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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
This paper improves graph-based intrusion detection for the CAN in-vehicle network by adding outlier-ratio features that highlight abnormal message patterns. Messages are modeled as a graph, and the ratio of outlier messages is added as a feature to help separate attacks from normal traffic. Better detection matters because CAN itself has no built-in security.
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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)
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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
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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
This paper discusses challenges of software-defined vehicles and shows how the Lingua Franca coordination language can orchestrate services with different criticality levels on one platform. Lingua Franca describes the timing relationships between components explicitly, which makes it easier to ensure that safety-critical services are not disturbed by less important ones. This matters as cars consolidate many functions onto a few powerful computers.
Link
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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
This paper presents a small companion computer built from commercial off-the-shelf parts for nano drones, balancing weight, power consumption, and versatility. Using off-the-shelf modules instead of custom hardware keeps the design inexpensive and easy to reproduce while fitting the strict weight and power budget of palm-sized drones. This is an extended journal version of the authors' conference work.
Link
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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
This paper explores building a Linux-based unikernel, a minimal single-purpose OS image, for embedded systems with limited memory and CPU resources. Bundling the application with only the OS features it needs reduces memory footprint while keeping compatibility with Linux software. This would let resource-constrained devices benefit from the large Linux ecosystem.
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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
This paper presents GLACI, a tool that inserts arbitrary measurement or debugging code into OpenGL graphics API calls without modifying the application. It intercepts the calls between the application and the graphics driver, so measurement code can be added and removed freely. This helps analyze and debug graphics performance in embedded systems.
Best Paper Award.
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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
This paper presents a lightweight, low-power companion computer for nano drones, enabling additional processing on very small aircraft. The design fits within the strict weight and power budget of palm-sized aircraft while remaining versatile. This work later formed the basis of the extended journal version.
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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
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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.
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2025
Real-Time Evaluation of an I/O Scheduler with Partitioning for SSDs Hitoshi Koshino, Shinnosuke Koshiba, Yutaka Matsubara, Hiroaki Takada
ETNET 2025, Okinoerabu
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2025
Collision Avoidance System for Rowing Competitions Using Smartphones Shunsuke Oba, Yutaka Matsubara, Hiroaki Takada
ETNET 2025, Okinoerabu
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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)
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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
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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
This paper presents a unified tracing framework to monitor and analyze rare performance problems in ROS 2, a widely used robot software platform. The framework records events across the software stack in a unified way, so developers can trace back what happened when a rare slowdown occurs. This helps diagnose performance problems that are hard to reproduce.
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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
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2024
Performance Evaluation of a CAN Intrusion Detection Algorithm Akari Sasaki, Ryo Kurachi, Yutaka Matsubara, Hiroaki Takada
DICOMO 2024, pp.205-214
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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
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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
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2024
Signal-Based CAN IDS Using Hamming Distance and Evaluation on a Dataset Akari Sasaki, Ryo Kurachi, Yutaka Matsubara, Hiroaki Takada
CSS 2024, Kobe
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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
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2024
TOPPERS of the Year 2024 Activity Division: Support for ET Robocon Yoshifumi Shu, Yixiao Li, Yutaka Matsubara
TOPPERS Project
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2023
Automotive Control Systems as Distributed Real-Time Systems Hiroaki Takada, Yutaka Matsubara
Systems, Control and Information (ISCIE), Vol.67, No.12
A review article explaining automotive control systems from the viewpoint of distributed real-time systems, where many computers must cooperate under strict timing constraints. It describes how the many electronic control units connected by in-vehicle networks must exchange data and finish computations on time. The article helps readers see why real-time system theory matters for modern cars.
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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
This paper evaluates the real-time performance of PREEMPT_RT Linux when running tasks of different criticality levels together on an embedded multi-core processor. The evaluation examines how critical and non-critical tasks interfere with each other when they share cores. The results inform decisions about consolidating functions onto one computer.
Link
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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
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2023
Evaluation of Low-Level Runtimes in Container Virtualization Ryota Nishimura, Yutaka Matsubara, Hiroaki Takada
ETNET 2023, Tokunoshima
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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
This paper designs a control-flow integrity mechanism, a defense that stops attackers from hijacking program execution, tailored to RTOS-based microcontroller systems. The mechanism is designed to keep protecting the system even when the RTOS switches tasks and handles interrupts, situations that ordinary CFI designs do not consider. This strengthens small embedded devices that are hard to patch after deployment.
Link
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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
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2022
Visual Modeling and Design Methodology for AUTOSAR Platform Using MBSE Tools Mitsutaka Takada, Ryosuke Takahashi, Yutaka Matsubara
IPSJ EMB-61, Yokohama
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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
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2022
Extending cgroup for Flexible CPU Resource Accounting Eisuke Matsushita, Yutaka Matsubara, Hiroaki Takada
ETNET 2022, Online
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2021
Shared Hardware Analysis Method in Hypervisors Kenta Suzuki, Yutaka Matsubara, Tomokazu Moriya, Kenji Mototani, Hideyuki Iwakiri, Hiroaki Takada
ETNET 2021, Online
Link
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2021
Storage Access Analysis Method from Applications Hiroki Hasegawa, Yutaka Matsubara, Toshikazu Kato, Hitoshi Yamamoto, Hiroaki Takada
ETNET 2021, Online
Link
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2021
Best Poster Bronze Award for Visual Design Tool for AUTOSAR Vehicle-Level Specifications Mitsutaka Takada, Ryosuke Takahashi, Yutaka Matsubara
SWEST 23
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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
This paper presents TZmCFI, a control-flow integrity mechanism for small Arm microcontrollers that uses the TrustZone security feature and works correctly with an RTOS. TrustZone provides an isolated area that attackers cannot tamper with, and the mechanism keeps its protection consistent across task switches and interrupts. This defends small devices that lack the hardware protections of larger computers.
Link
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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
This paper presents esprof, a general-purpose profiling infrastructure for measuring and analyzing the behavior of multi- and many-core embedded software. It offers a common way to insert measurement points and collect events across different OSes and hardware, instead of building ad-hoc tools each time. The collected data helps developers track down performance bottlenecks.
Link
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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
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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
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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
This paper uses linear programming to decide when to change processor speed within a task (intra-task DVFS) so that energy is saved without missing deadlines. The task is divided into segments and an optimization determines the best speed for each, exploiting the fact that slower execution consumes less energy. Deadlines are treated as constraints, so real-time guarantees are preserved.
Link
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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
This paper formulates energy-aware task allocation on heterogeneous multiprocessors as an integer linear programming problem to minimize energy while meeting deadlines. Formulating the problem mathematically lets a solver find allocations that exploit the different speed and power characteristics of each core. This matters for battery-powered devices that still have timing requirements.
Link
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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
This paper proposes shadow exception stacks, which extend control-flow integrity protection to interrupt handling on Arm microcontrollers using TrustZone. Interrupts complicate control-flow protection because they can occur at any moment, and the shadow stacks record return paths safely inside TrustZone. This addresses a gap left by CFI schemes that ignore asynchronous exceptions.
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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
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2019
Comparison of Inter-Application Communication Models on Embedded Software Platforms Mitsutaka Takada, Yutaka Matsubara
ETNET 2019, Nishinoomote
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2019
Shadow Exception Stacks: TrustZone-M Based CFI for Asynchronous Exceptions Tomoaki Kawada, Shinya Honda, Yutaka Matsubara, Hiroaki Takada
SCIS 2019, Otsu
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2019
Software Paper Award for EV3RT: A Real-time Software Platform for LEGO Mindstorms EV3 Yixiao Li, Yutaka Matsubara, Hiroaki Takada
JSSST
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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
This paper proposes IDH-CAN, a hardware mechanism that periodically changes CAN message IDs to make attacks on in-vehicle networks harder while preserving real-time behavior. Because CAN messages are normally identified by fixed IDs, hopping them deprives attackers of an easy target. Implementing the hopping in hardware keeps message timing predictable, which is essential for control systems.
Link
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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
This paper allocates tasks on the big.LITTLE architecture, which combines fast and power-efficient cores, considering variations in execution time to minimize energy. Real tasks often finish earlier than their worst-case estimates, and the method exploits this slack when deciding which core runs which task. This saves energy on the kind of processors widely used in smartphones and embedded devices.
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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
This paper compares how well an RTOS and Linux scale on an embedded many-core processor, providing data for choosing an OS for such platforms. The same measurements are run on both OSes while the number of cores increases, revealing where each design stops scaling. Such data helps developers pick the right OS for many-core embedded platforms.
Link
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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
This paper proposes an energy-aware method to allocate large sets of tasks on heterogeneous multiprocessors, scaling beyond exact optimization approaches. A heuristic approach finds good allocations quickly where exact optimization would take far too long. This targets realistic embedded systems with large numbers of tasks.
Link
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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
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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
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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
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2018
Multi-task CFI Using Arm TrustZone for Armv8-M Tomoaki Kawada, Shinya Honda, Yutaka Matsubara, Hiroaki Takada
SWEST20, Gero
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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
This paper presents IXM, a fast inter-process communication middleware designed for robot control software. By reducing copying and overhead in message exchange, it keeps the delay between sensing and actuation small. This supports building robot systems that respond quickly to their surroundings.
Link
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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
This paper presents EV3RT, a real-time software platform that lets developers run RTOS-based applications on the LEGO Mindstorms EV3 robot kit. It brings the TOPPERS RTOS to the EV3 hardware together with device support and a development environment. The platform is widely used in embedded systems education and robot contests.
Link
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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
This paper designs IDHCC, a CAN controller that hops message IDs for security while guaranteeing real-time message delivery. The controller changes IDs in a way both sender and receiver can follow, so protection is added without breaking communication. This design study preceded the extended IDH-CAN journal version.
Link
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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
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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
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2016
Security and Safety of In-Vehicle Devices Ryo Kurachi, Yutaka Matsubara, Hiroaki Takada
IPSJ Magazine, Vol.57, No.7
A review article explaining the relationship between security and functional safety for in-vehicle devices. It shows that a cyber attack can break the assumptions behind safety design, so security measures must be planned as part of functional safety. Basic attack examples and defense concepts are introduced for non-specialists.
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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
This paper proposes CaCAN, a system in which a central monitor node authenticates messages on the CAN in-vehicle network and removes unauthorized ones. The monitor node checks message authentication codes and neutralizes unauthorized frames before they take effect. Requiring only one added node makes the scheme easy to introduce, and this is the extended journal version of the escar 2014 paper.
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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
This paper proposes moving tasks between processors at run time to reduce energy consumption in multiprocessor real-time systems while meeting deadlines. Migration decisions weigh the cost of moving a task against the energy saved by balancing load across processors. This is the extended journal version of the authors' ICESS 2014 conference paper.
Link
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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
This paper presents a framework for evaluating OS-level power management schemes on the big.LITTLE architecture, which combines fast and efficient cores. The framework runs different power management policies under the same conditions so their energy and performance can be compared fairly. Such comparisons guide OS design for energy-sensitive devices.
Link
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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
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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
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2016
IXM: Process Communication Middleware for Robot Control Software Takuma Sumiya, Yutaka Matsubara, Midori Sugaya
IPSJ Research Report 2016-EMB-40 No.5, Goto
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2016
Research Activities for Automotive Ethernet Network Keigo Kawahara, Masato Sato, Katsunori Aoki, Yutaka Matsubara, Hiroaki Takada
Automotive Ethernet Congress 2016, Munich
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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
This paper reports a practical education method for embedded systems based on OJL (On-the-Job Learning), where students learn through real development projects. Students tackle industry-related development tasks under mentoring, gaining skills that classroom exercises alone cannot teach. The paper shares the course design and the outcomes observed.
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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
This paper presents a mobile robot system that detects falls of elderly people to support care services. A mobile robot can move to check on a person, complementing fixed sensors that cover only part of a home. Combining sensing and robot technology aims to reduce the burden of watching over elderly people.
Invited paper.
Link
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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.
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2015
Fast and Accurate Estimation of Instruction Cycles for ARM Architecture Tsuyoshi Sato, Hiroaki Takada, Shinya Honda, Yutaka Matsubara
Design Gaia 2015, Nagasaki
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2015
Study on Power Saving for a Monitoring Robot Takanori Nagamine, Yutaka Matsubara, Midori Sugaya
IPSJ 77th National Convention, Kyoto
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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
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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
This paper presents CaCAN, a centralized message authentication system for the CAN in-vehicle network, at the automotive security conference escar. A monitor node authenticates messages on the bus and neutralizes unauthorized ones, requiring little change to existing vehicle networks. This work was later extended into the journal version.
Link
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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
This paper builds a simulation environment for automotive networks combining CAN and Ethernet AVB, and reports a preliminary evaluation. The model reproduces how time-sensitive traffic flows across the two network types, so designs can be examined before building hardware. Ethernet AVB matters as vehicles need more bandwidth for cameras and sensors.
Link
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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
This paper proposes migrating tasks between processors to save energy in real-time multiprocessor systems while keeping deadlines. Moving tasks at run time balances load, so processors can run at lower speeds and consume less energy while deadlines are still met. This work formed the basis of the later journal version.
Link
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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
This paper presents a software platform for the LEGO Mindstorms EV3 robot kit based on an RTOS with memory protection (MMU) support. Memory protection via the MMU keeps a faulty program from corrupting the rest of the system, which is unusual for hobby-class robot kits. This platform later evolved into EV3RT.
Link
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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
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2014
Supporting Real-Time Processing and Power Saving with Multicore-Based Robot Middleware Takuma Sumiya, Yutaka Matsubara, Miyuki Nakano, Midori Sugaya
ComSys 2014, Toyosu
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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
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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
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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
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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
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2014
Supporting Real-Time Processing and Power Saving with Multicore-Based Robot Middleware Takuma Sumiya, Yutaka Matsubara, Miyuki Nakano, Midori Sugaya
ComSys 2014, Toyosu
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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
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2014
Robot Middleware Supporting Real-Time Processing and Power Saving Takuma Sumiya, Takanori Nagamine, Yutaka Matsubara, Midori Sugaya
SWEST16 Proceedings, Gifu
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2014
Latest Status of the TOPPERS Project Yutaka Matsubara
SWEST16 Proceedings, Gifu
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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
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2014
Visualization of the Embedded Data Stream Management System eDSMS Masaki Nakai, Yutaka Matsubara, Hiroaki Takada, Akihiro Yamaguchi
SWEST16 Proceedings, Gifu
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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.
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2014
Best Poster Student Presentation Award for OMNeT++ Simulation Environment for Mixed CAN-Ethernet AVB Networks Keigo Kawahara, Yutaka Matsubara, Hiroaki Takada
SWEST 16
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2013
Safety Measures for Software Faults in Embedded Systems Yutaka Matsubara, Hiroaki Takada
Computer Software, Vol.30, No.1, pp.119-129
This paper organizes and discusses safety measures against software faults in embedded systems, such as detecting failures and keeping the system in a safe state. Since testing cannot remove every fault, systems should detect anomalies at run time and move to a safe state before harm occurs. The paper organizes concrete techniques usable in resource-limited embedded systems.
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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
This paper presents a simulation environment based on the OMNeT++ network simulator for automotive networks that combine CAN and Ethernet. Mixed CAN-Ethernet designs were emerging in vehicles, and the environment lets engineers evaluate such network designs on a computer. Communication design can thus be examined without a real car.
Link
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2013
Evaluation of a Hierarchical Scheduling Algorithm with Overhead-Aware Simulation Yuichi Sato, Yutaka Matsubara, Hiroaki Takada
IPSJ Research Report 2013-EMB-31, Tokyo
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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
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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
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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
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2013
Evaluation of an Integrated Algorithm Using an Overhead-Aware Scheduling Simulator Yuichi Sato, Yutaka Matsubara, Hiroaki Takada
SWEST15 Proceedings, Gifu
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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
This paper presents schesim, a simulator that reproduces how a real-time scheduler runs application tasks, useful for checking timing behavior before deployment. Developers describe their tasks and scheduling policies, and the simulator shows whether deadlines are met under various conditions. This lets timing behavior be examined without preparing target hardware.
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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
This paper presents an open-source simulator that flexibly models schedulers and real-time applications to evaluate timing behavior. Being open source, the simulator can be extended with new scheduling algorithms and reused freely in research and education. It helps developers check timing behavior without target hardware.
Link
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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
This paper reports the practice and outcomes of a summer school on embedded system technologies organized by students and young engineers. Participants design and build an embedded system in a short period, while the young organizers themselves grow by planning and running the school. The paper analyzes the educational effects observed through this practice.
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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
This paper analyzes the response time of periodic tasks probabilistically, taking into account the distribution of their initial phases (start offsets). Worst-case analysis alone is often too pessimistic, and the probabilistic view estimates how likely each response time actually is. This supports real-time designs that use resources efficiently without giving up timing confidence.
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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
This paper proposes a hierarchical scheduling algorithm with task start delay that provides time protection, preventing one application from stealing CPU time from others. Deliberately delaying certain task starts makes each application's CPU budget easier to guarantee within the hierarchical scheduler. This supports consolidating separately developed applications onto one computer without interference.
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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
This paper proposes a spin lock with priority inheritance that can be interrupted, and implements it in hardware to reduce blocking in multiprocessor real-time systems. Ordinary spin locks can delay interrupts and urgent tasks while waiting, and the proposed lock avoids this by allowing interruption and inheriting priority. A hardware implementation keeps the overhead of the mechanism low.
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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
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2011
Scheduling Simulator with User-Defined Task Processing for Real-Time Applications Yasumasa Sano, Yutaka Matsubara, Shinya Honda, Hiroaki Takada
ETNET 2011, Miyakojima
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2011
Scheduling Simulator with User-Defined Task Processing for Real-Time Applications Yasumasa Sano, Yutaka Matsubara, Shinya Honda, Hiroaki Takada
SWEST13 Proceedings, Gifu
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2011
Hierarchical Scheduling for Integrating Embedded Real-Time Applications Yutaka Matsubara
Doctoral Dissertation
Recommended by IPSJ SIGEMB.
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2011
Recommended Doctoral Thesis Digest Yutaka Matsubara
IPSJ SIGEMB recommended thesis announcement
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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
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2010
Hardware Implementation and Evaluation of an Interruptible Queueing Spin Lock Toshiyuki Ichiba, Yutaka Matsubara, Shinya Honda, Hiroaki Takada
ESS 2010, Tokyo
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2010
Hierarchical Scheduling Algorithm with Task Start Delay for Time Protection Yutaka Matsubara, Shinya Honda, Hiroaki Takada
IPSJ Research Report 2010-EMB-19, Kumamoto
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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
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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
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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
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2010
Hardware Implementation and Evaluation of an Interruptible Queueing Spin Lock Toshiyuki Ichiba, Yutaka Matsubara, Shinya Honda, Hiroaki Takada
ETNET 2010, Hachijojima
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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
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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
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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
This paper proposes hierarchical scheduling that integrates multiple real-time applications while properly accounting for interrupt routines. Interrupt handling consumes CPU time at unpredictable moments, so the scheduler treats its influence explicitly when guaranteeing each application's share. This supports consolidating software onto fewer processors.
Invited paper.
Link
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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
This paper reports the history and lessons of a summer school on embedded system technologies organized by students and young engineers in Japan. It looks back on how the peer-run format developed and what kept participants engaged. The lessons are useful for others planning hands-on engineering education.
Link
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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
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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
This paper presents a flexible scheduling framework that lets multiple real-time applications with different scheduling needs run together on one system. Each application keeps its own scheduling policy while the framework arbitrates CPU time among them. This eases integrating software components that were developed separately.
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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
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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
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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
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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
This paper proposes a real-time scheduling algorithm that provides time protection, guaranteeing each application its share of CPU time even if another misbehaves. The scheduler enforces a CPU budget for each application, so a fault in one cannot starve the others. This idea underpins safely consolidating multiple functions onto one processor.
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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
This paper introduces SSEST, a summer school on embedded system technologies run by students and young engineers, and its educational approach. Participants team up to develop an embedded system in a short period, experiencing the process from design to demonstration. The paper shares the curriculum and how the school is run, so similar programs can be built elsewhere.
Link
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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
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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
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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
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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
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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
