Publications

Publications and writing

This English page focuses on journal articles and international conference papers, while also listing technical documents and dissertation information.

Representative Work

Selected papers

Open full publication list

2026

A Multi-Agent Reinforcement Learning-Based Resilience Engineering Method for Mobility-as-a-Service

Zhengshu Zhou, Weijie Yu, Tingting Zhao, Qian Long, Yutaka Matsubara, Hiroaki Takada

IEEE Transactions on Network and Service Management

Link

2025

Software-Defined Vehicles: Challenges and Orchestrating Mixed-Criticality Services Using Lingua Franca

Wenhung Kevin Huang, Yoshinori Terazawa, Yutaka Matsubara, Akihito Iwai

IEEE Embedded Systems Letters

Link

2025

Enhancing Account Information Anonymity in Blockchain-Based IoT Access Control Using Zero-Knowledge Proofs

Yuxiao Wu, Yutaka Matsubara, Shoji Kasahara

Electronics

Link

2025

Consensus Based Resilience Assurance for System of Systems

Huanjun Zhang, Yutaka Matsubara

IEEE Access

Link

2025

Transforming concurrent programs with semaphores into logically constrained term rewrite systems

Misaki Kojima, Naoki Nishida, Yutaka Matsubara

Journal of Logical and Algebraic Methods in Programming

Link

2024

Race Directed Fuzzing for More Effective Concurrency Testing

Hiromasa Ito, Yutaka Matsubara, Hiroaki Takada

WSSE 2024

Link

Journal Articles

2026
A Multi-Agent Reinforcement Learning Based Resilience Engineering Method for Mobility-as-a-Service
Zhengshu Zhou, Weijie Yu, Tingting Zhao, Qian Long, Yutaka Matsubara, Hiroaki Takada

IEEE Transactions on Network and Service Management

To appear on the legacy site.

Link
2025
Software-Defined Vehicles: Challenges and Orchestrating Mixed-Criticality Services Using Lingua Franca
Wenhung Kevin Huang, Yoshinori Terazawa, Yutaka Matsubara, Akihito Iwai

IEEE Embedded Systems Letters

Link
2025
Enhancing Account Information Anonymity in Blockchain-Based IoT Access Control Using Zero-Knowledge Proofs
Yuxiao Wu, Yutaka Matsubara, Shoji Kasahara

Electronics, Vol.14 Issue 14

Link
2025
A COTS-based Lightweight, Low-power and Versatile Companion Computer for Nano UAVs
Rintaro Okudera, Yixiao Li, Yutaka Matsubara, Hiroaki Takada

Sensors & Transducers, Vol.268 No.1, pp.37-44

Link
2025
ArchiMate-Based System of Systems Resilience Evaluation Approach
Huanjun Zhang, Yutaka Matsubara

Systems, Vol.13 Issue 5

Link
2025
Consensus Based Resilience Assurance for System of Systems
Huanjun Zhang, Yutaka Matsubara

IEEE Access, Vol.13, pp.20203-20217

Link
2025
Transforming Concurrent Programs with Semaphores into Logically Constrained Term Rewrite Systems
Misaki Kojima, Naoki Nishida, Yutaka Matsubara

Journal of Logical and Algebraic Methods in Programming, Vol.143, pp.1-23

Link
2025
A Decision Support Scheme for Safe and Efficient Transportation of Hazardous Materials
Zhengshu Zhou, Yutaka Matsubara, Hiroaki Takada

IEEE Transactions on Intelligent Transportation Systems, Vol.26 Issue 1, pp.309-322

Link
2024
Multilingual Investigation of Cross-Project Code Clones in Open-Source Software for Internet of Things Systems
Wenqing Zhu, Norihiro Yoshida, Yutaka Matsubara, Hiroaki Takada

IEEE Access, Vol.12, pp.179104-179118

Link
2024
Detecting Concurrency Bugs with Feedback-guided Fuzzing
Hiromasa Ito, Yutaka Matsubara, Hiroaki Takada

IPSJ Journal, Vol.65 No.5, pp.927-941

Japanese only.

Link
2023
A Performance Evaluation of Embedded Multi-core Mixed-criticality System Based on PREEMPT_RT Linux
Yixiao Li, Yutaka Matsubara, Hiroaki Takada, Kenji Suzuki, Hideaki Murata

Journal of Information Processing, Vol.31, pp.78-87

Link
2023
Resilience Analysis and Design for Mobility-as-a-Service Based on Enterprise Architecture Modeling
Zhengshu Zhou, Yutaka Matsubara, Hiroaki Takada

Reliability Engineering & System Safety, Vol.229

Link
2023
Developing Reliable Digital Healthcare Service Using Semi-Quantitative Functional Resonance Analysis
Zhengshu Zhou, Yutaka Matsubara, Hiroaki Takada

Computer Systems Science and Engineering, Vol.45 No.1, pp.35-50

Link
2022
Design and Implementation of RTOS-Aware Control-Flow Integrity Mechanism for Microcontroller-Based Systems
Tomoaki Kawada, Shinya Honda, Yutaka Matsubara, Hiroaki Takada

Computer Software, Vol.39 No.2

Japanese only.

Link
2021
How to Test Middleware with Coverage-based Greybox Fuzzing
Hiromasa Ito, Yutaka Matsubara, Hiroaki Takada

IPSJ Journal, Vol.62, pp.877-890

Japanese only.

Link
2020
TZmCFI: RTOS-Aware Control-Flow Integrity Using TrustZone for Armv8-M
Tomoaki Kawada, Shinya Honda, Yutaka Matsubara, Hiroaki Takada

International Journal of Parallel Programming

Link
2020
esprof: A Generic Profiling Infrastructure for Multi/Many-Core Embedded Systems
Yixiao Li, Yutaka Matsubara, Hiroaki Takada

Computer Software, Vol.37 No.1, pp.1_54-1_67

Japanese only.

Link
2019
Energy-Efficient Intra-Task DVFS Scheduling Using Linear Programming Formulation
Yang Qin, Gang Zeng, Ryo Kurachi, Yixiao Li, Yutaka Matsubara, Hiroaki Takada

IEEE Access, Vol.7, pp.30536-30547

Link
2019
Energy-Aware Task Allocation for Heterogeneous Multiprocessor Systems by Using Integer Linear Programming
Yang Qin, Gang Zeng, Ryo Kurachi, Yutaka Matsubara, Hiroaki Takada

Journal of Information Processing, Vol.27, pp.136-148

Link
2018
IDH-CAN: A Hardware-Based ID Hopping CAN Mechanism With Enhanced Security for Automotive Real-Time Applications
Wufei Wu, Ryo Kurachi, Gang Zeng, Yutaka Matsubara, Hiroaki Takada, Renfa Li, Keqin Li

IEEE Access, Vol.6, pp.54607-54623

Link
2018
Execution-variance-aware Task Allocation for Energy Minimization on the big.LITTLE Architecture
Yang Qin, Gang Zeng, Ryo Kurachi, Yutaka Matsubara, Hiroaki Takada

Sustainable Computing: Informatics and Systems

Link
2018
A Comparative Analysis of RTOS and Linux Scalability on an Embedded Many-core Processor
Yixiao Li, Yutaka Matsubara, Hiroaki Takada

Journal of Information Processing, Vol.59 No.3

Link
2018
Safety Analysis Examples in Compliance with ISO 26262 for TOPPERS/ATK2 Conforming to the AUTOSAR OS Specification
Morio Mori, Hideaki Sato, Akira Yamashita, Yutaka Matsubara, Hiroaki Takada

IPSJ Journal, Vol.59 No.2, pp.785-794

Japanese only.

Link
2017
IXM: Rapid Inter-Process Communication Middleware for Robotics Software
Midori Sugaya, Yutaka Matsubara, Takuma Sumiya, Miyuki Nakano

IPSJ Journal, Vol.58 No.10, pp.1578-1590

Japanese only.

Link
2017
EV3RT: A Real-time Software Platform for LEGO Mindstorms EV3
Yixiao Li, Yutaka Matsubara, Hiroaki Takada

Computer Software, Vol.34 Issue 4, pp.4_91-4_115

Japanese only.

Link
2016
CaCAN: Centralized Authentication System in CAN
Ryo Kurachi, Yutaka Matsubara, Hiroaki Takada, Hiroshi Ueda, Satoshi Horihata

IEICE Transactions, Vol.J99-A No.2, pp.118-130

Japanese only.

Link
2016
Energy-aware Task Migration for Multiprocessor Real-time Systems
Gang Zeng, Yutaka Matsubara, Hiroyuki Tomiyama, Hiroaki Takada

Future Generation Computer Systems, Vol.56, pp.220-228

Link
2015
Practical Educational Method of Embedded System with OJL
Nobuyuki Tachi, Masaki Yamamoto, Norihiro Yoshida, Hiroyuki Takashima, Tomoaki Unagami, Yuki Ando, Yutaka Matsubara, Shinya Honda, Hiroaki Takada

Computer Software, Vol.32 No.2, pp.79-85

Japanese only.

Link
2013
Safety Measures for Software Faults in Embedded Systems
Yutaka Matsubara, Hiroaki Takada

Computer Software, Vol.30 No.1, pp.119-129

Japanese only.

Link
2013
Safety Analysis Method Based on Hierarchical State Transition Diagram for Embedded Systems
Zoohaye Kim, Yutaka Matsubara, Hiroaki Takada

IEICE Transactions, Vol.J96-A No.1, pp.34-48

Japanese only.

Link
2012
schesim: Scheduling Simulator for Real-Time Applications
Yasumasa Sano, Yutaka Matsubara, Shinya Honda, Hiroaki Takada

IEICE Transactions D, Vol.J95-D No.12, pp.2008-2020

Japanese only.

Link
2012
Safety Analysis Method Focusing on State Transition Diagrams
Zoohaye Kim, Yutaka Matsubara, Hiroaki Takada

IEICE Transactions, Vol.J95-A No.2, pp.198-209

Japanese only.

Link
2011
Practice of a Summer School on Embedded System Technologies by Students and Young Engineers
Ittetsu Taniguchi, Yuki Ando, Hideki Takase, Takuya Azumi, Yutaka Matsubara, Shintaro Hosoai, Yasuaki Murakami, Midori Sugaya

IPSJ Journal, Vol.52 No.12, pp.3221-3237

Japanese only.

Link
2011
Probabilistic Analysis of Response Time Considering Initial Phase Distribution of Periodic Tasks
Takuya Ishikawa, Yutaka Matsubara, Hiroaki Takada

IPSJ Journal, Vol.52 No.12, pp.3192-3204

Japanese only.

Link
2011
Hierarchical Scheduling Algorithm with Task Start Delay for Time Protection
Yutaka Matsubara, Shinya Honda, Hiroaki Takada

IPSJ Journal, Vol.52 No.8, pp.2387-2401

Japanese only.

Link
2011
Interruptible Priority-Inheritance Spin Lock and Its Hardware Implementation
Toshiyuki Ichiba, Yutaka Matsubara, Shinya Honda, Hiroaki Takada

IPSJ ACS, Vol.4 No.3, pp.133-146

Japanese only.

Link
2008
Flexible Scheduling Framework for Integrating Real-Time Applications
Yutaka Matsubara, Shinya Honda, Hiroyuki Tomiyama, Hiroaki Takada

IPSJ Journal Embedded Systems Special Issue, Vol.49 No.10, pp.3508-3519

Japanese only.

Link
2007
Real-Time Scheduling Algorithm for Time Protection
Yutaka Matsubara, Shinya Honda, Hiroyuki Tomiyama, Hiroaki Takada

IPSJ ACS, Vol.48 SIG8(ACS18), pp.192-202

Japanese only.

Link

International Conferences and Workshops (Peer-reviewed)

2026
Outlier-Ratio Feature Augmentation for Graph-based Intrusion Detection in CAN Networks
Akari Sasaki, Ryo Kurachi, Yutaka Matsubara, Hiroaki Takada

IEEE CCNC 2026, Las Vegas

To appear on the legacy site.

Link
2025
A Dynamic Resilience Research for Acknowledged System-of-systems Based on a Stackelberg Evolutionary Game
Huanjun Zhang, Yutaka Matsubara

ICSRS 2025, Italy

Link
2025
Improving Airport Baggage Handling System Efficiency with Simulation-Based Design
Chenda Siv, Yutaka Matsubara, Hiroaki Takada

IEOM World Congress 2025, Canada

Link
2025
SSI-Enabled Authentication and Enhanced Metadata Search in Blockchain-based Decentralized IoT Data Platforms
Luyonghe Li, Yuichiro Yasue, Yutaka Matsubara

B4TI at BCCA 2025, Croatia

Link
2025
PPDS: A Practical and Privacy-Preserving Data Sharing Model for Blockchain-Based IoT e-Health Systems Using ECC, Zero-Knowledge Proof, and Access Control
Yuxiao Wu, Kenta Kawai, Yutaka Matsubara

BCCA 2025, Croatia

Link
2025
Towards a Linux-based Unikernel for Resource-Constrained Embedded Systems
Yoshifumi Shu, Yutaka Matsubara, Yixiao Li, Hiroaki Takada

OSPERT 2025, Belgium, pp.23-27

Link
2025
GLACI: Arbitrary Code Instrumentation Tool for OpenGL
Shotaro Tsuboi, Yixiao Li, Yutaka Matsubara, Hiroaki Takada

ICONS 2025, France

Best Paper Award.

Link
2025
Flexible Edge Processing in Blockchain-based Secure IoT Data Distribution Framework
Kenta Kawai, Yuxiao Wu, Yutaka Matsubara, Hiroaki Takada

BRAIN 2025 at PerCom 2025, Washington D.C.

Link
2025
A Lightweight, Low-power and Versatile Companion Computer for Nano UAVs
Rintaro Okudera, Yixiao Li, Yutaka Matsubara, Hiroaki Takada

DAUS 2025, Granada, pp.292-295

Link
2024
Monitor and Analyze Rare ROS2 Performance Issues with A Unified Tracing Framework
Yixiao Li, Yutaka Matsubara, Hiroaki Takada, Satoru Funahashi, Hiroki Kawashima

WSSE 2024, Kyoto

Link
2024
Race Directed Fuzzing for More Effective Concurrency Testing
Hiromasa Ito, Yutaka Matsubara, Hiroaki Takada

WSSE 2024, Kyoto

Link
2024
AI2X Co-evolution Guidebook and Case Study for Human-centered AI Framework
Akihisa Morikawa, Yutaka Matsubara, Daichi Mizuguchi, Kiyoshi Fujiwara

SAFECOMP 2024 Position Paper, Florence

Link
2024
Reaching Consensus on System-of-systems Resilience Assurance: A Case of Mobility as a Service
Huanjun Zhang, Yutaka Matsubara, Hiroaki Takada

SASSUR 2024 at SAFECOMP 2024, Florence

Link
2023
A Quantitative Approach for System of Systems’ Resilience Analyzing Based on ArchiMate
Huanjun Zhang, Yutaka Matsubara, Hiroaki Takada

DECSoS 2023 at SAFECOMP 2023, Toulouse, pp.47-60

Link
2023
Toward Human-centered AI Framework: An Introduction to AI2X Co-evolution Project
Yutaka Matsubara, Akihisa Morikawa, Daichi Mizuguchi, Kiyoshi Fujiwara

SAFECOMP 2023 Position Paper, Toulouse

Link
2023
Schfuzz: Detecting Concurrency Bugs with Feedback-Guided Fuzzing
Hiromasa Ito, Yutaka Matsubara, Hiroaki Takada

ENASE 2023, Prague, pp.273-282

Link
2021
Quantitative Security Assurance Case for In-vehicle Embedded Systems
Zhengshu Zhou, Yutaka Matsubara, Hiroaki Takada

CyberSciTech/PICom/DASC/CDBCom 2021, pp.43-50

Link
2020
Agile Software Design Verification and Validation (V&V) for Automated Driving
Yixiao Li, Yutaka Matsubara, Daniel Olbrys, Kazuhiro Kajio, Hiroaki Takada

Proceedings of FISITA 2020

Link
2020
Transforming Concurrent Programs with Semaphores into Logically Constrained Term Rewrite Systems
Misaki Kojima, Naoki Nishida, Yutaka Matsubara

Informal Proceedings of WPTE 2020

Link
2019
Shadow Exception Stacks: Control-Flow Integrity for Asynchronous Exceptions Using TrustZone for Armv8-M
Tomoaki Kawada, Shinya Honda, Yutaka Matsubara, Hiroaki Takada

IESS 2019, Friedrichshafen

Link
2018
Energy-Aware Task Allocation for Large Task Sets on Heterogeneous Multiprocessor Systems
Yang Qin, Gang Zeng, Ryo Kurachi, Yutaka Matsubara, Hiroaki Takada

EUC 2018, Romania, pp.158-165

Link
2018
FRAM/STPA: Hazard Analysis Method for FRAM Model
Yoshinari Toda, Yutaka Matsubara, Hiroaki Takada

FRAMily 2018, Cardiff, pp.1-17

Link
2017
IDHCC: A Security-Enhanced ID Hopping CAN Controller Design to Guarantee Real-Time
Wufei Wu, Ryo Kurachi, Gang Zeng, Yutaka Matsubara, Hiroaki Takada, Renfa Li

CERTS 2017, pp.14-21

Link
2016
An Evaluation Framework of OS-level Power Managements for the big.LITTLE Architecture
Hideki Takase, Kazumi Aono, Yutaka Matsubara, Kazuyoshi Takagi, Naofumi Takagi

NEWCAS 2016

Link
2015
A Mobile Robot for Fall Detection for Elderly-Care
Takuma Sumiya, Yutaka Matsubara, Miyuki Nakano, Midori Sugaya

KES 2015, Vol.60, pp.870-880, Singapore

Invited paper.

Link
2015
HAZOP-based Security Analysis for Embedded Systems: Case Study of Open Source Immobilizer Protocol Stack
Jingxuan Wei, Yutaka Matsubara, Hiroaki Takada

IWSSS 2015, Bucharest

Link
2014
CaCAN - Centralized Authentication System in CAN
Ryo Kurachi, Yutaka Matsubara, Hiroaki Takada, Naoki Adachi, Yukihiro Miyashita, Satoshi Horihata

escar Europe 2014, Hamburg, pp.1-9

Link
2014
A Simulation Environment and Preliminary Evaluation for Automotive CAN-Ethernet AVB Networks
Keigo Kawahara, Yutaka Matsubara, Hiroaki Takada

1st OMNeT++ Community Summit, Hamburg

Link
2014
Task Migration for Energy Saving in Real-Time Multiprocessor Systems
Gang Zeng, Yutaka Matsubara, Hiroyuki Tomiyama, Hiroaki Takada

ICESS 2014, Paris

Link
2014
A Platform for LEGO Mindstorms EV3 Based on an RTOS with MMU Support
Yixiao Li, Takuya Ishikawa, Yutaka Matsubara, Hiroaki Takada

OSPERT 2014, Madrid, pp.51-59

Link
2013
A Simulation Environment Based on OMNeT++ for Automotive CAN-Ethernet Networks
Jun Matsumura, Yutaka Matsubara, Hiroaki Takada, Masaya Oi, Masumi Toyoshima, Akihito Iwai

WATERS 2013, Paris, pp.1-6

Link
2012
Safety Analysis Method Based on Parallel State Transition Diagram for Embedded Systems
Zoohaye Kim, Yutaka Matsubara, Hiroaki Takada

SEA 2012, Las Vegas, pp.417-425

Link
2012
An Open-Source Flexible Scheduling Simulator for Real-time Applications
Yutaka Matsubara, Yasumasa Sano, Shinya Honda, Hiroaki Takada

ISORC 2012, Shenzhen, pp.16-22

Link
2009
Hierarchical Scheduling for Integrating Real-time Applications with Interrupt Routines
Yutaka Matsubara, Shinya Honda, Hiroaki Takada

ISOCC 2009, Busan, pp.384-387

Invited paper.

Link
2009
History of Summer School on Embedded System Technologies Organized by Students and Young Engineers
Hideki Takase, Takuya Azumi, Ittetsu Taniguchi, Yutaka Matsubara, Hayato Kanai, Shintaro Hosoai, Midori Sugaya

WESE 2009, Grenoble, pp.19-26

Link
2007
SSEST: Summer School on Embedded System Technologies
Yutaka Matsubara, Midori Sugaya, Ittetsu Taniguchi, Yasuaki Murakami, Hayato Kanai, Hiroaki Takada

APESER 2007, Hsinchu, pp.1-8

Link

Technical Documents

2025
Co-evolution Guidebook (HMCES Guidebook)
Daichi Mizuguchi, Akihisa Morikawa, Yutaka Matsubara, Kiyoshi Fujiwara

HMCES Project

Link
2025
Kyoshinka Guidebook
Daichi Mizuguchi, Akihisa Morikawa, Yutaka Matsubara, Kiyoshi Fujiwara

HMCES Project

Link
2025
Enhancing Human-Robot Collaboration through Existing Guidelines: A Case Study Approach
Yutaka Matsubara, Akihisa Morikawa, Daichi Mizuguchi, Kiyoshi Fujiwara

HMCES Project

Link
2020
Safety Design Concepts for Statistical Machine Learning Components toward Accordance with Functional Safety Standards
Akihisa Morikawa, Yutaka Matsubara

SEAMS Project

Link
2020
Towards Identifying and Closing Gaps in Assurance of Autonomous Road Vehicles: Technical Notes Part 2
Robin Bloomfield, Gareth Fletcher, Heidy Khlaaf, Philippa Ryan, Shuji Kinoshita, Yoshiki Kinoshita, Makoto Takeyama, Yutaka Matsubara, Peter Popov, Kazuki Imai, Yoshinori Tsutake

TIGARS Project

Link
2020
Towards Identifying and Closing Gaps in Assurance of Autonomous Road Vehicles: Technical Notes Part 1
Robin Bloomfield, Gareth Fletcher, Heidy Khlaaf, Philippa Ryan, Shuji Kinoshita, Yoshiki Kinoshita, Makoto Takeyama, Yutaka Matsubara, Peter Popov, Kazuki Imai, Yoshinori Tsutake

TIGARS Project

Link

Degree Thesis

2011
Hierarchical Scheduling for Integrating Embedded Real-Time Applications
Yutaka Matsubara

Doctoral Dissertation

Recommended by IPSJ SIGEMB.

Link
2011
Recommended Doctoral Thesis Digest
Yutaka Matsubara

IPSJ SIGEMB recommended thesis announcement

Link