ELLIIT workshop April 26-27 2017, Lund

Program April 26

10.00 Registration, posters & coffee

Location: Kårhusets Gasquesal, John Ericssons väg 3, Lund

Program for posters and demos

10.30 ELLIIT intro, news etc

Location: Kårhusets Hörsal

Session chair: Erik G. Larsson 

New recruitments: Emelie Engström, Tom Ziemke

11.00 Project highlights

Location: Kårhusets Hörsal

Session chair: Emelie Engström


  • Temporal encoding of photon maps, Anders Ynnerman
  • Test charters as a vehicle to guide exploratory testing sessions, Kai Petersen
  • Alpine Rescue using Robot Collaboration, Patrick Doherty
  • Hardware Implementation of Baseband Processing for Massive MIMO, Hemanth Prabhu

11.50 Lunch and poster session

Location: Kårhusets Gasquesal

Program for posters and demos

13.30 Keynote: Margaret-Anne Storey  "The software developer as the knowledge worker of tomorrow" 

Location: Kårhusets Hörsal

Session chair: Emelie Engström

Speaker: Professor Margaret-Anne Storey, University of Victoria


Keynote abstract and biography

Margaret-Anne (Peggy) Storey is a Professor of Computer Science and the Director of the Software Engineering program at the University of Victoria on the West Coast of Canada. She holds a Canada Research Chair in Human and Social Aspects of Software Engineering. Her research goal is to understand how technology can help people explore, understand, and share complex information and knowledge. She evaluates and applies techniques from knowledge engineering, social software, and visual interface design to applications such as collaborative software development, program comprehension, biomedical ontology development, and learning in Web-based environments. 

During her talk, she will give an overview of some of her recent projects, sharing how she uses mixed research methods to investigate how developers use tools such as social media and gamification to collaborate with one another.

14.30 Coffee and poster session

15.45- 17.00 Parallel tracks

At these sessions we want to stimulate discussions about future directions and collaborations by letting some of the ELLIIT professors introduce themselves through a selection of their recent publications. Each professor will give a short presentation of his/her current research interests and approaches, followed by questions, brainstorming and an open discussion with the audience. There will also be time at the end of the session for a common discussion about future directions.




SpeakersCristian Sminchisescu
Jürgen Börstler
Tom Ziemke 
Emil Björnson
Michael Lentmaier
Björn Landfeldt
Bo Bernhardsson
Jörn Janneck
Mario Garrido
ChairIngrid HotzWalid TahaMohammad Reza Mousavi
RoomKårhuset: Hollywood Kårhuset: HörsalStudiecentrum: Pepparholmen

19.00! Conference Dinner

Location: Lilla Salen, Af-borgen, Sandagatan 2, Lund

Program April 27

9.00 Keynote: Thor I. Fossen "Nonlinear Observer Design and Strapdown Inertial Navigation Systems for Unmanned Aerial Vehicles"

Location: Kårhustes Hörsal

Session chair: Anders Robertsson

Speaker: Professor Thor I. Fossen, Norwegian University of Science and Technology, Norway


Keynote abstract and biography

Abstract: The navigation system is one of the key components when designing modern guidance, navigation and control (GNC) systems. Navigation is usually defined as the task of determining an object’s position, velocity and attitude (PVA) based on various types of information. For decades the Kalman filter (KF), and nonlinear extensions thereof, has been used to provide integrated navigation solutions based on different types of measurements. One disadvantage of the KF is its relatively high computational complexity, with the number of internal states growing quadratically with the number of actual estimates. Another disadvantage is that the KF is developed for linear systems and stability can be difficult or impossible to prove for nonlinear extensions such as the extended Kalman filter (EKF). Consequently, there is a growing interest in the design of nonlinear observers for strapdown inertial navigation systems (INS), which can provide explicit stability guarantees and reduced computational complexity. 

In this talk, a globally exponentially stable (GES) observer for attitude and gyro bias estimation is presented. The attitude observer uses gyro measurements and two or more pairs of vector measurements, typically body-fixed acceleration and magnetic field measurements. Velocity estimates from optical flow camera measurements can also be used. The attitude observer avoids the well-known topological obstructions to global stability by not confining the attitude estimate to SO(3), but rather estimating a full rotation matrix with nine degrees of freedom. A quaternion-based representation for effective implementation, which guarantees semiglobal exponential stability, is also presented. Next, a translational motion observer (TMO) for estimation of position and linear velocity is presented. The attitude and TMO observers form a feedback interconnection, which is analyzed using Lyapunov theory. Explicit stability requirements for GES are given. Low-cost integrated navigation systems using nonlinear observer theory is an emerging technology for autonomous vehicles operating in uncertain and harsh environments. The presentation focuses on the theory of nonlinear observers, stability properties and experimental validation of the methods using fixed-wing UAVs.

Biosketch: Thor I. Fossen is a naval architect and a cyberneticist. He received an MSc degree in Marine Technology in 1987 and a PhD degree in Engineering Cybernetics in 1991 both from the Norwegian University of Science and Technology (NTNU), Trondheim. He is currently professor of guidance, navigation and control and co-director of the NTNU Centre for Autonomous Marine Operations and Systems. Fossen’s expertise covers guidance systems, inertial navigation systems, nonlinear control and observer theory, vehicle dynamics, hydrodynamics, autopilots and unmanned vehicles. He has authored five textbooks. He is one of the co-founders of the DNV-GL company Marine Cybernetics where he was Vice President R&D in the period 2002-2008. He received the Automatica Prize Paper Award in 2002 and the Arch T. Colwell Merit Award in 2008 at the SAE World Congress. He has been elected to the Norwegian Academy of Technological Sciences (1998) and elevated to IEEE Fellow (2016).

10.00 Coffee break

Location: Kårhuset to bring along

10.30 Mini-workshops

In this session each ELLIIT-project will run a mini-workshop. Some of the workshops are open for anyone to join (open) and some are for the people already involved in the project (internal). 

5G Wireless

Coordinator: Ove Edfors
Category: Open
Location: Studiecentrum: Pepparholmen

This project investigates and develops key technologies for fifth-generation (5G) wireless networks. It consists of six separate work packages (WPs), covering all aspects from design and analysis of physical layer transmission techniques, via optimization of algorithms and analog/digital hardware implementations thereof, to higher layer functions such as solutions for networking and security. The three high-level, cross-WP, goals in a five-year perspective are to 1) provide system and hardware design methodologies for massive MIMO based 5G systems, ready for deployment-grade designs, 2) develop reliability and security mechanisms allowing 5G wireless networks to be used in highly sensitive and critical applications, such as vehicular communication and wireless control systems, and 3) significantly advance design and analysis tools for efficient and highly scalable IoT and sensor networks.

10.30 - 10.40 Opening

10.40 - 11.00 Mm wave channel modelling and characterization (F. Tufvesson & C. Gustafson)

11.00 - 11.20  Energy-efficient data converters and RF front-ends for 5G (H. Sjöland & A. Alvandpour)

11.20 - 11.40 Scheduling with Scalable TTI for Heterogeneous Traffic Management in 5G Networks (D. Yuan)

11.40 - 12.00 Trusted Computing in the Context of 5G (L. Karlsson)

Co-Design of Robust and Secure Networked Embedded Control Systems

Coordinator: Anton Cervin
Category: Internal
Location: M:1172

Stream Computing Infrastructures

Coordinator: Jörn Janneck
Category: Internal
Location: E:2347a

Decision Support for Efficient and Effective Lean Testing

Coordinator: Jurgen Börstler 
Category: Internal
Location: E:2405 Glasburen

Scalable Language Tools for Cyber-Physical Systems

Coordinator: Görel Hedin 
Category: Internal
Location: E:1426 

Collaborative Robotic Systems

Coordinator: Patrick Doherty
Category: Open
Location: E:2349

As robotic systems begin to enter society and take on tasks in cooperation and collaboration with humans, there are a great many research challenges that need to be tackled before robots and humans can operate together in a robust, reliable, resilient and safe manner. The ELLIIT project on Collaborative Robotic Systems explores issues associated with this topic such as symbiotic human-robotic interaction, collaborative automated planning, and on-line learning for safe and resilient robots, among others. Applications range from smart cars to teams of unmanned aerial vehicles. In this workshop, we will provide an overview of some of the research activities in this area targeted by participants in the project at Lund University and Linköping University.

Preliminary Schedule:

10.30 - 10.45 Introduction to the project

10.45 - 11.15 Lund University activities in the project [ B. Bernhardsson, A. Robertsson, and students]

11.15 - 11.45 Linköping University activities in the project [P. Doherty and students]

11.45 - 12.00 Discussion

Deep Vision: Multiple Object Tracking

Overview of the results from the VOT Challenge 2016

Coordinator: Michael Felsberg
Category: Open
Location: Studiecentrum: Saltholmen

In 2013 the Visual object tracking, VOT, initiative was established to address performance evaluation for short-term visual object trackers. The initiative aims at establishing datasets, performance evaluation measures and toolkits as well as creating a platform for discussing evaluation-related issues. Since its emergence in 2013, four workshops and challenges on RGB sequences have been carried out in conjunction with the major computer vision conferences ICCV and ECCV. Since 2015 two additional challenges on thermal IR sequences have been organized. In this workshop, we will give an overview of the outcomes from these challenges, share new ideas about evaluation methodology, present successful approaches to the tracking problem, and discuss new ideas for future challenges on tracking and related areas.

Local Positioning Systems

Coordinator: Kalle Åström
Category: Open
Location: Studiecentrum: Brunnen

The GPS system to determine the position is based on measuring the distances to a few satelites in known position by measuring the time it takes for the radio signals to travel from the satelites to the receiver. More generally it is possible to estimate positions relative to a map of landmarks using a variety of sensors, e.g.\ audio, radio, vision, magnetometers. Indoor navigation is much more challenging compared to outdoor navigation since there is usually no GPS coverage, electronic compasses do not work that well, and the radio environment is complicated. Visual localization with respect to landmarks has the potential to overcome many of these problems, but needs considerable development to be robust and to be able to scale to large image collections. In this workshop we will present recent advances on several aspects of navigation, localization and map making, e.g. using of combining several different sensor modalities such as cameras, inertial sensors (accelerometers and gyroscopes), Ultra-wideband (UWB), sound, wifi signal strength, wifi round-trip time measurements, field strength measurements.

10:30-10:50 Gustav Hendeby, Linköping Localization Applications Based on Measurements Available In a Smartphone

10:50-11:10 Anders Mannesson, Lund Indoor SLAM In Multi-floor Environments Using Crowdsourced Wifi Signal Strength

11:10-11:30 Magnus Oskarsson, Lund Fast polynomial solvers with applications in robust geometric estimation

11:30-12:00 Kenenth Batstone & Marcus Greif, Lund Viability of UWB Round-Trip Time Measurements for Time-of-Arrival Self Calibration and Indoor Localization

Visual Decision Support

Coordinator: Anders Ynnerman
Category: Open
Location: E:1408

This workshop will address the research challenges involved in enabling effective visualisation for decision support of large scale spatio-temporal data of high dimensionality and heterogeneity. The visualization pipeline needs to reduce data several orders of magnitude prior to rendering and interaction. This entails work on several aspects of data processing, such as real-time data mining making use of modelling, aggregation, dimensionality reduction etc. Learning approaches to data reduction is of particular interest and will be in focus. The workshop will also address human interfaces and creation of feedback loops for interactive analysis and steering. We will also discuss the integration aspects of decision support applications and the challenges the overwhelming data streams pose to hardware and software architectures.

Scalable Optimization for Control Systems

Coordinator: Anders Hansson
Category: Open
Location: E:3114  

Modern control systems put new demands on control theory. Many of the modelling, analysis and design methods available do not scale well with increasing complexity. Applications and/or industrial practice often relies on distributed control structures, and there is a strong need for more systematic approaches to design and analysis of such structures and the corresponding information interfaces, especially with the development of “internet of things” and the so-called “smart society”. This workshop will present results obtained so far within the project.

10.30 – 11.10      Distributed Robustness Analysis, Anders Hansson

11.10 – 11.30      Optimisation-based motion planning with obstacles and priorities, Marcus Greiff

11.30 – 11.50      On Real-Time Trajectory Generation using Model Predictive Control, Mahdi Ghazaei Ardakani

11.50 – 12.00      Discussion

Online Optimization and Control towards Autonomous Vehicle Maneuvering

Coordinator: Anders Robertsson
Category: Internal
Location: E:4130 

12.00 Lunch and conference ending

Location: Kårhuset

12.00 ELLIIT Board meeting

Location: Kårhuset, Pratsalen

Registration closed 

We count 149 registered participants. See you in Lund April 26-27.


Program chair:
Emelie Engström

Communication & logistics:Jonas Wisbrant

Sidansvarig: Jonas.Wisbrant@cs.lth.se | 2017-04-29