Service Robotics within the Digital Home (eBook)

Table of Contents.-  Abbrevations.-  Preface.-  Introduction.-  1. Interoperability Systems.-  1.1. Introduction.-  1.2. UPnP.-  1.2.1. Introduction.-  1.2.2. General features.-  1.2.3. Specific features.-  1.2.4. Protocols.-  1.2.5 Components of a UPnP network.-  1.2.6. UPnP running.-  1.2.7. Penetration in the market.-  1.3. OSGi.-  1.3.1. Introduction.-  1.3.2. General features.-  1.3.3. Specific features.-  1.3.4. Organization.-  1.3.5. Penetration in the market.-  1.4. Jini.-  1.4.1. Introduction.-  1.4.2. General features.-  1.4.3. Specific features.-  1.4.4. Organization of the Jini architecture.-  1.4.5. Penetration in the market.-  1.5. DLNA.-  1.5.1. Introduction.-  1.5.2. General features.-  1.5.3. Specific features.-  1.5.4. Penetration in the market.-  1.6. Other standards.-  1.6.1. Salutation.-  1.6.2. Service Location Protocol (SLP).-  1.6.3. Ad-hoc developments.-  2 Robotic Development.-  2.1 Introduction.-  2.1.1 General characteristics of development platforms.-  2.1.1.1 Standard Template Library (STL).-  2.1.1.2 Microsoft Foundation Class Library (MFC).-  2.1.1.3 Open Graphics Library (OpenGL).-  2.1.2 Robotic Middleware and Development Platforms.-  2.1.2.1 CARMEN (Carnegie Mellon Navigation Toolkit).-  2.1.2.2 Miro (Middleware for Mobile Robot Applications).-  2.1.2.3 OROCOS (Open RObot COntrol Software).-  2.1.2.4 Player.-  2.1.2.5 Urbi.-  2.1.2.6 Orca.-  2.1.2.7 OpenRDK.-  2.1.2.8 CLARAty.-  2.1.3 Robotic Simulators.-  2.1.3.1 Microsoft Robotics Studio.-  2.1.3.2 Webots.-  2.1.3.3 Stage/Gazebo.-  2.1.3.4 MARIE (Mobile and Autonomous Robotics Integration Environment).-  2.1.3.5 AnyKode Marilou.-  2.1.3.6 USARSim.-  2.1.3.7 EyeSim/EyeBot.-  2.1.3.8 MobileSim.-  2.1.4 Simulators for communication protocols.-  2.1.4.1 OPNET Modeler.-  2.1.4.2 OMNeT++.-  2.1.4.3 NS-2 y NS-3 (Network Simulator).-  2.1.4.4 GloMoSim.-  2.1.4.5 IPC.-  2.1.5 The Numerical Simulation.-  2.1.6 Discussion.-  2.2 Architectural patterns for robotic development.-  2.2.1 Layered view.-  2.2.1.1 Layers.-  2.2.1.2 Indirection layer.-  2.2.2 Data Flow view.-  2.2.2.1 Batch Sequential.-  2.2.2.2 Pipes and Filters.-  2.2.3 Data Centered view.-  2.2.3.1 Active Repository.-  2.2.3.2 Blackboard.-  2.2.4 Adaption view.-  2.2.4.1 Microkernel.-  2.2.4.2 Reflection.-  2.2.4.3 Interceptor.-  2.2.5 Language Extensions view.-  2.2.5.1 Interpreter.-  2.2.5.2 Virtual Machine.-  2.2.5.3 Rule-based System.-  2.2.6 Distribution view.-  2.2.6.1 Broker.-  2.3 Player/Stage.-  2.3.1 General features.-  2.3.2 Specific features.-  2.3.2.1 Player.-  2.3.2.2 Stage.-  2.3.2.3 Gazebo.-  2.3.2.4 Differences between Stage and Gazebo.-  2.4 Microsoft Robotics Developer Studio.-  2.3.1 General features.-  2.3.2 Specific features.-  2.3.2.1 End-to-end development platform.-  2.3.2.2 Runtime services.-  2.3.2.3 Scalable and extensible platform.-  2.3.3 Differences with Player/Stage.-  2.4 Webots.-  2.4.1 General features.-  2.4.1.1 Robot and environment editor.-  2.4.1.2 Realistic simulation.-  2.4.1.3 Programming interface.-  2.4.1.4 Transference to real robots.-  2.4.2 Implementations.-  2.4.2.1 Khepera.-  2.4.2.2 Aibo.-  2.4.2.3 NAO.-  3. Service Robotics.-  3.1 Introduction.-  3.2 Personal service.-  3.2.1 Cleaning and Vacuuming.-  3.2.1.1 Roomba and Scooba:.-  Notes about development with Roomba Robots for the Digital Home.-  3.2.1.2 Mint automatic Floor Cleaner.-  3.2.1.3 IClebo Cleaning solutions.-  3.2.1.4 Pool cleaners.-  3.3 Green, agricultural and lawnmowing.-  3.3.1 ―Green Botics‖.-  3.4 Home personal robotic assistants.-  3.4.1 Examples.-  3.4.2 Home robotics interoperability: DH Compliant services.-  3.5 Telepresence, Teleassistance and robotic health services.-  3.6 Entertainment.-  3.6.1 Playing.-  3.6.1.1 Tribot.-  3.6.1.2 Robotic Teddy Bear.-  3.6.1.3 Pleo.-  3.6.2 Robotic kits.-  3.7 Security and safety robotic services.-  3.7.1 Home security.-  3.7.2 Privacy considerations.-  3.8 Home robotic assisted learning.-  3.9 Other service robotics between professional and the home environment.-  3.9.1 Professional service robots.-  4. Integration of service robots in the smart home.-  4.1. Introduction.-  4.2. Military standards.-  4.2.1. Joint architecture for unmanned systems (JAUS).-  4.2.1.1 Application of the military unmanned vehicles.-  4.2.1.2 Application of Civil Unmanned Vehicles.-  4.2.2. Other military standards.-  4.2.2.1. 4D/RCS (Real-time Control Systems).-  4.2.2.2. NATO STANAG 4586.-  4.3. Computer Science standards.-  4.3.1. Common Object Request Broker Architecture (CORBA).-  4.3.1.1. Components (Vinoski 1997):.-  4.3.1.2. Services (OMG 1998):.-  4.3.1.3. Application examples.-  4.3.2. Universal Plug and Play (UPnP).-  4.3.2.1. Components.-  4.3.2.2. Protocols.-  4.3.2.3. UPnP operation.-  4.3.3. Jini.-  4.3.4. Web services (WS).-  4.3.4.1. Components.-  4.3.4.2. Components.-  4.3.5. Semantic Web services (SWS).-  4.3.5.1. Required functionalities.-  4.3.5.2. Main technologies.-  4.3.6. Remote Method Invocation (RMI).-  4.3.6.1. Architecture.-  4.3.6.2. Components.-  4.3.6.3. Application.-  4.3.7. Other Computer Science standards.-  4.3.7.1. DH Compliant.-  4.3.7.2. Open Services Gateway Initiative (OSGi).-  5. Robotic Perspective.-  5.1. Introduction.-  5.2. Ethical, Legal and Societal Issues.-  5.2.1. Ethical issues.-  5.2.2. Legal issues.-  5.2.3. Societal issues.-  5.3. Principal Markets and Roadmapping.-  5.3.1. Demographic factor.-  5.3.2. Market pull.-  5.4. Scientific and Technical Challenges.-  5.4.1. Positioning.-  5.4.2. Manipulation and Grasping.-  5.4.3. Sustainability.-  5.4.4. Autonomy.-  5.4.5. Configuration.-  5.4.6. Adaptation.-  5.4.7. Human-Robot Interaction.-  5.4.8. Dependability.-  5.4.9. Physical Properties.-  5.4.10. Process Quality.-  5.4.11. Standardization.-  5.5. Robotic advances to short, mid and long-term.-  5.5.1. Sensing.-  5.5.2. Hardware and Software Design.-  5.5.3. Planning and Control.-  5.5.4. Cooperating robots and Intelligence.-  5.5.5. Real-Time Communication and HMI.-  5.5.6. Energy Management and Safety.-  5.5.7. Navigation and Locomotion.-  5.6. Service Robots Forecast.-  5.6.1. Professional Service Robots.-  5.6.2. Domestic Service Robots.-  5.7. Home Automation and the Digital Home.-  5.7.1. Some of history.-  5.7.2. Market Trends.-  5.8. Home Automation and Service Robots.-  5.8.1. Baseline.-  5.8.2. Trends.-  5.8.3. Home Automation and Robotics and Healthcare Sector.-  5.8.4. Home Automation and Robotics and Leisure Sector.-  5.8.5. Home Automation, Robotics and senior citizens.-  5.8.6. Home Automation, Robotics and disabled persons.-  5.8.7. Home Automation, Robotics and public environments.-  References.-  Glossary.