2025

• Post-Hoc Scenario-Based Testing of Automated Driving Systems: Classification of Driving Scenarios and Checking of Functional Requirements in Recorded Data (Paper)
  Till Schallau, Dominik Schmid, Nick Pawlinorz, Harun Teper, Stefan Naujokat, Jian-Jia Chen, Falk Howar
  2025 IEEE Intelligent Vehicle Symposium (IV)
• End-To-End Latency Optimization for Containerized ROS 2 Autonomous Driving Software (Paper)
  Tobias Betz, Harun Teper, Dominic Ebner, Simon Sagmeister, Maximilian Leitenstern, Simon Sagmeister, Marcel Weinmann, Jian-Jia Chen, Markus Lienkamp
  IEEE Access 2025
• Timely ML (Paper)
  Daniel Kuhse, Harun Teper, Christian Hakert, Jian-Jia Chen
  Real-Time Systems Journal 2025
• Reconciling ROS 2 with Classical Real-Time Scheduling of Periodic Tasks (Paper) (Artifact)
  Harun Teper, Oren Bell, Mario Günzel, Chriss Gill, Jian-Jia Chen
  In 31st Real-Time and Embedded Technology and Applications Symposium (RTAS) 2025
• You Only Look Once At Anytime (AnytimeYOLO): Analysis and Optimization of Early-Exits for Object-Detection (Paper)
  Daniel Kuhse, Harun Teper, Sebastian Buschjäger, Chien-Yao Wang, Jian-Jia Chen
  arXiv 2025

2024

• End-To-End Latency of Cause-Effect Chains: A Tutorial (Paper)
  Mario Günzel, Harun Teper, Georg von der Brügge, Jian-Jia Chen
  ACM Transactions on Embedded Computing Systems 24
• Thread Carefully: Preventing Starvation in the ROS 2 Multi-Threaded Executor (Paper)
  Harun Teper, Daniel Kuhse, Mario Günzel, Georg von der Brüggen, Falk Howar, Jian-Jia Chen
  In 20th IEEE International Conference on Embedded Software (EMSOFT) 2024
• End-To-End Timing Analysis and Optimization of Multi-Executor ROS 2 Systems (Paper)(Artifact)
  Harun Teper, Tobias Betz, Mario Günzel, Dominic Ebner, Georg von der Brüggen, Johannes Betz, Jian-Jia Chen
  In 30th IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS) 2024
• Is it Running? Unveiling 6G-Driven System-Of-Systems Testbeds using Visual Metaphors (Paper)
  Irfan Fachrudin Priyanta, Cedrik Krieger, Julia Freytag, Harun Teper, Philipp Schulte, Christian Wietfeld, Jian-Jia Chen, Moritz Roidl
  In 2024 IEEE International Systems Conference (SysCon)

2023

• Integration of Scaled Real-world Testbeds with Digital Twins for Future AI-Enabled 6G Networks (Paper)
  Cedrik Krieger, Harun Teper, Julia Freytag, Irfan Fachrudin Priyanta, Philipp Schulte, Moritz Roidl, Jian-Jia Chen, Christian Wietfeld
  In 2023 IEEE Globecom Workshops (GC Wkshps)
• Timing-Aware ROS 2 Architecture and System Optimization (Paper)
  Harun Teper, Tobias Betz, Georg von der Brüggen, Kuan-Hsun Chen, Johannes Betz, Jian-Jia Chen
  In 29th IEEE Embedded and Real-Time Computing Systems and Applications (RTCSA) 2022
• How Fast is My Software? Latency Evaluation for a ROS 2 Autonomous Driving Software (Paper)
  Tobias Betz, Maximilian Schmeller, Harun Teper, Johannes Betz
  In 28th IEEE Intelligent Vehicles Symposium (IV) 2023
• On the Equivalence of Maximum Reaction Time and Maximum Data Age for Cause-Effect Chains (Paper)
  Mario Günzel, Harun Teper, Kuan-Hsun Chen, Georg von der Brüggen, Jian-Jia Chen
  In 35th Euromicro Conference on Real-Time Systems (ECRTS) 2023

2022

• End-To-End Timing Analysis in ROS2 (Paper)(Artifact)
  Harun Teper, Mario Günzel, Niklas Ueter, Georg von der Brüggen and Jian-Jia Chen
  In 43rd IEEE Real-Time Systems Symposium (RTSS) 2022
• AuNa: Modularly Integrated Simulation Framework for Cooperative Autonomous Navigation (Paper)
  Harun Teper, Anggera Bayuwindra, Raphael Riebl, Ricardo Severino, Jian-Jia Chen, Kuan-Hsun Chen
  arXiv 2022

2021

• Work-in-Progress: Evaluation Framework for Self-Suspending Schedulability Tests (Paper)
  Mario Günzel, Harun Teper, Kuan-Hsun Chen, Georg von der Brüggen, Jian-Jia Chen
  In 42nd IEEE Real-Time Systems Symposium (RTSS) 2021