diff --git a/tracetools_analysis/analysis/memory_usage.ipynb b/tracetools_analysis/analysis/memory_usage.ipynb
index 6d2fb03..34fff64 100644
--- a/tracetools_analysis/analysis/memory_usage.ipynb
+++ b/tracetools_analysis/analysis/memory_usage.ipynb
@@ -13,7 +13,7 @@
     "#    (wait a few seconds, then kill with Ctrl+C)\n",
     "# AND\n",
     "# Convert trace data:\n",
-    "#    $ ros2 trace-analysis convert ~/.ros/tracing/memory-usage/ust"
+    "#    $ ros2 trace-analysis convert ~/.ros/tracing/memory-usage"
    ]
   },
   {
@@ -22,7 +22,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "converted_file_path = '~/.ros/tracing/memory-usage/ust/converted'"
+    "converted_file_path = '~/.ros/tracing/memory-usage/converted'"
    ]
   },
   {
@@ -43,7 +43,6 @@
     "from bokeh.plotting import figure\n",
     "from bokeh.plotting import output_notebook\n",
     "from bokeh.io import show\n",
-    "from bokeh.layouts import row\n",
     "from bokeh.models import ColumnDataSource\n",
     "from bokeh.models import DatetimeTickFormatter\n",
     "from bokeh.models import NumeralTickFormatter\n",
@@ -52,7 +51,8 @@
     "\n",
     "from tracetools_analysis.loading import load_file\n",
     "from tracetools_analysis.processor import Processor\n",
-    "from tracetools_analysis.processor.memory_usage import MemoryUsageHandler\n",
+    "from tracetools_analysis.processor.memory_usage import KernelMemoryUsageHandler\n",
+    "from tracetools_analysis.processor.memory_usage import UserspaceMemoryUsageHandler\n",
     "from tracetools_analysis.processor.ros2 import Ros2Handler\n",
     "from tracetools_analysis.utils.memory_usage import MemoryUsageDataModelUtil\n",
     "from tracetools_analysis.utils.ros2 import Ros2DataModelUtil"
@@ -66,9 +66,10 @@
    "source": [
     "# Process\n",
     "events = load_file(converted_file_path)\n",
-    "memory_handler = MemoryUsageHandler()\n",
+    "ust_memory_handler = UserspaceMemoryUsageHandler()\n",
+    "kernel_memory_handler = KernelMemoryUsageHandler()\n",
     "ros2_handler = Ros2Handler()\n",
-    "Processor(memory_handler, ros2_handler).process(events)"
+    "Processor(ust_memory_handler, kernel_memory_handler, ros2_handler).process(events)"
    ]
   },
   {
@@ -77,7 +78,10 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "memory_data_util = MemoryUsageDataModelUtil(memory_handler.data)\n",
+    "memory_data_util = MemoryUsageDataModelUtil(\n",
+    "    userspace=ust_memory_handler.data,\n",
+    "    kernel=kernel_memory_handler.data,\n",
+    ")\n",
     "ros2_data_util = Ros2DataModelUtil(ros2_handler.data)\n",
     "\n",
     "output_notebook()\n",
@@ -91,31 +95,42 @@
    "outputs": [],
    "source": [
     "# Plot memory usage\n",
-    "memory_usage_dfs = memory_data_util.get_absolute_memory_usage_by_tid()\n",
+    "ust_memory_usage_dfs = memory_data_util.get_absolute_userspace_memory_usage_by_tid()\n",
+    "kernel_memory_usage_dfs = memory_data_util.get_absolute_kernel_memory_usage_by_tid()\n",
     "tids = ros2_data_util.get_tids()\n",
     "\n",
     "colours = viridis(len(tids) + 1)\n",
     "first_tid = min(tids)\n",
-    "starttime = memory_usage_dfs[first_tid].loc[:, 'timestamp'].iloc[0].strftime('%Y-%m-%d %H:%M')\n",
+    "starttime = ust_memory_usage_dfs[first_tid].loc[:, 'timestamp'].iloc[0].strftime('%Y-%m-%d %H:%M')\n",
     "memory = figure(\n",
-    "    title='Userspace memory usage per thread/node',\n",
+    "    title='Memory usage per thread/node',\n",
     "    x_axis_label=f'time ({starttime})',\n",
     "    y_axis_label='memory usage',\n",
     "    plot_width=psize, plot_height=psize,\n",
     ")\n",
     "\n",
     "i_colour = 0\n",
-    "for tid, memory_usage_df in memory_usage_dfs.items():\n",
-    "    if tid not in tids:\n",
-    "        continue\n",
+    "for tid in tids:\n",
+    "    legend = str(tid) + ' ' + str(ros2_data_util.get_node_names_from_tid(tid))\n",
+    "    # Userspace\n",
     "    memory.line(\n",
     "        x='timestamp',\n",
     "        y='memory_usage',\n",
-    "        legend=str(tid) + ' ' + str(ros2_data_util.get_node_names_from_tid(tid)),\n",
+    "        legend=legend + ' (ust)',\n",
     "        line_width=2,\n",
-    "        source=ColumnDataSource(memory_usage_df),\n",
+    "        source=ColumnDataSource(ust_memory_usage_dfs[tid]),\n",
     "        line_color=colours[i_colour],\n",
     "    )\n",
+    "    # Kernel\n",
+    "    memory.line(\n",
+    "        x='timestamp',\n",
+    "        y='memory_usage',\n",
+    "        legend=legend + ' (kernel)',\n",
+    "        line_width=2,\n",
+    "        source=ColumnDataSource(kernel_memory_usage_dfs[tid]),\n",
+    "        line_color=colours[i_colour],\n",
+    "        line_dash='dotted',\n",
+    "    )\n",
     "    i_colour += 1\n",
     "\n",
     "memory.title.align = 'center'\n",