Publications

Book Chapter

1. Jingxuan Wei, Yutaka Matsubara, Hiroaki Takada, "A Security Analysis Method Using Attack-oriented Guidewords for Embedded Systems", Springer Recent Advances in Systems Safety and Security, 2016. [Link]

Journals DBLP Google Scholar

1. Huang Wenhung Kevin, Yoshinori Terazawa, Yutaka Matsubara, Akihito Iwai, "Software-Defined Vehicles: Challenges and Orchestrating Mixed-Criticality Services Using Lingua Franca," IEEE Embedded Systems Letters, DOI: https://doi.org/10.1109/LES.2025.3596675, Aug. 2025.

2. Yuxiao Wu,  Yutaka Matsubara, Shoji Kasahara, "Enhancing Account Information Anonymity in Blockchain-Based IoT Access Control Using Zero-Knowledge Proofs", MDPI Electronics, Vol. 14, Issue. 14, DOI: https://doi.org/10.3390/electronics14142772, Jul. 2025.

3. Rintaro Okudera, Yixiao Li, Yutaka Matsubara, Hiroaki Takada, "A COTS-based Lightweight, Low-power and Versatile Companion Computer for Nano UAVs", Sensors & Transducers, Vol.268, No.1, pp. 37-44, Apr 2025. [Link]

4. Huanjun Zhang, Yutaka Matsubara, "ArchiMate-Based System of Systems Resilience Evaluation Approach", MDPI Systems, Vol. 13, Issue.5, 327. DOI: https://doi.org/10.3390/systems13050327, Apr. 2025.

5. Huanjun Zhang, Yutaka Matsubara, "Consensus Based Resilience Assurance for System of Systems", IEEE Access, Vol.13, pp. 20203-20217, DOI: 10.1109/ACCESS.2025.3535519, Jan. 2025.

6. Misaki Kojima, Naoki Nishida, Yutaka Matsubara, "Transforming concurrent programs with semaphores into logically constrained term rewrite systems", Journal of Logical and Algebraic Methods in Programming, Volume 143, pp.1-23, DOI: 10.1016/j.jlamp.2024.101033, Feb. 2025

7. Zhengshu Zhou, Yutaka Matsubara, Hiroaki Takada, "A Decision Support Scheme for Safe and Efficient Transportation of Hazardous Materials", IEEE Transactions on Intelligent Transportation Systems, Vol.26, Issue. 1, pp. 309--322, DOI:10.1109/TITS.2024.3490635, Jan. 2025

8. Wenqing Zhu, Norihiro Yoshida, Yutaka Matsubara, Hiroaki Takada, "Multilingual Investigation of Cross-Project Code Clones in Open-Source Software for Internet of Things Systems", IEEE Access,  Vol. 12, pp. 179104-179118,  doi: 10.1109/ACCESS.2024.3506013, Dec 2024

9. Hiromasa Ito, Yutaka Matsubara, Hiroaki Takada, "Detecting Concurrency Bugs with Feedback-guided Fuzzing", IPSJ Journal, Vol.65, No.5, pp.927 - 941, May. 2024 [Link]

10. Yixiao Li , Yutaka Matsubara, Hiroaki Takada, Kenji Suzuki, Hideaki Murata, "A Performance Evaluation of Embedded Multi-core Mixed-criticality System Based on PREEMPT_RT Linux", Journal of Information Processing, Vol.31(2023), DOI: http://dx.doi.org/10.2197/ipsjjip.31.78, pp. 78-87, Feb. 2023 [Link]

11. Zhengshu Zhou, Yutaka Matsubara, Hiroaki Takada, "Resilience Analysis and Design for Mobility-as-a-Service Based on Enterprise Architecture Modeling", Elsevier Reliability Engineering & System Safety, Vol. 229, DOI: https://doi.org/10.1016/j.ress.2022.108812, Jan. 2023. [Link]

12. Zhengshu Zhou, Yutaka Matsubara, Hiroaki Takada, "Developing Reliable Digital Healthcare Service Using Semi-Quantitative Functional Resonance Analysis", Computer Systems Science and Engineering, Vol.45, No.1, pp.35-50, 2023. [Link] 

13. Tomoaki Kawada, Shinya Honda, Yutaka Matsubara, Hiroaki Takada, "Design and Implementation of RTOS-Aware Control-Flow Integrity Mechanism for Microcontroller-Based Systems", JSSST Computer Software, Vol. 39, No.2, pp.2_39-2_68, 2022. [Link]

14. Hiromasa Ito, Yutaka Matsubara, Hiroaki Takada, " How to Test Middleware with Coverage-based Greybox Fuzzing", IPSJ Journal,  Vol.62, pp.877 - 890, Mar. 2021

15. Tomoaki Kawada, Shinya Honda, Yutaka Matsubara, Hiroaki Takada, "TZmCFI: RTOS-Aware Control-Flow Integrity Using TrustZone for Armv8-M", International Journal of Parallel Programming, Springer, Jul 2020. [Link]

16. Yixiao Li, Yutaka Matsubara, Hiroaki Takada, "esprof: A Generic Profiling Infrastructure for Multi/Many-Core Embedded Systems", Computer Software, Vol.37,No.1, pp. 1_54-1_67Jan 2020. [Link]

17. Yang Qin, Gang Zeng, Ryo Kurachi, Yixiao Li, Yutaka Matsubara, Hiroaki Takada, "Energy-Efficient Intra-Task DVFS Scheduling Using Linear Programming Formulation", IEEE Access, Vol.7, pp.30536 - 30547, DOI: 10.1109/ACCESS.2019.2902353, Mar. 2019 [Link]

18. Yang Qin, Gang Zeng, Ryo Kurachi, Yutaka Matsubara, Hiroaki Takada, "Energy-Aware Task Allocation for Heterogeneous Multiprocessor Systems by Using Integer Linear Programming", Journal of Information Processing, Vol.60, No.2, pp.-, Feb. 2019

19. Wufei Wu, Ryo Kurachi, Gang Zeng, Yutaka Matsubara, Hiroaki Takada, Renfa Li, Keqin Li, "IDH-CAN: A Hardware-Based ID Hopping CAN Mechanism With Enhanced Security for Automotive Real-Time Applications", IEEE Access, Vol. 6, Issue 1, pp.54607-54623, DOI: 10.1109/ACCESS.2018.2870695, Dec. 2018 [Link] 

20. Yang Qin, Gang Zeng, Ryo Kurachi, Yutaka Matsubara, Hiroaki Takada, "Execution-variance-aware task allocation for energy minimization on the big.LITTLE architecture", ELSEVIER Sustainable Computing: Informatics and Systems., Oct 2018. [PDF]

21. Yixiao Li, Yutaka Matsubara, Hiroaki Takada, "A Comparative Analysis of RTOS and Linux Scalability on an Embedded Many-core Processor", Journal of Information Processing, Vol.59, No. 3, Mar. 2018 [Link]

22. Morio Mori, Hideaki Sato, Akira Yamashita, Yutaka Matsubara, Hiroaki Takada, "Safety analysis examples in compliance with ISO 26262 for TOPPERS/ATK2 conforming to the AUTOSAR OS specification" (in Japanese), Vol.59, No.2, pp.785-794, Feb 2018 [Link]

23. Midori Sugaya, Yutaka Matsubara, Takuma Sumiya, Miyuki Nakano, "IXM:Rapid Inter-Process Communication Middleware for Robotics Software" (in Japanese), IPSJ, Vol. 58, No. 10, Oct. 2017. (accepted)

24. Yixiao Li, Yutaka Matsubara, Hiroaki Takada, "EV3RT: A Real-time Software Platform for LEGO Mindstorms EV3", JSSST (accepted)

25. Ryo Kurachi, Yutaka Matsubara, Hiroaki Takada, Hiroshi Ueda, Satoshi Horihata, "CaCAN: Centralized Authentication System in CAN (Controller Area Network)", IEICE Journal, Vol.J99-A,No.2,pp.118-130,Feb. 2016.

26. Gang Zeng, Yutaka Matsubara, Hiroyuki Tomiyama and Hiroaki Takada, "Energy-aware task migration for multiprocessor real-time systems", ELSEVIER.

27. Nobuyuki Tachi, Masaki Yamamoto, Norihiro Yoshida, Hiroyuki Takashima, Tomoaki Unagami, Yuki Ando, Yutaka Matsubara, Shinya Honda, Hiroaki Takada, "Practical Educational Method of Embedded System with OJL" (in Japanese), JSSST, Vol.32, No. 2 p.2, Jun 2015.

28. Yutaka Matsubara and Hiroaki Takada, "Safety measures for software faults in embedded systems" (in Japanese), JSSST Journal, Vol.30, No.1, Feb 2013.

29. Zoohaye Kim, Yutaka Matsubara, Hiroaki Takada, "A Safety Analysis Method based on Hierarchical State Transition Diagrams for Embedded Systems" (in Japanese), IEICE Journal, Vol.J96-A, No.1, Jan 2013.

30. Yasumasa Sano, Yutaka Matsubara, Shinya Honda and Hiroaki Takada, "schesim: A Scheduling Simulator for Real-time Applications" (in Japanese), IEICE Journal, Vol.J95-D, No.12, pp.2008-2020. Dec 2012.

31. Zoohaye Kim, Yutaka Matsubara, Hiroaki Takada, "A Safety Analysis Method based on State Transition Diagram" (in Japanese), IEICE Journal, Vol.J95-A, No.2, Feb 2012.

32. Ittetsu Taniguchi, Yuki Ando, Hideki Takase, Takuya Azumi, Yutaka Matsubara, Shintaro Hosoai, Yasuaki Murakami, Midori Sugaya, "Summer School on Embedded System Technologies organized by Students and Junior Enginners" (in Japanese), IPSJ Journal, Vol. 52, No.12, Dec 2011.

33. Takuya Ishikawa, Yutaka Matsubara, Hiroaki Takada, "Stochastic Analysis on Periodic Task Model with Initial Phase Distribution" (in Japanese), IPSJ Journal, Vol. 52, No.12, Dec 2011.

34. Yutaka Matsubara, Shinya Honda, and Hiroaki Takada, "Hierarchical Scheduling with Delayed Activation of Tasks for Temporal Protection" (in Japanese), IPSJ Journal, vol. 52, no. 8, pp. 2387-2401, 2011.

35. Toshiyuki Ichiba, Yutaka Matsubara, Shinya Honda, and Hiroaki Takada, "Preemptable Priority Inheritance Queueing Spin Lock and its Hardware Implementation" (in Japanese), IPSJ Trans. Advanced Computing Systems, vol. 4, No. 3 (ACS 34), pp. 133-146, 2011.

36. Yutaka Matsubara, Shinya Honda, Hiroyuki Tomiyama, and Hiroaki Takada, "A Flexible Scheduling Framework for Integration of Real-Time Applications" (in Japanese), IPSJ Journal, vol. 49, no. 10, pp. 3508-3519, Oct. 2008.

37. Yutaka Matsubara, Shinya Honda, Hiroyuki Tomiyama, and Hiroaki Takada, "Real-Time Scheduling Algorithm for Temporal Protection" (in Japanese), IPSJ Trans. Advanced Computing Systems, vol. 48, no. SIG8 (ACS18), pp. 192-202, May 2007.

International Conferences

1. Chenda Siv, Yutaka Matsubara, Hiroaki Takada, "Improving Airport Baggage Handling System (BHS) Efficiency with Simulation-Based Design", 2nd IEOM World Congress on Industrial Engineering and Operations Management, Canada, Oct 2025. (To appear)

2. Luyonghe Li, Yuichiro Yasue, Yutaka Matsubara, "SSI-Enabled Authentication and Enhanced Metadata Search in Blockchain-based Decentralized IoT Data Platforms", IEEE 1stInternational Workshop on Blockchain for Decentralized Trust and Digital Identity(B4TI) at BCCA 2025, Croatia, Oct. 2025. (To appear)

3. Yuxiao Wu, Kenta Kawai, Yutaka Matsubara, "PPDS: A Practical and Privacy-Preserving Data Sharing Model for Blockchain-Based IoT e-Health Systems Using ECC, Zero-Knowledge Proof, and Access Control", IEEE 7th International Conference on Blockchain Computing and Applications (BCCA 2025), Croatia, Oct. 2025. (To appear)

4. Kenta Kawai, Yuxiao Wu, Yutaka Matsubara, Hiroaki Takada, "Flexible Edge Processing in Blockchain-based Secure IoT Data Distribution Framework", 6th Workshop on Blockchain theoRy and ApplicatIoNs (BRAIN 2025) at PerCom2025, Washington D.C., Mar 2025.

5. Rintaro Okudera, Yixiao Li, Yutaka Matsubara, Hiroaki Takada, "A Lightweight, Low-power and Versatile Companion Computer for Nano UAVs ", 1st International Conference on Drones and Unmanned Systems (DAUS' 2025), pp. 292-295, Granada, Spain, Feb 2025.

6. Yixiao Li, Yutaka Matsubara, Hiroaki Takada, Satoru Funahashi, Hiroki Kawashima, "Monitor and Analyze Rare ROS2 Performance Issues with A Unified Tracing Framework", The 6th World Symposium on Software Engineering (WSSE 2024), Kyoto, Japan, Sep 2024. [Link]

7. Hiromasa Ito, Yutaka Matsubara, Hiroaki Takada, "Race Directed Fuzzing for More Effective Concurrency Testing", The 6th World Symposium on Software Engineering (WSSE 2024), Kyoto, Japan, Sep. 2024. [Link]

8. Akihisa Morikawa, Yutaka Matsubara, Daichi Mizuguchi, Kiyoshi Fujiwara, "AI2X Co-evolution Guidebook and Case Study for Human-centered AI Framework", SAFECOMP 2024 Position paper,  Frorence, Italy, Sep. 2024. [Link[

9. Huanjun Zhang, Yutaka Matsubara, Hiroaki Takada, "Reaching Consensus on System-of-systems Resilience Assurance: A Case of Mobility as a Service", 11th International Workshop on Next Generation of System Assurance Approaches for Critical Systems (SASSUR 2024) at SAFECOMP 2024, Florence, Italy, Sep. 2024.

10. Huanjun Zhang, Yutaka Matsubara, Hiroaki Takada, "A Quantitative Approach for System of Systems’ Resilience Analyzing Based on ArchiMate", 18th International Workshop on Dependable Embedded Cyber-Physical Systems and Systems-of-Systems (DECSoS 2023) at SAFECOMP 2023, pp. 47-60, Toulouse, France, Sep. 2023.

11. Yutaka Matsubara, Akihisa Morikawa, Daichi Mizuguchi, Kiyoshi Fujiwara, "Toward Human-centered AI Framework: An Introduction to AI2X Co-evolution Project", SAFECOMP 2023 Position paper, hal-04191518, Toulouse, France, Sep. 2023.

12. Hiromasa Ito, Yutaka Matsubara, Hiroaki Takada, "Schfuzz: Detecting Concurrency Bugs with Feedback-Guided Fuzzing", In Proc. of the 18th International Conference on Evaluation of Novel Approaches to Software Engineering - ENASE, 273-282, 2023 , Prague, Apr. Czech Republic. DOI: 10.5220/0011722100003464 [Link]

13. Zhengshu Zhou, Yutaka Matsubara, Hiroaki Takada, "Quantitative Security Assurance Case for In-vehicle Embedded Systems", IEEE CyberSciTech/PICom/DASC/CDBCom 2021, pp. 43-50, Online, Oct 2021.

14. Yixiao Li, Yutaka Matsubara, Daniel Olbrys, Kazuhiro Kajio, Hiroaki Takada, "Agile Software Design Verification and Validation (V&V) for Automated Driving", Proceedings of FISITA 2020, Nov. 2020.

15. Misaki Kojima, Naoki Nishida, Yutaka Matsubara, "Transforming Concurrent Programs with Semaphores into Logically Constrained Term Rewrite Systems", Informal Proceedings of WPTE 2020, Jun. 2020.

16. Tomoaki Kawada, Shinya Honda, Yutaka Matsubara, Hiroaki Takada, "Shadow exception stacks: Control-Flow Integrity for Asynchronous Exceptions Using TrustZone for Armv8-M", The 6th International Embedded Systems Symposium (IESS) 2019, Friedrichshafen, Sep 2019.

17. Yang Qin, Gang Zeng, Ryo Kurachi, Yutaka Matsubara, Hiroaki Takada, "Energy-Aware Task Allocation for Large Task Sets on Heterogeneous Multiprocessor Systems", 16th International Conference on Embedded and Ubiquitous Computing (EUC) , pp. 158-165, Romania, Oct 2018.

18. Yoshinari Toda, Yutaka Matsubara, Hiroaki Takada, "FRAM/STPA: Hazard Analysis Method for FRAM Model", FRAMily2018, pp. 1-17, Cardiff, UK, May 2018.

19. Wufei Wu, Ryo Kurachi, Gang Zeng, Yutaka Matsubara, Hiroaki Takada, Renfa Li, "IDHCC: A Security-Enhanced ID Hopping CAN Controller Design to Guarantee Real-Time", Proceedings of 2nd Workshop on Security and Dependability of Critical Embedded Real-Time Systems (CERTS 2017), pp.14-21, Dec 2017. [PDF]

20. Hideki Takase, Kazumi Aono, Yutaka Matsubara, Kazuyoshi Takagi, Naofumi Takagi, "An evaluation framework of OS-level power managements for the big.LITTLE architecture", Proceedings of 14th IEEE International New Circuits and Systems Conference (NEWCAS), Jun 2016.

21. Takuma Sumiya, Yutaka Matsubara, Miyuki Nakano, Midori Sugaya, "A Mobile Robot for Fall Detection for Elderly-Care", Proceedings of 19th Annual Conference Knowledge-Based and Intelligent Information & Engineering Systems(KES2015), Vol. 60, pp. 870-880, Singapore, Sep 2015. (Invited) [PDF]

22. Jingxuan Wei, Yutaka Matsubara, Hiroaki Takada, "HAZOP-based Security Analysis for Embedded Systems: Case Study of Open Source Immobilizer Protocol Stack", Proceedings of the 3rd International Workshop on Systems Safety & Security (IWSSS2015), Bucharest, Rumania, Jun 2015. [PDF]

23. Ryo Kurachi, Yutaka Matsubara, Hiroaki Takada, Naoki Adachi, Yukihiro Miyashita and Satoshi Horihata, "CaCAN - Centralized Authentication System in CAN", Proceedings of the scar 2014 Europe Conference, pp. xx-xx, Hamburg, Germany, Nov 2014.

24. Keigo Kawahara, Yutaka Matsubara and Hiroaki Takada, "A Simulation Environment and Preliminary Evaluation for Automotive CAN-Ethernet AVB Networks", Proceedings of the 1st OMNeT++ Community Summit (Successor of the International Workshop on OMNeT++), pp. xx-xx, Hamburg, Germany, Sep 2014.

25. Gang Zeng, Yutaka Matsubara, Hiroyuki Tomiyama and Hiroaki Takada, "Task Migration for Energy Saving in Real-Time Multiprocessor Systems", Proceedings of the 11th IEEE International Conference on Embedded Software and Systems (ICESS2014), pp.xx-xx, Paris, France, Aug 2014.

26. Yixiao Li, Takuya Ishikawa, Yutaka Matsubara, and Hiroaki Takada, "A Platform for LEGO Mindstorms EV3 Based on an RTOS with MMU Support", Proceedings of the 10th International Workshop on Operating Systems Platforms for Embedded Real-Time Applications (OSPERT2014), pp. 51-59, Madrid, Spain, Jul 2014.

27. Jun Matsumura, Yutaka Matsubara, Hiroaki Takada, Masaya Oi, Masumi Toyoshima and Akihito Iwai, "A Simulation Environment based on OMNeT++ for Automotive CAN–Ethernet Networks", Proceedings of the 4th International Workshop on Analysis Tools and Methodologies for Embedded and Real-time Systems (WATERS2013), Paris, France, Jul 2013. [PDF]

28. Zoohaye Kim, Yutaka Matsubara, Hiroaki Takada, "SAFETY ANALYSIS METHOD BASED ON PARALLEL STATE TRANSITION DIAGRAM FOR EMBEDDED SYSTEMS", Proceedings of the 16th IASTED International Conference on Software Engineering and Applications (SEA2012), pp.417-425, Las Vegas, USA, Nov 2012. [PDF]

29. Yutaka Matsubara, Yasumasa Sano, Shinya Honda and Hiroaki Takada, "An Open-Source Flexible Scheduling Simulator for Real-time Applications", Proceedings of IEEE International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing (ISORC 2012), pp.16-22, Shenzhen, China, Apr 2012. [PDF]

30. Yutaka Matsubara, Shinya Honda and Hiroaki Takada, "Hierarchical Scheduling for Integrating Real-time Applications with Interrupt Routines", Proceedings of IEEE International SoC Design Conference (ISOCC) 2009, pp. 384-387, Busan, Korea, Nov 2009. (Invited) [PDF]

31. Hideki Takase, Takuya Azumi, Ittetsu Taniguchi (Ritsumeikan Univ.), Yutaka Matsubara, Hayato Kanai (JAIST), Shintaro Hosoai (JAIST) and Midori Sugaya (DEOS Center), "History of Summer School on Embedded System Technologies Organized by Students and Young Engineers", Proceedings of Workshop on Embedded Systems Education (WESE'09), pp. 19-26, Grenoble, France, Oct 2009.

32. Yutaka Matsubara, Midori Sugaya, Ittetsu Taniguchi, Yasuaki Murakami, Hayato Kanai and Hiroaki Takada, "SSEST: Summer School on Embedded System Technologies", Proceedings of the 1st Asia-Pacific Workshop on Embedded System Education and Research (APESER), Hsinchu, Taiwan, Dec 2007. [PDF]

Thesis

• Yutaka Matsubara, "A Hierarchical Scheduling for Integrating Embedded Real-time Applications" (in Japanese), Dissertation, Mar, 2011.

Others

• Keigo Kawahara, Masato Sato, Katsunori Aoki, Yutaka Matsubara, Hiroaki Takada, "Research Activities for Automotive Ethernet Network", Automotive Ethernet Congress 2016, Munich, Feb 2016. [PDF]

• Yutaka Matsubara, Hiroaki Takada, Masaki Samizo, "Safety Argument based on GSN for Automotive Control Systems", The 2nd International Symposium on Future Active Safety Technology Toward zero traffic accidents (FAST-zero '13), Presentation at organized session, Nagoya, Japan, Jul 2013. [PDF]

Brief Biography

• 1982 Born in Shizuoka, Japan

• 2004 Bachelor of Engineering, Dept. of Information Engineering, Nagoya University

• 2006 Master of Information Science, Graduate School of Information Science, Nagoya University

• 2009 Researcher, Center for Embedded Computing Systems, Nagoya University

• 2011 Ph.D. in Information Science, Graduate School of Information Science, Nagoya University

• 2012 Designated Assistant Professor, Center for Embedded Computing Systems, Nagoya University

• 2013 Assistant Professor, Center for Embedded Computing Systems, Nagoya University

• 2015 Mar. - Sep. Visiting Research Scholar at Security and Privacy Lab. in University of Washington, and University of California San Diego

• 2018 Associate Professor, Graduate School of Informatics, Nagoya University