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  • 1. Ekelin, Svante
    et al.
    Nilsson, Martin
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Continuous monitoring of available bandwidth over a network path2004Conference paper (Refereed)
  • 2. Ekelin, Svante
    et al.
    Nilsson, Martin
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    The Failure of 'The Failure of Poisson Modeling' for Internet Bandwidth Measurements2005Conference paper (Refereed)
    Abstract [en]

    There is a classic paper, which claims that many parameters of network traffic are best modeled by stochastic distributions with infinite variance. We believe that although this paper is correct, it has commonly been overinterpreted. It is true that some distributions have infinite variance, but not all. There are important cases where distributions of traffic parameters have finite variance. As an example, we show that the end-to-end available bandwidth must have finite variance, outline a method for measuring it, and present some experimental data.

  • 3. Ekelin, Svante
    et al.
    Nilsson, Martin
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Hartikainen, Erik
    Johnsson, Andreas
    Mångs, Jan-Erik
    Melander, Bob
    Björkman, Mats
    Real-time measurement of end-to-end available bandwidth using Kalman filtering2006Conference paper (Refereed)
    Abstract [en]

    This paper presents a new method, BART (Bandwidth Available in Real-Time), for estimating the end-to-end available bandwidth over a network path. It estimates bandwidth quasi-continuously, in real-time. The method has also been implemented as a tool. It relies on self-induced congestion, and probes the network path with trains of probe packets, sent at randomized rates. BART requires little computation in each iteration, is light-weight with respect to memory requirements, and adds only a small amount of probe traffic. The BART method is based on Kalman filtering, which enables real-time estimation (a.k.a. tracking) with optimum performance under general conditions. It maintains a current estimate, which is incrementally improved with each new measurement of the inter-packet time separations in a probe packet train. The measurement model has a strong non-linearity, and would not at first sight be considered suitable for Kalman filtering, but we show how this non-linearity can be handled. BART may be tuned according to the specific needs of the measurement application, such as agility vs. stability of the estimate, and the desired time-scale on which to track traffic fluctuations. We have tested BART in a physical test network with carefully controlled cross traffic, with good accuracy and agreement. Test measurements have also been performed over the Internet. We compare the performance of BART with that of pathChirp, a state-of-the-art tool for measuring end-to-end available bandwidth in real-time.

  • 4.
    Feeney, Laura Marie
    et al.
    RISE - Research Institutes of Sweden, ICT, SICS.
    Nilsson, Martin
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Investigating the energy consumption of a wireless network interface in an ad hoc networking environment2001Conference paper (Refereed)
    Abstract [en]

    Energy-aware design and evaluation of network protocols requires knowledge of the energy consumption behaviour of actual wireless interfaces. But little practical information is available about the energy consumption behaviour of well-known wireless network interfaces and device specifications do not provide information in a form that is helpful to protocol developers. This paper describes a series of experiments which obtained detailed measurements of the energy consumption of an IEEE 802.11 wireless network interface operating in an ad hoc networking environment. The data is presented as a collection of linear equations for calculating the energy consumed in sending, receiving and discarding broadcast and point-to-point data packets of various sizes. Some implications for protocol design and evaluation in ad hoc networks are discussed.

  • 5.
    Habibivic, Azra
    et al.
    RISE - Research Institutes of Sweden, ICT, Viktoria.
    Andersson, Johan
    Nilsson, Martin
    RISE - Research Institutes of Sweden, ICT, Viktoria.
    Malmsten Lundgren, Victor
    RISE - Research Institutes of Sweden, ICT, Viktoria.
    Nilsson, J.
    Semcon Sweden AB, Sweden.
    Evaluating interactions with non-existing automated vehicles: three Wizard of Oz approaches2016In: 2016 IEEE Intelligent Vehicles Symposium (IV), 2016, p. 32-37, article id 7535360Conference paper (Refereed)
    Abstract [en]

    Highly automated test vehicles are rare today, and (independent) researchers have often limited access to them. Also, developing fully functioning system prototypes is time and effort consuming. In this paper, we present three adaptions of the Wizard of Oz technique as a means of gathering data about interactions with highly automated vehicles in early development phases. Two of them address interactions between drivers and highly automated vehicles, while the third one is adapted to address interactions between pedestrians and highly automated vehicles. The focus is on the experimental methodology adaptations and our lessons learned.

  • 6.
    Kumm, Mia
    et al.
    RISE, SP – Sveriges Tekniska Forskningsinstitut, SP Fire Research.
    Wirström, Niklas
    RISE, Swedish ICT, SICS.
    Nilsson, Martin
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Ingason, Haukur
    RISE, SP – Sveriges Tekniska Forskningsinstitut, SP Fire Research.
    Vylund, Lotta
    RISE, SP – Sveriges Tekniska Forskningsinstitut, SP Fire Research.
    Safety positioning for first responders to fires in underground constructions: A pre-study of demands and possibilities2016Report (Other academic)
    Abstract [en]

    This report presents the results of the SafePos pre-study, in which different technologies for safety positioning to be used by first responders were identified, and techniques for ad hoc positioning were evaluated. The aim of the project, was to test various systems for localisation and communication and narrow- and wide-band radio transmission techniques, and to further investigate how the presence of such a system could support fire and rescue operations in complex underground environments. Tests have been carried out in real, pre-existing mining environments, and complex office corridors with similar conditions to those of a mine as regards curves and obstructions have been used for introductory tests. A computer application for digital simulation has been developed and adapted to the system, although this only operates on a relatively basic level, so as to support the testing of the positioning and communication systems; thus, more can be done to improve performance for real-life applications. The analysis was conducted by studying the results of the experiments and linking them to expected usage during a fire and rescue operation. Tests have also been carried out in cooperation with the fire and rescue services in order to identify equipment and wearable technologies that could support and make fire and rescue operations in mines and other complex underground constructions safer and more efficient. In order to transfer information to and from these wearable technologies and to improve the likelihood of a safe and efficient fire and rescue operation, positioning and connectivity are requirements.Keywords: Underground constructions, mine, fire safety, positioning, connectivity

  • 7.
    Nilsson, Martin
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Computer Mechatronics: A Radical Approach to Mechatronics Education2005Conference paper (Refereed)
    Abstract [en]

    This paper describes some distinguishing features of a course on mechatronics, based on computer science. We propose a teaching approach called Controlled Problem-Based Learning (CPBL). We have applied this method on three generations (2003-2005) of mainly fourth-year undergraduate students at Lund University (LTH). Although students found the course difficult, there were no dropouts, and all students attended the examination 2005.

  • 8.
    Nilsson, Martin
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Computer mechatronics: a radical approach to mechatronics education2005Conference paper (Refereed)
    Abstract [en]

    This paper describes some distinguishing features of a course on mechatronics, based on computer science. We propose a teaching approach called Controlled Problem-Based Learning (CPBL). We have applied this method on three generations (2003-2005) of mainly fourth-year undergraduate students at Lund University (LTH). Although students found the course difficult, there were no dropouts, and all students attended the examination 2005.

  • 9.
    Nilsson, Martin
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Cranking along: slip-free locomotion for snake robots without torsion-free joints1998Conference paper (Refereed)
  • 10.
    Nilsson, Martin
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Directional antennas for wireless sensor networks2009In: Proc. 9th Scandinavian Workshop on Wireless Adhoc Networks (Adhoc'09), 2009, 1, , p. 4Conference paper (Refereed)
    Abstract [en]

    Directional antennas provide angle-of-arrival information, which can be used for localization and routing algorithms in wireless sensor networks. We briefly describe three classical, major types of antennas: 1) the Adcock-pair antenna, 2) the pseudo-Doppler antenna, and 3) the electronically switched parasitic element antenna. We have found the last type to be the most suitable for wireless sensor networks, and we present here the early design details and beam pattern measurements of a prototype antenna for the 2.4-GHz ISM band, the SPIDA: SICS Parasitic Interference Directional Antenna.

  • 11.
    Nilsson, Martin
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Essential properties of connectors for self-reconfiguring modular robots2001In: Proceedings of the Workshop on Reconfigurable Robots, IEEE International Conference on Robotics and Automation, ICRA 2001, May 2001, Seoul, South Korea, 2001, 1Conference paper (Refereed)
    Abstract [en]

    The paper describes properties necessary for autonomous docking systems that use adaptive and learning docking procedures.

  • 12.
    Nilsson, Martin
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Fundamental limitations of compact and lightweight mechanisms2000In: Proceedings of ICMA, 27-29 Sept 2000, Osaka, Japan, 2000, 1Conference paper (Refereed)
  • 13.
    Nilsson, Martin
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Heavy-duty connectors for self-reconfiguring robots2002Conference paper (Refereed)
    Abstract [en]

    Connectors for self-reconfiguring robots need to fulfill a wide range of requirements. We discuss these properties, with emphasis on geometrical shape and latching. We describe the DRAGON modular connector, whose most distinctive features are its ability to self-align and its strength. It weighs 170 g, but holds over 70 kg load. It is able to self-align /spl plusmn/15 mm (O/5) lateral offsets, and /spl plusmn/45/spl deg/ directional and rotational offsets.

  • 14.
    Nilsson, Martin
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Hitting time in Erlang loss systems with moving boundaries2014In: Queueing systems, ISSN 0257-0130, E-ISSN 1572-9443, Vol. 78, p. 225-254Article in journal (Refereed)
    Abstract [en]

    When the boundary—the total number of servers—in an Erlang loss system is a function of time, customers may also be lost due to boundary variations. On condition that these customers are selected independently of their history, we solve for the hitting-time distribution and transient distribution of busy servers. We derive concise asymptotic expressions in the time domain for normal loads in the heavy-traffic limit, i.e., when the offered load ρ is high, and the number of servers scales as ρ+O(√ρ). The solutions are computationally efficient, and simulations confirm the theoretical results.

  • 15.
    Nilsson, Martin
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Kalman Filtering with Unknown Noise Covariances2006Conference paper (Refereed)
    Abstract [en]

    Since it is often difficult to identify the noise covariances for a Kalman filter, they are commonly considered design variables. If so, we can as well try to choose them so that the corresponding Kalman filter has some nice form. In this paper, we introduce a one-parameter subfamily of Kalman filters with the property that the covariance parameters cancel in the expression for the Kalman gain. We provide a simple criterion which guarantees that the implicitly defined process covariance matrix is positive definite.

  • 16.
    Nilsson, Martin
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Localization using directional antennas and recursive estimation2008Conference paper (Refereed)
    Abstract [en]

    In wireless sensor networks, there is often a need for nodes to find their position. This process is referred to as localization. Many methods have been proposed for this purpose, but they typically suffer from one of two major problems: Either, they are inaccurate for noisy measurement data, or they require a considerable amount of computation. In this paper, we present a method based on recursive estimation of position from angle-of-arrival measurements by directional antennas. The method computes a new position estimate for every new measure ment, using a Kalman filter. Computation is fast and is performed entirely locally. No complex datastructure needs to be maintained. A prominent feature of the proposed method is that it applies only a linear Kalman filter.

  • 17.
    Nilsson, Martin
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Measuring available path capacity using short probe trains2009Conference paper (Refereed)
    Abstract [en]

    It is well known that algorithms for measuring available path capacity at the IP layer by active probing tend to be more accurate when using long probe trains. This is due to the bias errors introduced by short probe trains. However, long trains have other disadvantages, such as delay, overhead, and increased risk for packet loss, especially for high probe rates. Router queue sizes also limit the maximum probe train length. In this paper, a robust method is proposed for reducing measurement bias caused by short probe trains. The method is robust in the sense that it gracefully handles lost packets and outliers, such as caused by non-Poisson cross traffic. The proposed method has been combined with the BART estimator for measuring available path capacity, and successfully tested in a multi-hop local IP network for industrial use. The principle should be generally applicable to estimators of available path capacity based on active probe trains.

  • 18.
    Nilsson, Martin
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Monsterleden eller en robotikforskares möte med den mekatroniska verkligheten2001In: Proceedings of the Mekatronikmöte 2001, 2001, 1Conference paper (Refereed)
    Abstract [en]

    The paper discusses the trade-off between hardware and software complexity. A robotic joint is taken as an example and the conclusion is that systems must be designed so that models become simple, if we expect to use advanced control methods.

  • 19.
    Nilsson, Martin
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Serpentine locomotion on surfaces with uniform friction2004Conference paper (Refereed)
    Abstract [en]

    A common view in snake robot research is that serpentine locomotion is only possible when there is nonuniform friction. This paper demonstrates that this view is incorrect, through a simple and easily reproducible experiment. We also present a theoretical kinematical analysis, which explains the experiment.

  • 20.
    Nilsson, Martin
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Snake robot free climbing1998In: IEEE Control Systems Magazine, Vol. 18, no 1, p. 21-26Article in journal (Refereed)
  • 21.
    Nilsson, Martin
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Symmetric docking in 2D: a bound on self-alignable offsets1999Conference paper (Refereed)
  • 22.
    Nilsson, Martin
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Tactile sensing and other distributed sensors with minimal wiring complexity2000In: IEEE/ASME transactions on mechatronics, ISSN 1083-4435, E-ISSN 1941-014X, Vol. 5, no 3, p. 253-257Article in journal (Refereed)
    Abstract [en]

    This paper describes a tactile sensor design, allowing data acquisition from a sensor array using a single wire. The sensor is implemented as a filter. Sensor excitation changes filter characteristics, and the pressure profile can be recovered from the filter's impulse response. The method is also applicable to sensor arrays for other scalar fields than pressure, such as heat, proximity, or radiation. Several methods of data extraction from the impulse response are discussed, and experimental implementation results are presented.

  • 23.
    Nilsson, Martin
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Tactile sensing with minimal wiring complexity1999In: Proceedings of IEEE on International Conference Robotics and Automation (ICRA'99), 11-15 May 1999, Detroit, Michigan, USA, New York, 1999, 1Conference paper (Refereed)
  • 24.
    Nilsson, Martin
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    The world's simplest mechanism simulator or making engineering students suddenly discover that they want to devour mathematics and physics2005Conference paper (Refereed)
    Abstract [en]

    Mechanism simulation is an essential tool for robotics and engineering. Computer programs for simulating rigid-body dynamics are usually large and elaborate pieces of software. The complexity of these systems has led to an apparently common belief that rigid-body dynamics simulators must necessarily be large and complex, and that developing such simulators will require an expert team of programmers with Ph.D.’s in Lagrangian dynamics and differential geometry. This is wrong. We claim that the mathematics and physics knowledge of even a first-year engineering student suffices in order to implement a useful rigid-body dynamics simulator, powerful enough to handle kinematical loops. Of course, the student’s simulator is unable to compete with the professional systems when it comes to features and efficiency, but it will be perfectly useful for many non-trivial applications, and most importantly, the student will be able to completely master its theory and implementation.

  • 25.
    Nilsson, Martin
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Why snake robots need torsion-free joints and how to design them1998Conference paper (Refereed)
  • 26.
    Nilsson, Martin
    et al.
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Johnsson, Andreas
    Ericsson Research.
    Brander, Peter
    Bombardier Transportation.
    Evaluation of BART for measuring available bandwidth in an industrial application2009In: Proc. 6th Swedish National Computer Networking Workshop (SNCNW'09), 2009, 1, , p. 4Conference paper (Refereed)
    Abstract [en]

    We report results from a field study using the BART method for measuring available bandwidth in a local IP-network for use in train cars. The test was performed on physical hardware in a laboratory environment for a set of two cars. Test results indicate that BART measurement is viable.

  • 27.
    Nilsson, Martin
    et al.
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Karlsson, Gunnar
    RISE - Research Institutes of Sweden, ICT, SICS.
    Fast address lookup for Internet routers1998In: Broadband Communications: The future of telecommunications, London: Elsevier , 1998, 1, Vol. 22, p. 11-22Chapter in book (Refereed)
  • 28. Öström, Erik
    et al.
    Mottola, Luca
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Nilsson, Martin
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Voigt, Thiemo
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Demo Abstract: Smart Antennas Made Practical: The SPIDA Way2010Conference paper (Refereed)
1 - 28 of 28
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  • text
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