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  • 351. Marron, Pedro
    et al.
    Voigt, ThiemoRISE, Swedish ICT, SICS, Computer Systems Laboratory.Corke, PeterMottola, LucaRISE, Swedish ICT, SICS, Computer Systems Laboratory.
    4th International Workshop on Real-World Wireless Sensor Networks2010Collection (editor) (Refereed)
  • 352.
    McNamara, Liam
    et al.
    RISE, Swedish ICT, SICS.
    Al Nahas, Beshr
    RISE, Swedish ICT, SICS.
    Duquennoy, Simon
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Eriksson, Joakim
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Voigt, Thiemo
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Demo Abstract: SicsthSense - Dispersing the Cloud2014Conference paper (Refereed)
    Abstract [en]

    —This demo presents SicsthSense, our open cloud platform for the Internet of Things. SicsthSense enables low power devices such as sensor nodes and smartphones to easily store their generated data streams in the cloud. This allows the data streams, and their history, to be made permanently available to users for visualisation, processing and sharing. Moving sensor data computation and monitoring into the cloud is a promising avenue to enable centralisation of control and redistribution of collected data. We showcase SicsthSense running with real sensor nodes collecting environmental data and posting it to our datastore. This live data is then visualised and made available for sharing between users of the platform. Our Android App will also be distributed to enable participants to stream their phone sensors into the system, demonstrating how simple it can be to start machine-to-machine interactions with SicsthSense.

  • 353.
    Michel, Mathieu
    et al.
    University of Mons, Belgium.
    Duquennoy, Simon
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Quoitin, Bruno
    University of Mons, Belgium.
    Voigt, Thiemo
    RISE, Swedish ICT, SICS, Computer Systems Laboratory. Uppsala University, Sweden.
    Load-Balanced Data Collection through Opportunistic Routing2015In: 2015 International Conference on Distributed Computing in Sensor Systems, 2015, 9, p. 62-70, article id 7165024Conference paper (Refereed)
    Abstract [en]

    Wireless Sensor Networks performing low-power data collection often suffer from uneven load distribution among nodes. Nodes close to the network root typically face a higher load, see their battery deplete first, and become prematurely unable to operate (both sensing and relaying other nodes' data). We argue that opportunistic routing, by making forwarding decision on a per-packet basis and at the receiver rather than the sender, has the potential to better balance the load across nodes. We extend ORPL, an opportunistic version of the standard routing protocol RPL, with support for load-balancing. In our protocol, ORPL-LB, nodes continuously adapt their wake-up interval in order to adjust their availability and attain a deployment-specific target duty cycle. We implement our protocol in Contikiand present our experimental validation in Indriya, a 93-nodestestbed. Our results show that ORPL-LB reduces significantly(by approximately 40%) the worst node's duty cycle, with little or no impact on packet delivery ratio and latency.

  • 354.
    Michel, Mathieu
    et al.
    University of Mons, Belgium.
    Voigt, Thiemo
    RISE, Swedish ICT, SICS, Computer Systems Laboratory. Uppsala University, Sweden.
    Tsiftes, Nicolas
    RISE, Swedish ICT, SICS, Computer Systems Laboratory. Polytechnic University of Milan, Italy.
    Mottola, Luca
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Quoitin, Bruno
    University of Mons, Belgium.
    Predictable MAC-level Performance in Low-power Wireless under Interference2016In: Proceedings of the 2016 International Conference on Embedded Wireless Systems and Networks, 2016, 9, p. 13-22Conference paper (Refereed)
    Abstract [en]

    Predictable performance is key for many WSN applications. Recent efforts use models of the environment, the employed hardware, and protocols to predict network performance. Towards this end, we present an intentionally simple model of ContikiMAC, Contiki’s default MAC layer, targeting worst-case bounds for packet delivery rate and latency. Our experiments reveal problems in the performance of ContikiMAC, which make the protocol perform much worse than predicted, and hence prohibit predictable performance with the current ContikiMAC implementation. We show that the reason for this performance degradation is that ContikiMAC loses phase-lock. To solve this problem, we add fine-grained timing information into the acknowledgment packets. We show that this mechanism solves these problems and enables predictable performance with ContikiMAC even under high external interference.

  • 355.
    Misra, Prasant
    et al.
    RISE, Swedish ICT, SICS. Indian Institute of Science, India.
    Hu, Wen
    CSIRO, Australia.
    Jin, Yuzhe
    Microsoft, USA.
    Liu, Jie
    Microsoft, USA.
    Souza de Paula, Amanda
    University of Sao Paulo, Brazil.
    Wirström, Niklas
    RISE, Swedish ICT, SICS.
    Voigt, Thiemo
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Energy Efficient GPS Acquisition with Sparse-GPS2014Conference paper (Refereed)
    Abstract [en]

    Following rising demands in positioning with GPS, low-cost receivers are becoming widely available; but their energy demands are still too high. For energy efficient GPS sensing in delay-tolerant applications, the possibility of offloading a few milliseconds of raw signal samples and leveraging the greater processing power of the cloud for obtaining a position fix is being actively investigated. In an attempt to reduce the energy cost of this data offloading operation, we propose Sparse-GPS1: a new computing framework for GPS acquisition via sparse approximation. Within the framework, GPS signals can be efficiently compressed by random ensembles. The sparse acquisition information, pertaining to the visible satellites that are embedded within these limited measurements, can subsequently be recovered by our proposed representation dictionary. By extensive empirical evaluations, we demonstrate the acquisition quality and energy gains of Sparse-GPS. We show that it is twice as energy efficient than offloading uncompressed data, and has 5-10 times lower energy costs than standalone GPS; with a median positioning accuracy of 40m.

  • 356.
    Misra, Prasant
    et al.
    RISE, Swedish ICT, SICS.
    Mottola, Luca
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Raza, Shahid
    RISE, Swedish ICT, SICS, Security Lab.
    Duquennoy, Simon
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Tsiftes, Nicolas
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Höglund, Joel
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Voigt, Thiemo
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Supporting Cyber-Physical Systems with Wireless Sensor Networks: An Outlook of Software and Services2013In: Journal of the Indian Institute of Science, ISSN 0970-4140, Vol. 93, p. 441-462Article in journal (Refereed)
    Abstract [en]

    Sensing, communication, computation and control technologies are the essential building blocks of a cyber-physical system (CPS). Wireless sensor networks (WSNs) are a way to support CPS as they provide fine-grained spatial-temporal sensing, communication and computation at a low premium of cost and power. In this article, we explore the fundamental concepts guiding the design and implementation of WSNs. We report the latest developments in WSN software and services for meeting existing requirements and newer demands; particularly in the areas of: operating system, simulator and emulator, programming abstraction, virtualization, IP-based communication and security, time and location, and network monitoring and management. We also reflect on the ongoing efforts in providing dependable assurances for WSN-driven CPS. Finally, we report on its applicability with a case-study on smart buildings.

  • 357.
    Misra, Prasant
    et al.
    RISE, Swedish ICT, SICS. Indian Institute of Science, India.
    Raza, Shahid
    RISE, Swedish ICT, SICS, Security Lab.
    Rajaraman, Vasanth
    Indian Institute of Science, India.
    Warrior, Jay
    Indian Institute of Science, India.
    Voigt, Thiemo
    RISE, Swedish ICT, SICS, Computer Systems Laboratory. Uppsala University, Sweden.
    Security Challenges in Indoor Location Sensing using Bluetooth LE Broadcast2015In: EWSN 2015: Poster/Demo Session, 2015, 7, p. 11-12Conference paper (Refereed)
    Abstract [en]

    As we consider a new generation of Internet of Things and Humans (IoTH) applications that place humans at the epicenter of the control system the need to gather information from the immediate vicinity, in addition to global clues, is gaining importance. The loosely coupled Bluetooth Low Energy (BLE) data collection framework enables a new way of architecting IoTH systems where resource constrained BLE advertisers broadcast events, and devices inevitably carried by humans (such as smartphones) implicitly gather such notifications. While such a mechanism significantly alleviates data scavenging, it introduces serious limitations in terms of operational security. In this work, we show the applicability of BLE broadcast advertisements for indoor location sensing (as part of an IoTH application) and demonstrate an attack on the same system. Based on this preliminary case study, we discuss other security implications on BLE broadcasting.

  • 358. Moser, Monika
    et al.
    Haridi, Seif
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Atomic commitment in transactional DHTs2007In: Towards Next Generation Grids, Springer , 2007, 1, , p. 11Conference paper (Refereed)
    Abstract [en]

    We investigate the problem of atomic commit in transactional database systems built on top of Distributed Hash Tables. DHTs provide a decentralized way to store and look up data. To solve the atomic commit problem we propose to use an adaption of Paxos commit as a non-blocking algorithm. We exploit the symmetric replication technique existing in the DKS DHT to determine which nodes are necessary to execute the commit algorithm. By doing so we achieve a lower number of communication rounds and a reduction of meta-data in contrast to traditional Three-Phase-Commit protocols. We also show how the proposed solution can cope with dynamism due to churn in DHTs. Our solution works correctly relying only on an inaccurate failure detection of node failure which is necessary for systems running over the Internet.

  • 359. Mostafa, Hala
    et al.
    Bahgat, Reem
    Holmgren, Fredrik
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Multi-agent systems for behavioural studies2002Conference paper (Refereed)
    Abstract [en]

    In this paper, we propose a multi-agent system (MAS) to simulate a community of beings that move, eat, reproduce, trade and auction, among other activities. We demonstrate how beings using primitive rules result in emerging, non-primitive behaviour. Heterogeneity of real world entities is captured by allowing the user to give the beings different biological characteristics (e.g. level of intelligence and risk taking) using a control panel. Our paper focuses on our modifications and additions to the work inspired from the sugarscape problem [2]. Interesting statistics are obtained from test-runs. The MAS and the GUI that allows the user to control and observe the model were developed using our Agent Base Environment built on top of the Mozart Programming System; a general-purpose development platform that supports concurrency, distribution, resource-aware and symbolic computation.

  • 360.
    Mottola, Luca
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Programming Storage-centric Sensor Networks with Squirrel2010Conference paper (Refereed)
  • 361.
    Mottola, Luca
    et al.
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Picco, Gian Pietro
    Middleware for Wireless Sensor Networks: An Outlook2012In: International Journal of Internet Services and Applications, Vol. 3, p. 31-39Article in journal (Refereed)
    Abstract [en]

    In modern distributed computing, applications are rarely built directly atop operating system facilities, e.g., sockets. Higher-level middleware abstractions and systems are often employed to simplify the programmer’s chore or to achieve interoperability. In contrast, real-world wireless sensor network (WSN) applications are almost always developed by relying directly on the operating system. Why is this the case? Does it make sense to include a middleware layer in the design of WSNs? And, if so, is it the same kind of software system as in traditional distributed computing? What are the fundamental concepts, reasonable assumptions, and key criteria guiding its design? What are the main open research challenges, and the potential pitfalls? Most importantly, is it worth pursuing research in this field? This paper provides a (biased) answer to these and other research questions, preceded by a brief account on the state of the art in the field.

  • 362.
    Mottola, Luca
    et al.
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Picco, Gian Pietro
    MUSTER: Adaptive Energy-Aware Multi-Sink Routing in Wireless Sensor Networks2011In: IEEE Transactions on Mobile ComputingArticle in journal (Refereed)
  • 363.
    Mottola, Luca
    et al.
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Picco, Gian Pietro
    Programming Wireless Sensor Networks: Fundamental Concepts and State of the Art2011In: ACM Computing SurveysArticle in journal (Refereed)
  • 364.
    Mottola, Luca
    et al.
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Picco, Gian Pietro
    Ceriotti, Matteo
    Guna, Stefan
    Murphy, Amy
    Not All Wireless Sensor Networks Are Created Equal: A Comparative Study On Tunnels2010In: ACM Transactions on Sensor NetworksArticle in journal (Refereed)
  • 365.
    Mottola, Luca
    et al.
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Voigt, Thiemo
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    From Smart Dust to Wireless Sensor Networks2010In: Wireless Sensor Networks: Deployments and Design Frameworks, Springer , 2010, 11Chapter in book (Refereed)
  • 366.
    Mottola, Luca
    et al.
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Voigt, Thiemo
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Gonzales Silva, Ignacio
    Karoumi, Raid
    From Your Desk to the Field: Recent Trends in Deploying Wireless Sensor Networks for Monitoring Civil Structures2011Conference paper (Refereed)
  • 367.
    Mottola, Luca
    et al.
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Voigt, Thiemo
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Picco, Gian Pietro
    Electronically-switched Directional Antennas for Wireless Sensor Networks: A Full-stack Evaluation2013Conference paper (Refereed)
  • 368.
    Mottola, Luca
    et al.
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Voigt, Thiemo
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Picco, Gian Pietro
    Quartulli, Antonio
    Österlind, Fredrik
    RISE, Swedish ICT, SICS.
    Electronically-switched Directional Antennas for Low-power Wireless Networks: A Prototype-driven Evaluation2012Report (Other academic)
    Abstract [en]

    We study the benefits of electronically-switched directional antennas in low-power wireless networks. This antenna technology may improve energy efficiency by increasing the communication range and by alleviating contention in directions other than the destination, but in principle requires a dedicated network stack. Unlike most existing works, we start by characterizing a real-world antenna prototype, and apply this to an existing low-power wireless stack, which we adapt with minimal changes. Our results show that: i) the combination of a low-cost directional antenna and a conventional network stack already brings significant performance improvements, e.g., nearly halving the radio-on time per delivered packet; ii) the margin of improvement available to alternative clean-slate protocol designs is similarly large and concentrated in the control rather than the data plane; iii) by artificially modifying our antenna's link-layer model, we can point at further potential benefits opened by different antenna designs.

  • 369.
    Mottola, Luca
    et al.
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Voigt, Thiemo
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Österlind, Fredrik
    RISE, Swedish ICT, SICS.
    Eriksson, Joakim
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Baresi, Luciano
    Ghezzi, Carlo
    Anquiro: Enabling Efficient Static Verification of Sensor Network Software2010Conference paper (Refereed)
  • 370. Mulligan, Geoff
    et al.
    O'Flynn, Colin
    Abeillé, Julien
    Durvy, Mathilde
    Wetterwald, Patrick
    Leverett, Blake
    Gnoske, Eric
    Vidales, Michael
    Tsiftes, Nicolas
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Finne, Niclas
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Dunkels, Adam
    RISE, Swedish ICT, SICS.
    Demo abstract: seamless sensor network IP connectivity2009Conference paper (Refereed)
  • 371.
    Narendra, Prithvi Raj
    et al.
    RISE, Swedish ICT, SICS.
    Duquennoy, Simon
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Voigt, Thiemo
    RISE, Swedish ICT, SICS, Computer Systems Laboratory. Uppsala University, Sweden.
    BLE and IEEE 802.15.4 in the IoT: Evaluation and Interoperability Considerations2015In: Internet of Things: IoT Infrastructures / [ed] Benny Mandler, Johann Marque, Dagmar Cagáňová, Hakima Chaouchi, Sherali Zeadally, Mohamad Badra, Stefano Giordano, Maria Fazio, Andrey Somov, Radu-Laurentiu Vieriu, 2015, 9, Vol. 170, p. 427-438Conference paper (Refereed)
    Abstract [en]

    As the Internet of Things is gaining momentum, low-power communication technologies proliferate. In this paper, we focus on Bluetooth Low Energy (BLE) and IEEE 802.15.4 (CSMA, Low-power listening, and TSCH), and advocate low-power IPv6 for interoperability between the two. We perform a thorough experimental comparison of their link-layer performance, both in idle radio environment and when facing heavy (controlled) external interference. Our results suggest that both technologies can achieve interesting and complementary latency-energy trade-offs. Based on our results, we discuss possible interoperability between BLE and IEEE 802.15.4 and present related open issues.

  • 372.
    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.

  • 373.
    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.

  • 374.
    Nilsson, Martin
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Cranking along: slip-free locomotion for snake robots without torsion-free joints1998Conference paper (Refereed)
  • 375.
    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.

  • 376.
    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.

  • 377.
    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)
  • 378.
    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.

  • 379.
    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.

  • 380.
    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.

  • 381.
    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.

  • 382.
    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.

  • 383.
    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.

  • 384.
    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.

  • 385.
    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)
  • 386.
    Nilsson, Martin
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Symmetric docking in 2D: a bound on self-alignable offsets1999Conference paper (Refereed)
  • 387.
    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.

  • 388.
    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)
  • 389.
    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.

  • 390.
    Nilsson, Martin
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Why snake robots need torsion-free joints and how to design them1998Conference paper (Refereed)
  • 391.
    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.

  • 392.
    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)
  • 393. Nimar, Gustaf
    et al.
    Vlassov, Vladimir
    Popov, Konstantin
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Practical Experience in Building an Agent System for Semantics-Based Provision and Selection of Grid Services2005Conference paper (Refereed)
  • 394. Noda, Claro
    et al.
    Prabh, Shashi
    Alves, Mario
    Boano, Carlo Alberto
    Voigt, Thiemo
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Quantifying the channel quality for interference-aware wireless sensor networks2011In: ACM SIGBED Review, Vol. 8Article in journal (Refereed)
    Abstract [en]

    Reliability of communications is key to expand application domains for sensor networks. Since Wireless Sensor Networks (WSN) operate in the license-free Industrial Scientific and Medical (ISM) bands and hence share the spectrum with other wireless technologies, addressing interference is an important challenge. In order to minimize its effect, nodes can dynamically adapt radio resources provided information about current spectrum usage is available. We present a new channel quality metric, based on availability of the channel over time, which meaningfully quantifies spectrum usage. We discuss the optimum scanning time for capturing the channel condition while maintaining energy-efficiency. Using data collected from a number of Wi-Fi networks operating in a library building, we show that our metric has strong correlation with the Packet Reception Rate (PRR). This suggests that quantifying interference in the channel can help in adapting resources for better reliability. We present a discussion of the usage of our metric for various resource allocation and adaptation strategies.

  • 395. Noda, Claro
    et al.
    Prabh, Shashi
    Alves, Mario
    Voigt, Thiemo
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    On Packet Size and Error Correction Optimisations in Low-Power Wireless Networks2013Conference paper (Refereed)
  • 396. Noda, Claro
    et al.
    Prabh, Shashi
    Boano, Carlo Alberto
    Voigt, Thiemo
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Alves, Mario
    Quantifying the Channel Quality for Interference-Aware Wireless Sensor Networks2011Conference paper (Refereed)
  • 397. Noda, Claro
    et al.
    Prabh, Shashi
    Carlo, Alberto
    Voigt, Thiemo
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Alves, Mario
    Poster Abstract: A Channel Quality Metric for Interference-Aware Wireless Sensor Networks2011Conference paper (Refereed)
  • 398.
    Nylander, Stina
    et al.
    RISE, Swedish ICT, SICS, Software and Systems Engineering Laboratory.
    Jacobsson, Mattias
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Tholander, Jakob
    Stockholm University, Sweden.
    RunRight - Real-Time Visual and Audio Feedback on Running2014Conference paper (Refereed)
    Abstract [en]

    RunRight is a system that gives two different kinds of feedback for runners. First, it creates a visualization of the running movement based on acceleration in vertical and horizontal direction. Second it gives audio feedback on the rhythm. These two types of feedback are valuable when exploring how to design technology that supports athletes in learning how a desired movement should feel.

  • 399. Nässén, Henrik
    et al.
    Carlsson, Mats
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Sagonas, Kostis
    Instruction merging and specializing in the SICStus Prolog virtual machine2001In: Proceedings PPDP'01, Principles and Practice of Declarative Programming, 5-7 Sep 2001, Firenze, Italy, 2001, 1Conference paper (Refereed)
    Abstract [en]

    Wanting to improve execution speed and reduce code size of SICStus Prolog programs, we embarked on a project whose aim was to systematically investigate combination and specialisation of WAM instructions. Various variants of the SICStus Prolog virtual machine instruction set were designed, implemented, and their performance was evaluated against standard benchmarks and on big Prolog programs. In this paper, we describe our methodology in finding appropriate candidates for instruction merging and specialisation, discuss related trade-offs, present detailed statistics and performance measurements that we gathered, and report on our experiences from our involvement in this feat. In short, our experience is positive: the speedup of performing instruction merging and specialisation in the context of the SICStus emulator is approximately~10%, while the bytecode size reduction is about~15%.

  • 400. O'Donovan, Tony
    et al.
    Sreenan, Cormac J.
    Tsiftes, Nicolas
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    He, Zhitao
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Voigt, Thiemo
    RISE, Swedish ICT, SICS, Computer Systems Laboratory.
    Poster Abstract: Storage-Centric Debugging of Performance Problems in Sensor Networks2010Conference paper (Refereed)
567891011 351 - 400 of 601
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