I have done a bit of home automation such as building a remote camera that can be turned on via SSH locally and publishes images on a Raspberry Pi run Linux server.
I'm curious, though, as to what protocols are best followed when your security is behind a router. I've used things like Putty and opened ports so that I can tunnel in but I don't imagine these are the most secure methods.
I'm wondering what protocols/tools are best used when accessing a home server system remotely.