+    INSTALL_DESTINATION lib/pkgconfig
+)
+
 write_basic_package_version_file(
     ${CMAKE_BINARY_DIR}/cmake/kaldi-config-version.cmake
     VERSION ${KALDI_VERSION}
@@ -228,4 +245,7 @@ write_basic_package_version_file(
 install(FILES ${CMAKE_BINARY_DIR}/cmake/kaldi-config.cmake ${CMAKE_BINARY_DIR}/cmake/kaldi-config-version.cmake
     DESTINATION lib/cmake/kaldi
 )
+
+install(FILES ${CMAKE_BINARY_DIR}/pkgconfig/kaldi.pc DESTINATION lib/pkgconfig)
+
 install(EXPORT kaldi-targets DESTINATION ${CMAKE_INSTALL_PREFIX}/lib/cmake/kaldi)
diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 00000000000..be96d3294cf
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,15 @@
+# -----------------------------------------------------------------------------
+#       Dockerfile to build Kaldi gstreamer server with tue-env
+# -----------------------------------------------------------------------------
+
+# Set the base image to Ubuntu with tue-env
+FROM tuerobotics/tue-env:master
+
+# Update the image and install basic packages
+RUN sudo apt-get update -qq && \
+    # Make tue-env available to the intermediate image
+    # This step needs to be executed at every RUN step
+    source ~/.bashrc && \
+    # Install kaldi
+    tue-get install kaldi
+
diff --git a/.travis.yml b/ci/.travis.yml.old
similarity index 100%
rename from .travis.yml
rename to ci/.travis.yml.old
diff --git a/cmake/gen_cmake_skeleton.py b/cmake/gen_cmake_skeleton.py
index 8c393630cfb..d52bb1126be 100644
--- a/cmake/gen_cmake_skeleton.py
+++ b/cmake/gen_cmake_skeleton.py
@@ -115,12 +115,20 @@ def add_test_source(self, filename):
 
     def gen_code(self):
         ret = []
+        ret.append('set(ALL_TARGETS ${ALL_TARGETS} ' + '{} CACHE INTERNAL "ALL_TARGETS")'.format(self.target_name))
         if len(self.header_list) > 0:
             ret.append("set(PUBLIC_HEADERS")
             for f in self.header_list:
                 ret.append("    " + f)
             ret.append(")\n")
 
+        if self.target_name != 'kaldi-itf':
+            ret.append('if (GENERATED_LIBS STREQUAL "")')
+            ret.append('    set(GENERATED_LIBS "{}" CACHE INTERNAL "GENERATED_LIBS")'.format(self.target_name))
+            ret.append('else()')
+            ret.append('    set(GENERATED_LIBS "${GENERATED_LIBS};' + '{}" CACHE INTERNAL "GENERATED_LIBS")'.format(self.target_name))
+            ret.append('endif()')
+
         ret.append("add_library(" + self.target_name + " INTERFACE)")
         ret.append("target_include_directories(" + self.target_name + " INTERFACE ")
         ret.append("     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/..>")
@@ -171,6 +179,7 @@ def load_dependency_from_makefile(self, filename):
 
     def gen_code(self):
         ret = []
+        ret.append('set(ALL_TARGETS ${ALL_TARGETS} ' + '{} CACHE INTERNAL "ALL_TARGETS")'.format(self.target_name))
 
         if len(self.header_list) > 0:
             ret.append("set(PUBLIC_HEADERS")
@@ -188,6 +197,13 @@ def gen_code(self):
             ret.append("    )")
             ret.append("endif()\n")
 
+        if self.target_name != 'kaldi-itf':
+            ret.append('if (GENERATED_LIBS STREQUAL "")')
+            ret.append('    set(GENERATED_LIBS "{}" CACHE INTERNAL "GENERATED_LIBS")'.format(self.target_name))
+            ret.append('else()')
+            ret.append('    set(GENERATED_LIBS "${GENERATED_LIBS};' + '{}" CACHE INTERNAL "GENERATED_LIBS")'.format(self.target_name))
+            ret.append('endif()')
+
         ret.append("add_library(" + self.target_name)
         for f in self.source_list:
             ret.append("    " + f)
diff --git a/cmake/kaldi.pc.in b/cmake/kaldi.pc.in
new file mode 100644
index 00000000000..ad3a98e7f6f
--- /dev/null
+++ b/cmake/kaldi.pc.in
@@ -0,0 +1,9 @@
+prefix=@DEST_DIR@
+libdir=${prefix}/lib
+includedir=${prefix}/include
+
+Name: kaldi
+Description: Kaldi Speech Recognition Toolkit
+Version:@VERSION@
+Libs: -L${libdir} -lfst @PRIVATE_LIBS@
+Cflags: -I${includedir}/kaldi -I${includedir}/openfst
diff --git a/install.bash b/install.bash
new file mode 100755
index 00000000000..5094677e242
--- /dev/null
+++ b/install.bash
@@ -0,0 +1,344 @@
+#!/usr/bin/env bash
+#
+# Install script for Linux based Speech Recognition System
+#
+# Arpit Aggarwal
+# 2018 TU Eindhoven
+
+# Usage Document
+usage()
+{
+    echo "-----------------------------------------------------------------------------"
+    echo -e "\e[35m\e[1m                  Kaldi Automatic Speech Recognition \e[0m"
+    echo "-----------------------------------------------------------------------------"
+    echo "Usage: sudo ./install.bash [options] <values>"
+    echo -e "Options:\n \
+        -h | --help\n \
+        --tue\n \
+        --install-kaldi\n \
+        --update-kaldi\n \
+        --gst-plugin\n \
+        --clean"
+    echo
+    echo "-----------------------------------------------------------------------------"
+}
+
+KALDI_REPO="https://github.com/kaldi-asr/kaldi.git"
+KALDI="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+ASR_LOG=$KALDI/log
+
+# Create Log directory
+if [ ! -d "$ASR_LOG" ]
+then
+    mkdir $ASR_LOG
+fi
+
+# Install the required packages and dependencies
+sudo apt-get update -qq > /dev/null 2>&1
+
+# Kaldi install dependencies
+_kaldi_install_dependencies()
+{
+    # Install base packages
+    sudo apt-get install --assume-yes build-essential git python python-numpy sox swig zip -qq > /dev/null 2>&1
+    echo "Checking and installing dependencies..."
+    # Change exit to return to source check_dependencies and change back once done
+    sed -i "s|exit|return|g" $KALDI/tools/extras/check_dependencies.sh
+    source $KALDI/tools/extras/check_dependencies.sh > /dev/null
+    sed -i "s|return|exit|g" $KALDI/tools/extras/check_dependencies.sh
+
+    # Install dependencies
+    sudo apt-get install libatlas3-base $debian_packages -qq > /dev/null 2>&1
+}
+
+# Kaldi check dependencies
+_kaldi_check_dependencies()
+{
+    echo "Checking dependencies..."
+    $KALDI/tools/extras/check_dependencies.sh > /dev/null
+}
+
+# Kaldi Build (Common to Installation and Update)
+_kaldi_build_tools()
+{
+    # Build toolkit
+    echo "Building toolkit..."
+    # Build the tools directory
+    cd $KALDI/tools
+    make -j 8 &> $ASR_LOG/make_tools.log
+    make_tools_status=$( tail -n 1 $ASR_LOG/make_tools.log )
+
+    if [ "$make_tools_status" != "All done OK." ]
+    then
+        echo -e "\e[34m\e[1m Make kaldi/tools failed \e[0m"
+        return 1
+    fi
+    echo "  - Built tools"
+}
+
+_kaldi_build_irstlm()
+{
+    # Install IRSTLM
+    # Remove IRSTLM dir if it exists else the install script fails
+    cd $KALDI/tools
+    if [ -d "irstlm" ]
+    then
+        rm -rf irstlm
+    fi
+    extras/install_irstlm.sh &> $ASR_LOG/install_irstlm.log
+    install_irstlm_status=$(grep "Installation of IRSTLM finished successfully" $ASR_LOG/install_irstlm.log )
+
+    if [ -z "$install_irstlm_status" ]
+    then
+        echo -e "\e[34m\e[1m Install kaldi/tools/extras/install_irstlm.sh failed \e[0m"
+        return 1
+    fi
+    echo "  - Built IRSTLM"
+}
+
+_kaldi_build_sequitur()
+{
+    # Install Sequitur
+    cd $KALDI/tools
+    extras/install_sequitur.sh &> $ASR_LOG/install_sequitur.log
+    install_sequitur_status=$(grep "Installation of SEQUITUR finished successfully" $ASR_LOG/install_sequitur.log)
+
+    if [ -z "$install_sequitur_status" ]
+    then
+        echo -e "\e[34m\e[1m Install kaldi/tools/extras/install_sequitur.sh failed \e[0m"
+        return 1
+    fi
+    echo "  - Built SEQUITUR"
+}
+
+_kaldi_build_srilm()
+{
+    # Install SRILM
+    cd $KALDI/tools
+    # Download SRILM if .tgz does not exist
+    if [ ! -f "srilm.tgz" ]
+    then
+        wget -q https://github.com/tue-robotics/kaldi_srilm/blob/master/srilm.tgz?raw=true -O srilm.tgz
+    fi
+    extras/install_srilm.sh &> $ASR_LOG/install_srilm.log
+    install_srilm_status=$(grep "Installation of SRILM finished successfully" $ASR_LOG/install_srilm.log)
+
+    if [ -z "$install_srilm_status" ]
+    then
+        echo -e "\e[34m\e[1m Install kaldi/tools/extras/install_srilm.sh failed \e[0m"
+        return 1
+    fi
+    echo "  - Built SRILM"
+}
+
+_kaldi_build_src_cmake()
+{
+    # Build src using CMake
+    cd $KALDI
+
+    # Remove existing STATUS file from previous build
+    if [ -f STATUS ]
+    then
+        rm STATUS
+    fi
+
+    # Remove existing build directory
+    if [ -d build ]
+    then
+        rm -rf build
+    fi
+
+    mkdir build
+    cd build
+    cmake -GNinja -DCMAKE_INSTALL_PREFIX=../dist -DKALDI_BUILD_EXE=OFF -DKALDI_BUILD_TEST=OFF -DBUILD_SHARED_LIBS=ON ..
+    cmake --build . --target install || { echo "CMake build failed" && return 1; }
+
+    # Create a STATUS file to monitor installation
+    cd $KALDI
+    echo "ALL OK" > STATUS
+}
+
+_kaldi_build_src_make()
+{
+    # Build the src directory
+    cd $KALDI/src
+    ./configure --shared &> $ASR_LOG/configure_src.log
+    configure_src_status=$( grep "SUCCESS" $ASR_LOG/configure_src.log )
+
+    if [ -z "$configure_src_status" ]
+    then
+        echo -e "\e[34m\e[1m Configure kaldi/src failed \e[0m"
+        return 1
+    fi
+    echo "  - Configured src for build"
+
+    # Make Kaldi without checks (ensures faster compilation)
+    sed -i '/-g # -O0 -DKALDI_PARANOID/c\-O3 -DNDEBUG' kaldi.mk
+    make depend -j 8 > /dev/null
+    make -j 8 &> $ASR_LOG/make_src.log
+    make_src_status=$( grep "Done" $ASR_LOG/make_src.log )
+
+    if [ -z "$make_src_status" ]
+    then
+        echo -e "\e[34m\e[1m Make kaldi/src failed \e[0m"
+        return 1
+    fi
+    echo "  - Built src"
+}
+
+_kaldi_build()
+{
+    _kaldi_build_tools || return 1
+    _kaldi_build_irstlm || return 1
+    _kaldi_build_sequitur || return 1
+    _kaldi_build_srilm || return 1
+    _kaldi_build_src_make || return 1
+
+    # Create a STATUS file to monitor installation
+    cd $KALDI
+    echo "ALL OK" > STATUS
+}
+
+# Kaldi Gstreamer plugin with online decoder build
+_kaldi_online_gst()
+{
+    echo "Building online decoder and gstreamer plugin..."
+    # Install PortAudio
+    cd $KALDI/tools
+    extras/install_portaudio.sh &> $ASR_LOG/install_portaudio.log
+    install_portaudio_status=$(grep "PortAudio was successfully installed" $ASR_LOG/install_portaudio.log)
+
+    if [ -z "$install_portaudio_status" ]
+    then
+        echo -e "\e[34m\e[1m Install kaldi/tools/extras/install_portaudio.sh failed \e[0m"
+        return 1
+    fi
+    echo "  - Installed PortAudio"
+
+    # Build online decoder
+    cd $KALDI/src/online
+    make -j 8 &> $ASR_LOG/make_online.log || { echo -e "\e[34m\e[1m Make kaldi/src/online failed \e[0m"; return 1; }
+    echo "  - Built online decoder"
+
+    # Build Gstreamer plugin
+    cd $KALDI/src/gst-plugin
+    make depend -j 8 > /dev/null
+    make -j 8 &> $ASR_LOG/make_gst-plugin.log || { echo -e "\e[34m\e[1m Make kaldi/src/gst-plugin failed \e[0m"; return 1; }
+    echo "  - Built gstreamer plugin"
+
+    # Test Gstreamer plugin
+    export GST_PLUGIN_PATH=$KALDI/src/gst-plugin${GST_PLUGIN_PATH:+:${GST_PLUGIN_PATH}}
+    gst-inspect-1.0 onlinegmmdecodefaster > /dev/null || { echo -e "\e[34m\e[1m gst-inspect of onlinegmmdecodefaster failed \e[0m"; return 1; }
+    echo "  - Gstreamer Plugin Test Successful"
+}
+
+# Kaldi Installation
+kaldi_install()
+{
+    echo "Checking for an existing Kaldi-ASR installation in $KALDI"
+
+    if [ ! -d "$KALDI" ]
+    then
+        # Clone repository into $KALDI
+        echo -e "No existing installation found. Cloning from GitHub repository"
+        git clone $KALDI_REPO $KALDI
+        _kaldi_install_dependencies
+        _kaldi_build
+    else
+        # Read STATUS file. If not "ALL OK", remove directory $KALDI and re-install Kaldi
+        kaldi_install_status="$(cat $KALDI/STATUS)"
+
+        if [ "$kaldi_install_status" != "ALL OK" ]
+        then
+            sudo rm -rf $KALDI
+            kaldi_install
+        fi
+    fi
+}
+
+# Kaldi Update
+kaldi_update()
+{
+    if [ ! -d "$KALDI" ]
+    then
+        # Install Kaldi if directory $KALDI not present
+    kaldi_install
+    else
+        # Read STATUS file. If "ALL OK" then update else remove directory $KALDI
+        # and re-install Kaldi
+        kaldi_install_status="$(cat $KALDI/STATUS)"
+
+        if [ "$kaldi_install_status" = "ALL OK" ]
+        then
+            # Pull changes from the repository
+            echo "Updating repository from GitHub"
+            cd $KALDI
+            git pull
+
+            # Clean existing make
+            _kaldi_clean
+            # Build toolkit
+            _kaldi_install_dependencies
+            _kaldi_build
+
+            echo -e "\e[36m\e[1m Kaldi-ASR update complete \e[0m"
+        else
+            sudo rm -rf $KALDI
+            kaldi_install
+        fi
+    fi
+}
+
+# Clean the repository
+_kaldi_clean()
+{
+    # Clean existing make
+    echo -e "\e[36m\e[1m Cleaning existing make \e[0m"
+    cd $KALDI/tools
+    make distclean
+    cd $KALDI/src
+    make distclean
+
+    # Remove anyother file not a part of the repository
+    cd $KALDI
+    git clean -fdx
+}
+
+# Read Postional Parameters
+if [ -z "$1" ]
+then
+    usage
+else
+    while [ "$1" != "" ]
+    do
+        case $1 in
+            --install-kaldi )
+                kaldi_install
+                echo -e "\e[36m\e[1m Kaldi installation complete \e[0m" ;;
+
+            --update-kaldi )
+                kaldi_update ;;
+
+            --clean )
+                _kaldi_clean ;;
+
+            --gst-plugin )
+                _kaldi_online_gst ;;
+
+            --tue )
+                _kaldi_check_dependencies || exit 1
+                _kaldi_build_tools || exit 1
+                _kaldi_build_src_cmake || exit 1
+                echo -e "\e[36m\e[1m Kaldi installation complete \e[0m" ;;
+
+            -h | --help )
+                usage
+                exit 1 ;;
+
+            * )
+                usage
+                exit 1 ;;
+        esac
+        shift
+    done
+fi
diff --git a/setup.bash b/setup.bash
new file mode 100644
index 00000000000..f842fc16cd7
--- /dev/null
+++ b/setup.bash
@@ -0,0 +1,20 @@
+#! /usr/bin/env bash
+#
+# Environment variables to use by speech_recognition repo
+
+export KALDI_ROOT="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+
+if [[ :$PKG_CONFIG_PATH: != *:$KALDI_ROOT/dist/lib/pkgconfig:* ]]
+then
+    export PKG_CONFIG_PATH=$KALDI_ROOT/dist/lib/pkgconfig${PKG_CONFIG_PATH:+:${PKG_CONFIG_PATH}}
+fi
+
+# [ -f $KALDI_ROOT/tools/env.sh ] && . $KALDI_ROOT/tools/env.sh
+
+# export PATH=$KALDI_ROOT/egs/wsj/s5/utils/:$KALDI_ROOT/tools/openfst/bin${PATH:+:${PATH}}
+
+# [ ! -f $KALDI_ROOT/tools/config/common_path.sh ] && echo >&2 "The standard file $KALDI_ROOT/tools/config/common_path.sh is not present -> Exit!" && exit 1
+# . $KALDI_ROOT/tools/config/common_path.sh
+
+# Make sure that MITLM shared libs are found by the dynamic linker/loader
+#export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$(pwd)/tools/mitlm-svn/lib