Got a
pcDuino3S running
Linaro 12.07 [Linux] set up to run the
No-IP dynamic DNS update client (DUC). These details should also work for a home server running
Ubuntu or
Lubuntu.
No-IP is a provider of Domain Name (DNS) services, and they have a
free tier which you can use to dynamically map a domain name host to your home server's external IP address.