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.