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Chapter 2. Related Work/Fundamentals 23

mBS Smart Home

is a platform-independent, Java-based framework, based on the OSGi

middleware. It is optimized for use in embedded products, such as routers, gateways and

mobile phones, and oﬀers an SDK and other tools for product development. Various au-

tomation systems are supported such as ZWave, ZigBee, UPnP, KNX, X10, and another

set of external hardware, for example Webcams. mBS Smart Home SDK comes with a

set of additional components, which provide services such as SMS and email notiﬁcation,

multimedia extensions, web server and a web framework for web based interfaces [23].

MiddleWhere [24] is designed for location-aware applications as it provides advanced location

data and facilitates the use of diﬀerent location sensing techniques. MiddleWhere stores

its data in a spatial database consisting of sensor information and a representation of the

physical space. In order to reduce conﬂicts and merge diﬀerent sensor values, it has a

reasoning engine, which uses sensor model and spatial information to determine an object’s

location with a certain probability. The location model is hierarchical and deﬁnes three

diﬀerent kinds of locations: points, lines and polygons. Each entry is represented as GLOBs

(Gaia LOcation Byte-string), which contain coordinates (x, y, z) and a symbolic name. For

example a light can be saved as Building2/1/1913/Light1 or as Building2/1/1913/(1,5,3),

meaning that Light1 is located in room 1913, ﬂoor 1 of building 2 at the coordinates (1,5,3).

In this case, the light can be deﬁned by a point. Polygons are used to present rooms and

other complex shapes like chairs, tables and spaces, while lines can represent doors.

MundoCore [22] is a light-weight infrastructure designed for pervasive computing. Due to its

low footprint of approximately 42 kB

, it can be used on a wide spectrum of diﬀerent

devices, ranging from servers to small embedded systems. It is based on a microkernel

design and oﬀers functionality like dynamic reconﬁguration and common APIs for several

programming languages (Java, C++, Python, C#). MundoCore uses diﬀerent communi-

cation abstractions, such as publisher/subscriber, services and XML RPC, which are similar

to the functions oﬀered by ROS. Moreover, it provides automatic peer discovery allowing

nodes to detect each other.

2.4.2. Robot Operating System (ROS)

The Robot Operating System (ROS) is an open source middleware for robotic systems. Its

development started in 2007 under the name switchyard by the Stanford Artiﬁcial Intelligence

Laboratory for the STAIR project [25]. In 2008, the project was taken over by Willow Garage. As

a result ROS inherits the drivers, navigation system, and simulators from the Player project, vision

algorithms from OpenCV, planning algorithms from OpenRAVE and diﬀerent functions from many

others [26].

http://www.osgi.org/Spotlight/MBSSmartHome

https://wiki.tk.informatik.tu-darmstadt.de/bin/view/Mundo/AboutMundo

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RFXCOM RFXtrx433 Especificaciones Pagina 30