Design and development of intelligentapartments
Zahraa Shahid · KTH Publication Database DiVA (KTH Royal Institute of Technology) · 2014
Developments in the elds of Ambient Intelligent Environments (AmIE) and UbiquitousComputing environments have provided the opportunity to develop assistive technologiesto help individuals who need medical care on a daily basis; in fact the integration betweenrobots, smart actuators and sensors can ease the execution of several domestic tasks.Since building a real physical IE is costly, simulations have opened the door to variouspossibilities to design, test and explore dierent scenarios of virtual IE. This thesisproject is aimed at developing an agile prototyping toolkit that provides the means forusers to simulate smart environments for robotics, AmIE and Ubiquitous Computingelds. This toolkit leverages well known software middlewares: Robot Operating System(ROS) and Gazebo. The former is a middleware providing access to several state of theart techniques used in robotics as well as to a variety of hardware platforms. The latterprovides a simulator which allows to reproduce 3D environments as well as roboticplatforms. Besides reproducing realistic scenarios, the proposed framework easily allowsto go beyond a single apartment: in particular in this thesis a double oor building hasbeen taken into account. Performances about this scenario and the integration withexisting middlewares are also provided.