Research Project / Detail View

Research project

Real-time performance assurance in high-performance embedded systems

We study how to keep mixed-criticality systems fast, predictable, and safe even when many applications share CPUs, memory, storage, and networks.

Detail

Background

In recent years, automotive and aerospace systems have started to use high-performance System-on-Chip platforms and operating systems. These environments often run multiple applications with different levels of criticality at the same time. Such systems are called mixed-criticality systems.

When multiple applications are integrated on one platform, real-time performance and safety become difficult to guarantee. Applications may interfere with one another through shared CPUs, memory, GPUs, storage devices, and network bandwidth.

Detail

The challenge

Contention on shared resources can delay important tasks. In severe cases, deadlines are missed, faults propagate across applications, or new attack paths are opened.

In systems that control vehicles or other critical equipment, this is no longer a pure performance question — it becomes a safety and trust issue.

Detail

What we do

We measure and analyze how real-time applications use shared resources, and identify what breaks predictability. The scope covers CPUs, memory systems, GPUs, storage, and communication paths.

We also work across the stack to improve real-time behavior: software-level isolation, changes to operating systems and drivers, and hardware support for tighter timing control.

Detail

Achievements so far

I have worked on this area since my doctoral research. Real-time scheduling algorithms for temporal protection (2007) and a flexible scheduling framework for integrating real-time applications (Computer Software, 2008) laid the groundwork for letting tasks of different criticality coexist safely, and the results were released as the open-source scheduling simulator schesim (2012).

The work then expanded to multi-core and many-core platforms: a comparative analysis of RTOS and Linux scalability on an embedded many-core processor (Journal of Information Processing, 2018), the generic profiling infrastructure esprof (Computer Software, 2020), a performance evaluation of mixed-criticality systems on PREEMPT_RT Linux (Journal of Information Processing, 2023), and energy-efficient DVFS scheduling (IEEE Access, 2019).

Educational platforms are another thread: EV3RT for LEGO Mindstorms (2017), which received a software paper award, and its successor SPIKE-RT (2022) are widely used in embedded-systems education in Japan. Recent work explores next-generation platforms, including mixed-criticality service orchestration for software-defined vehicles using Lingua Franca (IEEE Embedded Systems Letters, 2025), a Linux-compatible unikernel for constrained devices (OSPERT 2025), and GLACI, a code instrumentation tool for OpenGL (ICONS 2025, Best Paper Award).

Detail

Why this matters

When this works, the dozens of computers in a car can be consolidated into a few, reducing weight, power consumption, and cost. It also becomes safe to add new features through software updates after the car is sold, turning vehicles into products that improve with use.

The foundation for all of this is the ability to let safety-critical functions and everything else share a single computer with confidence.

Detail

Where we are heading

The long-term goal is an open software platform on which the timing behavior of each application can be guaranteed from design through operation, even on high-performance general-purpose hardware.

Beyond automobiles, we want to reconcile performance with guarantees wherever real-time behavior matters — robots, aerospace, and industrial systems — and to return the results to society as open source.

Detail

Future directions and example topics

The focus is shifting toward computing platforms for software-defined vehicles and toward real-time guarantees for workloads that include AI processing. Students' thesis topics are usually chosen from within these directions, through discussion.

Designing and evaluating mixed-criticality service integration on deterministic execution environments such as Lingua Franca
Guaranteeing the responsiveness of AI inference on heterogeneous SoCs with NPUs and GPUs
Evaluating and improving the real-time behavior of lightweight execution environments: unikernels and containers
End-to-end responsiveness through bandwidth guarantees for storage and network I/O
Performance analysis and tracing for robot middleware such as ROS 2

Getting started

Overview articles to read first

These overview articles, written in Japanese, are an easier entry point than the research papers below.

Automotive Control Systems as Distributed Real-Time Systems (in Japanese)
Hiroaki Takada, Yutaka Matsubara, Systems, Control and Information, Dec. 2023.

Software and projects for this theme

Open-source software and tools

Projects and related sites

Related publications

Papers and articles related to this project

View all publications

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

IEEE Consumer Communications & Networking Conference (CCNC 2026), Las Vegas, Jan. 2026
2026
Responsiveness Evaluation of Inference Processing on NPU-Equipped MCUs
Naotaro Kobayashi, Yoshifumi Shu, Yutaka Matsubara, Shinya Honda, Hiroaki Takada

ETNET 2026 (71st Joint Workshop on Embedded Systems)
2026
Impact Evaluation of Window Parameters in Graph-Based Intrusion Detection Systems for CAN
Akari Sasaki, Ryo Kurachi, Yutaka Matsubara, Hiroaki Takada

IPSJ CSEC, Jan. 2026
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
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
Towards a Linux-based Unikernel for Resource-Constrained Embedded Systems
Yoshifumi Shu, Yutaka Matsubara, Yixiao Li, Hiroaki Takada

The 19th annual workshop on Operating Systems Platforms for Embedded Real-Time applications (OSPERT 2025), Belgium, Jul 2025, pp.23-27
2025
GLACI: Arbitrary Code Instrumentation Tool for OpenGL
Shotaro Tsuboi, Yixiao Li, Yutaka Matsubara, Hiroaki Takada

The 20th International Conference on Networking and Services (ICONS 2025), France, Mar 2025

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

The 7th International Symposium on Distributed Autonomous Unmanned Systems (DAUS 2025), Granada, Feb 2025, pp.292-295
2025
Issue Analysis and Feature Augmentation for Graph-Based Intrusion Detection Systems for CAN
Akari Sasaki, Ryo Kurachi, Yutaka Matsubara, Hiroaki Takada

IPSJ CSEC, Oct. 2025
2025
Real-Time Evaluation of a Full-Scratch Linux-Compatible Unikernel
Yoshifumi Shu, Yutaka Matsubara, Ryoma Hiraoka, Ryosuke Yamamoto, Hitoshi Yamamoto, Shingo Oidate, Hiroaki Takada

166th System Software and Operating Systems Workshop, Tokyo

Best Young Presentation Award.
2025
Real-Time Evaluation of an I/O Scheduler with Partitioning for SSDs
Hitoshi Koshino, Shinnosuke Koshiba, Yutaka Matsubara, Hiroaki Takada

ETNET 2025, Okinoerabu
2025
Collision Avoidance System for Rowing Competitions Using Smartphones
Shunsuke Oba, Yutaka Matsubara, Hiroaki Takada

ETNET 2025, Okinoerabu
2025
Best Paper Award for GLACI: Arbitrary Code Instrumentation Tool for OpenGL
Shotaro Tsuboi, Yixiao Li, Yutaka Matsubara, Hiroaki Takada

The 20th International Conference on Systems (ICONS 2025)
2025
Best Young Presentation Award for Real-Time Evaluation of a Full-Scratch Linux-Compatible Unikernel
Yoshifumi Shu, Yutaka Matsubara, Ryoma Hiraoka, Ryosuke Yamamoto, Hitoshi Yamamoto, Shingo Oidate, Hiroaki Takada

166th IPSJ OS Workshop
2024
Monitor and Analyze Rare ROS2 Performance Issues with A Unified Tracing Framework
Yixiao Li, Yutaka Matsubara, Hiroaki Takada, Satoru Funahashi, Hiroki Kawashima

The 6th International Workshop on Software Science and Engineering (WSSE 2024), Kyoto, Aug 2024
2024
Design and Implementation of Software Fault Countermeasures for Lingua Franca
Yoshinori Terazawa, Akihito Iwai, Wenhung Kevin Huang, Yutaka Matsubara

IPSJ EMB-67, Vol.2024-EMB-67 No.1, pp.1-8
2024
Performance Evaluation of a CAN Intrusion Detection Algorithm
Akari Sasaki, Ryo Kurachi, Yutaka Matsubara, Hiroaki Takada

DICOMO 2024, pp.205-214
2024
Real-Time Evaluation of Storage Devices in Linux
Shinnosuke Koshiba, Yutaka Matsubara, Yuichi Nakao, Hiroaki Takada

163rd System Software and Operating Systems Workshop, Okinawa, No.8, pp.1-8
2024
Evaluation on the Impact of HTB on Network Stack Latency and Real-time Performance using eBPF
Haohong Xie, Yutaka Matsubara, Toshikazu Kato, Hitoshi Yamamoto, Shingo Oidate, Hiroaki Takada

ETNET 2024, Iki
2024
Signal-Based CAN IDS Using Hamming Distance and Evaluation on a Dataset
Akari Sasaki, Ryo Kurachi, Yutaka Matsubara, Hiroaki Takada

CSS 2024, Kobe
2024
EUKL: A Prototype of a Linux-Based Unikernel for Resource-Constrained Embedded Systems
Yoshifumi Shu, Yutaka Matsubara, Yixiao Li, Hiroaki Takada

ACM SIGOPS Asia-Pacific Workshop on Systems 2024, Kyoto
2024
TOPPERS of the Year 2024 Activity Division: Support for ET Robocon
Yoshifumi Shu, Yixiao Li, Yutaka Matsubara

TOPPERS Project
2023
Automotive Control Systems as Distributed Real-Time Systems
Hiroaki Takada, Yutaka Matsubara

Systems, Control and Information (ISCIE), Vol.67, No.12
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
Evaluation of Network Bandwidth Guarantee with HTB Traffic Control
Haohong Xie, Yutaka Matsubara, Toshikazu Kato, Hitoshi Yamamoto, Takehisa Mizuguchi, Hiroaki Takada

ETNET 2023, Tokunoshima

Link
2023
Evaluation of Low-Level Runtimes in Container Virtualization
Ryota Nishimura, Yutaka Matsubara, Hiroaki Takada

ETNET 2023, Tokunoshima
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

Link
2022
SPIKE-RT: A Real-Time Software Platform for LEGO SPIKE Prime
Yoshifumi Shu, Yixiao Li, Yutaka Matsubara, Shinya Honda

IPSJ EMB-61, Vol.2022-EMB-61 No.11, pp.1-6

Link
2022
Visual Modeling and Design Methodology for AUTOSAR Platform Using MBSE Tools
Mitsutaka Takada, Ryosuke Takahashi, Yutaka Matsubara

IPSJ EMB-61, Yokohama
2022
Improving Responsiveness by Guaranteeing Storage I/O Bandwidth in the BFQ Scheduler
Hiroki Hasegawa, Yutaka Matsubara, Toshikazu Kato, Hitoshi Yamamoto, Takehisa Mizuguchi, Hiroaki Takada

ETNET 2022, Online
2022
Extending cgroup for Flexible CPU Resource Accounting
Eisuke Matsushita, Yutaka Matsubara, Hiroaki Takada

ETNET 2022, Online
2021
Shared Hardware Analysis Method in Hypervisors
Kenta Suzuki, Yutaka Matsubara, Tomokazu Moriya, Kenji Mototani, Hideyuki Iwakiri, Hiroaki Takada

ETNET 2021, Online

Link
2021
Storage Access Analysis Method from Applications
Hiroki Hasegawa, Yutaka Matsubara, Toshikazu Kato, Hitoshi Yamamoto, Hiroaki Takada

ETNET 2021, Online

Link
2021
Best Poster Bronze Award for Visual Design Tool for AUTOSAR Vehicle-Level Specifications
Mitsutaka Takada, Ryosuke Takahashi, Yutaka Matsubara

SWEST 23
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, Vol.49, pp.136-150

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

Link
2020
Software Design Method for Intelligent Automotive Control Systems
Keisuke Ozawa, Shinya Honda, Yutaka Matsubara, Hiroaki Takada, Toshikazu Kato, Hitoshi Yamamoto

ETNET 2020, Yoron

Link
2020
Evaluation of Adaptive Cruise Control Using a Virtual Environment Simulator for Automated Driving
Kazuki Imai, Koji Hoshikawa, Yuka Hashimoto, Miki Yasumura, Kuniaki Goya, Noritaka Ota, Yutaka Matsubara

IPSJ Research Report ETNET 2020, Yoron

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
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, LNCS Vol.11937, pp.56-71, Friedrichshafen, Nov 2019
2019
Simulation Evaluation of IEEE 1588 Time Synchronization for In-Vehicle Networks
Xiwen Chen, Yutaka Matsubara, Yasuhiro Yamazaki, Kenji Mototani, Kazuhiro Kajio, Hideyuki Iwakiri, Hiroaki Takada

ETNET 2019, Nishinoomote
2019
Comparison of Inter-Application Communication Models on Embedded Software Platforms
Mitsutaka Takada, Yutaka Matsubara

ETNET 2019, Nishinoomote
2019
Shadow Exception Stacks: TrustZone-M Based CFI for Asynchronous Exceptions
Tomoaki Kawada, Shinya Honda, Yutaka Matsubara, Hiroaki Takada

SCIS 2019, Otsu
2019
Software Paper Award for EV3RT: A Real-time Software Platform for LEGO Mindstorms EV3
Yixiao Li, Yutaka Matsubara, Hiroaki Takada

JSSST
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, Vol.20, pp.81-93
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.26, pp.225-236

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, pp.158-165, Bucharest, Romania, Oct 2018

Link
2018
Multitask CFI Using Arm TrustZone for Armv8-M
Tomoaki Kawada, Shinya Honda, Yutaka Matsubara, Hiroaki Takada

ESS 2018 Proceedings, Gero, pp.71-74

Link
2018
Applicability of ROS2 and Lightweight DDS to Embedded Systems
Keisuke Ozawa, Shinya Honda, Yutaka Matsubara, Hiroaki Takada, Toshikazu Kato, Hitoshi Yamamoto

IPSJ EMB-48, No.2, pp.1-8, Minato, Tokyo

Link
2018
Performance Evaluation of SOME/IP and DDS for Next-Generation In-Vehicle Systems
Taiki Mizutani, Yutaka Matsubara, Hiroaki Takada

IPSJ Research Report 2018-EMB-47 No.5, Oki, pp.1-6

Link
2018
Multi-task CFI Using Arm TrustZone for Armv8-M
Tomoaki Kawada, Shinya Honda, Yutaka Matsubara, Hiroaki Takada

SWEST20, Gero
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

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

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, Jun 2017

Link
2017
Energy-Efficient Allocation of Periodic Real-Time Tasks for Heterogeneous Systems by Execution Variance
Yang Qin, Gang Zeng, Roy Kurachi, Yutaka Matsubara, Hiroaki Takada

ESS 2017 WiP, Gero

Link
2017
Performance Evaluation of Service-Oriented Middleware SOME/IP-SD for Next-Generation Automotive Systems
Taiki Mizutani, Yutaka Matsubara, Hiroaki Takada

IPSJ Research Report 2017-EMB-44 No.5, Okinawa, pp.1-6

Link
2016
Security and Safety of In-Vehicle Devices
Ryo Kurachi, Yutaka Matsubara, Hiroaki Takada

IPSJ Magazine, Vol.57, No.7
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
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
2016
An Evaluation Framework of OS-level Power Managements for the big.LITTLE Architecture
Hideki Takase, Kazumi Aono, Yutaka Matsubara, Kazuyoshi Takagi, Naofumi Takagi

2016 14th IEEE International New Circuits and Systems Conference (NEWCAS 2016), Vancouver, Jun 2016

Link
2016
Past and Future of the enPiT Project at Nagoya University
Nobuyuki Tachi, Norihiro Yoshida, Masaki Yamamoto, Tomoaki Unagami, Yutaka Matsubara, Shinya Honda, Hiroaki Takada

IPSJ Research Report 2016-EMB-043 No.2, Kyushu University, pp.1-2
2016
Development of a TCP/IP Protocol Stack for In-Vehicle Networks
Kazuki Honda, Yutaka Matsubara, Hiroaki Takada

IPSJ Research Report 2016-EMB-40 No.2, Goto

Link
2016
IXM: Process Communication Middleware for Robot Control Software
Takuma Sumiya, Yutaka Matsubara, Midori Sugaya

IPSJ Research Report 2016-EMB-40 No.5, Goto
2016
Research Activities for Automotive Ethernet Network
Keigo Kawahara, Masato Sato, Katsunori Aoki, Yutaka Matsubara, Hiroaki Takada

Automotive Ethernet Congress 2016, Munich
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
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, Sep 2015

Invited paper.

Link
2015
Evaluation Environment for Power Management Methods on Heterogeneous Multicore Systems
Kazumi Aono, Hideki Takase, Yutaka Matsubara, Kazuyoshi Takagi, Naofumi Takagi

ESS 2015, Tokyo

Student Encouragement Award.
2015
Fast and Accurate Estimation of Instruction Cycles for ARM Architecture
Tsuyoshi Sato, Hiroaki Takada, Shinya Honda, Yutaka Matsubara

Design Gaia 2015, Nagasaki
2015
Study on Power Saving for a Monitoring Robot
Takanori Nagamine, Yutaka Matsubara, Midori Sugaya

IPSJ 77th National Convention, Kyoto
2015
Student Encouragement Award for Evaluation Environment of Power Management on Heterogeneous Multicore Systems
Kazumi Aono, Hideki Takase, Yutaka Matsubara, Kazuyoshi Takagi, Naofumi Takagi

ESS 2015
2014
CaCAN - Centralized Authentication System in CAN
Ryo Kurachi, Yutaka Matsubara, Hiroaki Takada, Naoki Adachi, Yukihiro Miyashita, Satoshi Horihata

Proceedings of the escar 2014 Europe, pp. 1-9, Hamburg, Nov 2014

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

Proceedings of the 1st OMNeT++ Community Summit, pp.xx-xx, Hamburg, Sep 2014

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

Proceedings of the 11th IEEE International Conference on Embedded Software and Systems (ICESS 2014), Paris, Aug 2014

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, pp.51-59, Madrid, Jul 2014

Link
2014
Research and Development of a Security-Oriented Software Platform for Next-Generation Vehicles and Service Robots
Koichi Goto, Hiroyuki Hattori, Ayumu Sugiyama, Hiroaki Hara, Hiroaki Takada, Yutaka Matsubara, Daichi Mizuguchi, Koichi Takahashi

WOCS2 2014, Tokyo
2014
Supporting Real-Time Processing and Power Saving with Multicore-Based Robot Middleware
Takuma Sumiya, Yutaka Matsubara, Miyuki Nakano, Midori Sugaya

ComSys 2014, Toyosu
2014
Extended ARINC 653 Scheduling Algorithm for Highly Responsive Real-Time Application Integration
Yuichi Sato, Yutaka Matsubara, Shinya Honda, Hiroaki Takada

IPSJ Research Report 2014-EMB-32 No.3, Ishigaki, pp.1-6

Link
2014
Practical Embedded Systems Education through OJL in enPiT emb
Nobuyuki Tachi, Masaki Yamamoto, Hiroyuki Takashima, Yutaka Matsubara, Shinya Honda, Hiroaki Takada

IPSJ Research Report 2014-EMB-32 No.31, Ishigaki, pp.1-6
2014
Report on LED-Camp1 Short-Term Training for Young Embedded Engineers
Hideki Takase, Shintaro Hosoai, Tomoyuki Ando, Yukiyo Owashi, Tatsuya Kawakami, Nobuyuki Tachi, Toshio Hoshino, Yutaka Matsubara, Seiko Akayama, Kenji Hisazumi, Hiroaki Takada

IPSJ Research Report 2014-EMB-32 No.36, Ishigaki, pp.1-6
2014
An RTOS-based Platform for LEGO Mindstorms EV3
Yixiao Li, Takuya Ishikawa, Yutaka Matsubara, Hiroaki Takada

165th SLDM and 32nd EMB Joint Workshop (ETNET 2014), Ishigaki
2014
Supporting Real-Time Processing and Power Saving with Multicore-Based Robot Middleware
Takuma Sumiya, Yutaka Matsubara, Miyuki Nakano, Midori Sugaya

ComSys 2014, Toyosu
2014
Practical Industry-Academia Education Centered on OJL (On the Job Learning)
Yutaka Matsubara, Tomoyuki Ando, Norihiro Yoshida, Nobuyuki Tachi, Hiroyuki Takashima, Tomoaki Unagami, Masaki Yamamoto, Shinya Honda, Hiroaki Takada

ESS 2014, Tokyo
2014
Robot Middleware Supporting Real-Time Processing and Power Saving
Takuma Sumiya, Takanori Nagamine, Yutaka Matsubara, Midori Sugaya

SWEST16 Proceedings, Gifu
2014
Latest Status of the TOPPERS Project
Yutaka Matsubara

SWEST16 Proceedings, Gifu
2014
Practical Industry-Academia Education Centered on OJL (On the Job Learning)
Yutaka Matsubara, Tomoyuki Ando, Norihiro Yoshida, Nobuyuki Tachi, Hiroyuki Takashima, Masaki Yamamoto, Shinya Honda, Hiroaki Takada

SWEST16 Proceedings, Gifu
2014
Visualization of the Embedded Data Stream Management System eDSMS
Masaki Nakai, Yutaka Matsubara, Hiroaki Takada, Akihiro Yamaguchi

SWEST16 Proceedings, Gifu
2014
Simulation Environment for Mixed CAN-Ethernet AVB Networks Using OMNeT++
Keigo Kawahara, Yutaka Matsubara, Hiroaki Takada

SWEST16 Proceedings, Gifu

Best Poster Student Presentation Award.
2014
Best Poster Student Presentation Award for OMNeT++ Simulation Environment for Mixed CAN-Ethernet AVB Networks
Keigo Kawahara, Yutaka Matsubara, Hiroaki Takada

SWEST 16
2013
Safety Measures for Software Faults in Embedded Systems
Yutaka Matsubara, Hiroaki Takada

Computer Software, Vol.30, No.1, pp.119-129
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, pp.1-6, Paris, Jul 2013

Link
2013
Evaluation of a Hierarchical Scheduling Algorithm with Overhead-Aware Simulation
Yuichi Sato, Yutaka Matsubara, Hiroaki Takada

IPSJ Research Report 2013-EMB-31, Tokyo
2013
CAN-Ethernet Protocol Conversion Algorithm for In-Vehicle Networks
Jun Matsumura, Yutaka Matsubara, Hiroaki Takada, Masaya Oi, Masumi Toyoshima, Akihito Iwai

ETNET 2013, Tsushima
2013
Schedulability Evaluation of a FIFO Preemptive Synchronization Protocol for Multicore Systems
Takahiro Fujitani, Yutaka Matsubara, Shinpei Kato, Hiroaki Takada

IPSJ Research Report 2012-OS-124, Okayama
2013
Practical Industry-Academia Education Centered on OJL (On the Job Learning)
Yutaka Matsubara, Nobuyuki Tachi, Hiroyuki Takashima, Masaki Yamamoto, Shinya Honda, Hiroaki Takada

ESS 2013, Tokyo
2013
Evaluation of an Integrated Algorithm Using an Overhead-Aware Scheduling Simulator
Yuichi Sato, Yutaka Matsubara, Hiroaki Takada

SWEST15 Proceedings, Gifu
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
2012
An Open-Source Flexible Scheduling Simulator for Real-time Applications
Yutaka Matsubara, Yasumasa Sano, Shinya Honda, Hiroaki Takada

ISORC 2012, pp.16-22, Shenzhen, Jun 2012

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
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
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
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
2011
Scheduling Simulator for Real-Time Applications with User-Defined Task Processing
Yasumasa Sano, Yutaka Matsubara, Shinya Honda, Hiroaki Takada

ESS 2011 Proceedings, Tokyo

Excellent Paper Award.

Link
2011
Scheduling Simulator with User-Defined Task Processing for Real-Time Applications
Yasumasa Sano, Yutaka Matsubara, Shinya Honda, Hiroaki Takada

ETNET 2011, Miyakojima
2011
Scheduling Simulator with User-Defined Task Processing for Real-Time Applications
Yasumasa Sano, Yutaka Matsubara, Shinya Honda, Hiroaki Takada

SWEST13 Proceedings, Gifu
2011
Hierarchical Scheduling for Integrating Embedded Real-Time Applications
Yutaka Matsubara

Doctoral Dissertation

Recommended by IPSJ SIGEMB.
2011
Recommended Doctoral Thesis Digest
Yutaka Matsubara

IPSJ SIGEMB recommended thesis announcement
2011
Excellent Paper Award for Scheduling Simulator with User-Defined Task Processing
Yasumasa Sano, Yutaka Matsubara, Shinya Honda, Hiroaki Takada

IPSJ Embedded System Symposium 2011
2010
Hardware Implementation and Evaluation of an Interruptible Queueing Spin Lock
Toshiyuki Ichiba, Yutaka Matsubara, Shinya Honda, Hiroaki Takada

ESS 2010, Tokyo
2010
Hierarchical Scheduling Algorithm with Task Start Delay for Time Protection
Yutaka Matsubara, Shinya Honda, Hiroaki Takada

IPSJ Research Report 2010-EMB-19, Kumamoto
2010
Probabilistic Analysis of Response Time in End-to-End Processing of Distributed Real-Time Systems
Takuya Ishikawa, Yutaka Matsubara, Hiroaki Takada

IPSJ Research Report 2010-EMB-18, Hakodate

Link
2010
Middleware for Communication Between Heterogeneous OSs in Integrated Automotive ECUs
Ken Ishitani, Fumio Yamazaki, Takuya Nagao, Masahiro Yamada, Yutaka Matsubara, Shinya Honda, Hiroaki Takada

IPSJ Research Report 2010-EMB-17 No.8, Tokyo

Link
2010
DUOS: RTOS Framework for Integrated Automotive ECUs
Takuya Nagao, Fumio Yamazaki, Masahiro Yamada, Ken Ishitani, Yutaka Matsubara, Shinya Honda, Hiroaki Takada

IPSJ Research Report 2010-EMB-17 No.8, Tokyo

Link
2010
Hardware Implementation and Evaluation of an Interruptible Queueing Spin Lock
Toshiyuki Ichiba, Yutaka Matsubara, Shinya Honda, Hiroaki Takada

ETNET 2010, Hachijojima
2010
Time-Protection Scheduling Algorithm Using Only Task Deadlines
Yutaka Matsubara, Shinya Honda, Hiroaki Takada

IPSJ Research Report 2010-EMB-15 No.8, Yokohama

Link
2010
Development of a Two-Wheel Inverted Pendulum Robot Control System Using a Time-Protection OS
Nozomi Kato, Yutaka Matsubara, Shinya Honda, Hiroaki Takada

2nd NCES Symposium, Nagoya
2009
Hierarchical Scheduling for Integrating Real-time Applications with Interrupt Routines
Yutaka Matsubara, Shinya Honda, Hiroaki Takada

ISOCC 2009, pp.384-387, Busan, Nov 2009

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, pp.19-26, Grenoble, Oct 2009

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

IPSJ Research Report 2009-EMB-14 No.7, Nagoya
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
2008
Time-Protection Scheduling Algorithm Considering Task Priority
Yutaka Matsubara, Shinya Honda, Hiroyuki Tomiyama, Hiroaki Takada

IEICE Technical Report on Computer Systems, Vol.107, No.558, Yakushima, pp.173-178

Link
2008
TOPPERS of the Year 2008 for Automotive RTOS with Memory and Time Protection
Hiroyuki Hattori, Shuichi Onishi, Ayumu Kataoka, Yutaka Matsubara, Hiroaki Takada

TOPPERS Project
2008
IP Excellence Award for Open-Source Protected OS: Automotive RTOS with Memory and Time Protection
Hiroyuki Hattori, Shuichi Onishi, Ayumu Kataoka, Yutaka Matsubara, Hiroaki Takada

10th LSI IP Design Award
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
2007
SSEST: Summer School on Embedded System Technologies
Yutaka Matsubara, Midori Sugaya, Ittetsu Taniguchi, Yasuaki Murakami, Hayato Kanai, Hiroaki Takada

APESER 2007, pp.1-8, Hsinchu, Dec 2007

Link
2007
Flexible Scheduling Framework for Integrating OSEK Applications
Yutaka Matsubara, Shinya Honda, Hiroyuki Tomiyama, Hiroaki Takada

Embedded System Symposium 2007, pp.33-41

Computer Science Area Encouragement Award (2007).

Link
2006
Management and Practice of a Student-Led Education Project for Improving Skills and Communication
Midori Sugaya, Yohei Imai, Yin Zhongxiang, Masaki Oyama, Ittetsu Taniguchi, Hiroaki Tanizaki, Chaiwat Sathawornwichit, Atsushi Noda, Yutaka Matsubara, Hirotaka Motodai

ESS 2006 Proceedings, Vol.2006, No.13, pp.118-122
2006
Second Summer School on Embedded System Technologies (SSEST2)
Yutaka Matsubara, Tetsuya Oda, Hayato Kanai, Ittetsu Taniguchi, Toshikazu Nakano, Atsushi Noda, Takeo Mimura, Yasuaki Murakami

SWEST8 Proceedings, Hamamatsu, pp.107-109
2005
Time-Protection Environment for Automotive Control Systems with a Hierarchical Scheduler
Yutaka Matsubara, Hiroyuki Tomiyama, Hiroaki Takada

Embedded Software Symposium 2005 Proceedings, pp.110-116
2005
Summer School on Embedded System Technologies (SSEST1)
Midori Sugaya, Yohei Imai, Yin Zhongxiang, Masaki Oyama, Ittetsu Taniguchi, Hiroaki Tanizaki, Chaiwat Sathawornwichit, Atsushi Noda, Yutaka Matsubara, Hirotaka Motodai

SWEST7 Proceedings, Hamamatsu, pp.120-121

Related themes

Other main research projects

Trust in connected devices

IoTxWeb3: lifecycle management and data sharing for Internet of Things (IoT) devices

We combine Internet of Things (IoT) devices with blockchain and smart contracts so that device permissions, data sharing, and lifecycle management can be handled in a transparent way.

Open this project

Trust in systems of systems

Modeling and assuring dependability of Systems of Systems

We study Systems of Systems (SoS — arrangements in which multiple independent systems cooperate to achieve an emergent purpose) as socio-technical systems in which autonomous actors interact, and we aim to establish engineering methods for designing their overall behavior.

Open this project

Cross-cutting theme

Verifying and explaining trust: fuzzing, formal methods, and assurance cases

Across all three pillars, we develop techniques for checking whether a system actually deserves trust and for explaining why — fuzzing for concurrent software, formal verification, security analysis, and assurance cases.

Open this project