Phil Koopman Publications & Patents

• Publications
• Patents
• My Home Page

Google Scholar has a reasonably complete picture of my publications and statistics with h-index=52, i10-index=127 as of August 2023.

Publications

(See also: Lecture and presentations | Student dissertation page | Archive.org)

• Troubitsyna, Alvarez, Koopman, and Trapp, "Methods and Tools for the Engineering and Assurance of Safe Autonomous Systems," Report from Dagstuhl Seminar 24151, July 2024. (local | Seminar home)
• Koopman, P., & Widen, W., "Liability Rules for Automated Vehicles: Definitions & Details," SMU Science and Technology Law Review, 27(1), summer 2024. (SSRN | local)
• Koopman, P., "Lessons from the Cruise Robotaxi Pedestrian Dragging Mishap," IEEE Reliability Magazine, Aug. 2024. (Arxiv | local)
• Koopman, P., & Widen, W., "Redefining Safety for Autonomous Vehicles," SafeComp 2024.
  • Extended length preprint including appendix (May 2024): Arxiv | local
• Koopman, P., "Anatomy of a Robotaxi Crash: Lessons from the Cruise Pedestrian Dragging Mishap," SafeComp 2024. (Arxiv| local)
• Medsker et al., ACM TechBrief: Automated Vehicles, April 2024.
• Widen, W. & Koopman, P., "The Awkward Middle for Automated Vehicles: Liability Attribution Rules When Humans and Computers Share Driving Responsibilities," Jurimetrics, Fall 2023 (published March 2024). (SSRN Preprint | local)
• Koopman, P., Understanding Checksums and Cyclic Redundancy Checks, 2024.
• Koopman, P. & Widen, W., "Safety Ethics for the Design and Test of Automated Driving Features," IEEE Design & Test, Feb. 2024. (SSRN preprint | local)
• Koopman, P. & Widen, W., "Breaking the Tyranny of Net Risk Metrics for Automated Vehicle Safety," SCSC eJournal, Jan. 2024. (SSRN preprint | local)

• Widen, W. & Koopman, P., Federal Action Is Needed to Maintain Trust in Automated Vehicle Technology, Jurist, Sep. 7, 2023.
• Widen, W. & Koopman, P., Level 3 Automated Vehicles and Criminal Law, Jurist, Aug. 8, 2023
• Koopman, P., Written Testimony Before US Congress, House E&C Committee regarding Self-Driving Car Safety. (local | hearing video)
• Koopman, P. & Widen, W., "A Reasonable Driver Standard for Automated Vehicle Safety," Safecomp WAISE workshop, Sept. 2023. (local | SSRN)
• Koopman, P., "UL 4600: What to Include in an Autonomous Vehicle Safety Case," IEEE Computer, 2023. (local)
• Widen, W. & Koopman, P., "Winning the Imitation Game: Setting Safety Expectations for Automated Vehicles," 25 Minn. J.L. Sci. & Tech. 113 (2023). (local)
• Koopman, P., "How safe is safe enough for autonomous vehicles?" SAE Update, April 2023, pp. 30-34.
• Koopman, P., "An Improved Modular Addition Checksum Algorithm," Apr. 2023, (arxiv.org/abs/2304.13496)
• Koopman, P., "Large-Block Modular Addition Checksum Algorithms," Feb. 2023. (arxiv.org/abs/2302.13432)

• Koopman, P., The UL 4600 Guidebook: What to Include in an Autonomous Vehicle Safety Case, November 2022. ISBN: 9798846251243 (Details & Preview | Resource links)
• Koopman, P., How Safe Is Safe Enough? Measuring and Predicting Autonomous Vehicle Safety, September 2022. ISBN: 979-8848273397 (Details & Preview | Note links)
• Koopman, P., "Tech Roadmap for Automakers Disillusioned With Robotaxis," Ojo-Yoshida Report, Oct 31, 2022
• Johansson, R. & Koopman, P., "Continuous Learning Approach to Safety Engineering," Critical Automotive Applications: Robustness & Safety / CARS@EDCC2022.
• Widen, W. & Koopman, P., "Autonomous Vehicle Regulation and Trust: the impact of failures to comply with standards", UCLA Journal of Law and Technology, Vol. 27, No. 3, Spring 2022. (local | SSRN)

• Pezzementi, Z., Tabor, T., Chang, J. K., Tiernan, C., Drozd, B., Sample, E., Hazard, C., Wagner, M., & Koopman, P. (2021). "Perception robustness testing at different levels of generality." Field Robotics, 1, 253–286. (in press)
• Koopman, P., We’re Using The Wrong Tools To Educate Drivers About Vehicle Automation, StreetsBlogUSA, Dec. 20, 2021
• Koopman, P., Tesla’s Autonomous Vehicle Testing Makes Everyone a Crash Test Dummy, Smerconish, Nov. 29, 2021.
• Koopman, P., Kuipers, B., Widen, W. & Wolf, M., "Ethics, Safety, and Autonomous Vehicles," IEEE Computer, Dec. 2021. (local)
• Koopman, P., "Autonomous Vehicle Myths: the dirty dozen," EE Times, Oct. 22, 2021.
• Widen, W. & Koopman, P., "Autonomous Vehicle Regulation, Does Tesla's Full Self-Driving Beta Release Comply with Law?" SSRN, Sept. 27, 2021. (local)
• Widen, W. & Koopman, P., "Do Tesla FSD Beta Releases Violate Public Road Testing Regulations?," JURIST, Sept. 27, 2021
• Koopman, P., "SAE J3016 User Guide," July 2021.
• Koopman, P., "A User’s Guide to Vehicle Automation Modes," Jan. 2021.

• Koopman, P., "Self-Driving Cars: Sensors to Prediction," in: Yoshida, J., Editor, Aspencore Guide to Sensors in Automotive, 2020.
• Koopman, P., Wagner, M., "Positive Trust Balance for Self-Driving Car Deployment," WAISE, Sept. 2020.
• Deborah Katz, Milda Zizyte, Casidhe Hutchison, David Guttendorf, Patrick Lanigan, Eric Sample, Philip Koopman, Michael Wagner and Claire Le Goues, "Robustness Inside Out Testing," DSN Industrial Track, July 2020.
• Underwriters Laboratories, Standard for Evaluation of Autonomous Products, 1st Edition, April 2020. (Principal Author).

• Koopman, P., Ferrell, U., Fratrik, F. & Wagner, M., "A Safety Standard Approach for Fully Autonomous Vehicles," WAISE 2019, Sept. 2019.
• Koopman, P., Osyk, B. & Weast, J., "Autonomous Vehicles Meet the Physical World: RSS, Variability, Uncertainty, and Proving Safety," SAFECOMP, Sept. 2019.
  • (Extended version: https://arxiv.org/abs/1911.01207 | local)
• Koopman, P., & Osyk, B., "Safety Argument Considerations for Public Road Testing of Autonomous Vehicles," SAE WXC, 2019-01-0123, Apr. 2019. (slides)
• Koopman, P., Kane, A. & Black, J., "Credible Autonomy Safety Argumentation," Safety-Critical Systems Symposium, Bristol UK, Feb. 2019.
• Koopman, P. & Fratrik, F., "How many operational design domains, objects, and events?" SafeAI 2019, AAAI, Jan 27, 2019. (slides)
• "Certification of Highly Automated Vehicles for Use on UK Roads : Creating An Industry-Wide Framework for Safety," University of York technical report, Oct. 2019.

• Koopman, P., "Practical Experience Report: Automotive Safety Practices vs. Accepted Principles," SAFECOMP, Sept. 2018. (local)
• Pezzementi, Z., Tabor, T., Yim, S., Chang, J., Drozd, B., Guttendorf, D., Wagner, M., & Koopman, P., "Putting image manipulations in context: robustness testing for safe perception," IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Aug. 2018. (slides)
• Koopman, P., "The Heavy Tail Safety Ceiling," Automated and Connected Vehicle Systems Testing Symposium, June 2018.
• Hutchison et al., "Robustness Testing of Autonomy Software," ICSE-SEIP, 2018. (slides)
• Koopman, P. & Wagner, M., "Toward a Framework for Highly Automated Vehicle Safety Validation," SAE World Congress, 2018. SAE-2018-01-1071. (slides)

• Koopman, P., "Challenges in Autonomous Vehicle Validation," SCAV 17 (keynote), April 2017.
• Koopman, P. & Wagner, M., "Autonomous Vehicle Safety: An Interdisciplinary Challenge," IEEE Intelligent Transportation Systems Magazine, Vol. 9 #1, Spring 2017, pp. 90-96.

• Koopman, P., "Embedded System Software Quality: Why is it so often terrible? What can we do about it?" ISSRE 2016 keynote.
• Koopman, P. and Wagner, M., "Challenges in Autonomous Vehicle Testing and Validation," SAE Int. J. Trans. Safety 4(1):2016, doi:10.4271/2016-01-0128. (slides)

• Vernaza, Guttendorf, Wagner & Koopman, "Learning Product Set Models of Fault Triggers in High-Dimensional Software Interfaces," IROS 2015.
• Kane, Chowdhury, Datta & Koopman, "A Case Study on Runtime Monitoring of an Autonomous Research Vehicle (ARV) System," RV 2015.
• Wagner & Koopman, "A Philosophy for Developing Trust in Self-Driving Cars," In: G. Meyer & S. Beiker (eds.) Road Vehicle Automation 2, Lecture Notes in Mobility, Springer, 2015, pp. 163-170
• Koopman, Driscoll, Hall, "Selection of Cyclic Redundancy Code and Checksum Algorithms to Ensure Critical Data Integrity," DOT/FAA/TC-14/49 , March 2015

• Koopman, "A Case Study of Toyota Unintended Acceleration and Software Safety," ECE Seminar Slides, September 18, 2014
• Koopman, "Software Quality, Dependability and Safety in Embedded Systems (Invited Talk)," SAFECOMP 2014
• Kane, Fuhrman, Koopman, "Monitor Based Oracles for Cyber-Physical System Testing," DSN 2014.
• Koopman, Wagner, "Transportation CPS Safety Challenges," NSF Workshop on Transportation CyberPhysical Systems, January 23-24, 2014

• Kane, A. & Koopman, P., "Ride-through for Autonomous Vehicles," CARS 2013.
• Koopman, P. & Szilagyi, C., "Integrity in Embedded Control Networks," IEEE Security & Privacy, 2013.
• Koopman, P., "Lessons Learned in Teaching a Complex Distributed Embedded System Project Course," CPS-Ed 2013, April 8, 2013.

• Koopman, P. & Hoffman, R., "Work-arounds, make-work, and kludges," Collected Essays on Human-Centered Computing, IEEE, 2012.

• Koopman, P., "The Grand Challenge of Embedded System Dependability," DSN 2011 panel session, June 29, 2011.
• Koopman, P., "Avoiding the top 43 embedded software risks," Embedded Systems Conference Silicon Valley, May 2, 2011. (Talk slides)
• Koopman, P., "Challenges in representing CPS safety," Workshop on developing dependable and secure automotive cyber-physical systems from components, Mar 17-18, 2011.

• Koopman, P., Better Embedded System Software, Drumnadrochit Press, 2010, ISBN-13: 978-0-9844490-0-2. (Also see accompanying Blog and Table of Contents)
• Koopman, P., "Risk Areas In Embedded Software Industry Projects", Workshop on Embedded System Education, October, 2010.
• Szilagyi, C. & Koopman, P., "Low cost multicast authentication via validity voting in time-triggered embedded control networks," Workshop on Embedded System Security, October 2010.
• Koopman, P. & Ray, J., "Mitigating the Effects of Internet Timing Faults Across Embedded Network Gateways," MMB/DFT 2010, p. 1, March 2010.
• Abdallah, A., Feron, E., Hellestrand, G., Koopman, P. & Wolf, M., "Hardware/Software Co-Design of Aerospace and Automotive Systems," Proc. IEEE, April 2010. (IEEE)

• Black, J. & Koopman, P., "System safety as an emergent property in composite systems," DSN 2009, pp. 369 - 378.
• Ray, J. & Koopman, P., "Queue management mechanisms for embedded gateways," DSN 2009, pp. 175-184.
• Szilagyi, C. & Koopman, P., "Flexible Multicast Authentication for Time-Triggered Embedded Control Network Applications," DSN 2009, pp. 165-174.
• Maxino, T., & Koopman, P. "The Effectiveness of Checksums for Embedded Control Networks," IEEE Trans. on Dependable and Secure Computing, Jan-Mar 2009, pp. 59-72.
• Driscoll, K., Hall, B., Koopman, P., Ray, J., DeWalt, M., Data Network Evaluation Criteria Handbook, AR-09/24, FAA, 2009.
• Wagner, M., Koopman, P., Bares, J., Ostrowski, C., "Building safer UGVs with run-time safety invariants," 2009 National Defense Industrial Association (NDIA) Systems Engineering Conference (conference record is presentations only).

• Black, J., & Koopman, P., "Indirect control path analysis and goal coverage strategies for elaborating system safety goals in composite systems," PRDC 2008.
• Szilagyi, C. & Koopman, P., "A flexible approach to embedded network multicast authentication," WESS 2008.
• Koopman, P., DeVale, K. & DeVale, J., "Interface robustness testing: experiences and lessons learned from the Ballista Project," In: Kanoun, K. & Spainhower, L., Eds., Dependability Benchmarking for Computer Systems, IEEE Press, 2008, pp. 201-226.

• Koopman, P., "Reliability, Safety, and Security in Everyday Embedded Systems," Latin American Dependability Conference (LADC-07), Morelia, Mexico, Sept. 26-28, 2007
• Koopman, P., Black, J., Maxino, T., "Position Paper: Deeply Embedded Survivability," ARO Planning Workshop on Embedded Systems and Network Security, Raleigh NC, February 22-23, 2007.

• Ray, J., & Koopman, P. "Efficient High Hamming Distance CRCs for Embedded Applications," DSN06, June 2006.
• Maxino, T., "Revisiting Fletcher and Adler Checksums," DSN06 student paper, June 2006.

• Koopman, P., H. Choset, R. Gandhi, B. Krogh, D. Marculescu, P. Narasimhan, J. Paul, R. Rajkumar, D. Siewiorek, A. Smailagic, P. Steenkiste, D. Thomas, C. Wang, "Undergraduate Embedded System Education at Carnegie Mellon," ACM Journal Transactions on Embedded Computing Systems, Vol 4, No. 3, September 2005.
• Koopman, P., Morris, J. & Narasimhan, P., "Challenges in Deeply Networked System Survivability," Nato Advanced Research Workshop On Security and Embedded Systems, August 2005
• Latronico, E. & Koopman, P., "Design Time Reliability Analysis of Distributed Fault Tolerance Algorithms," DSN05, June 2005, pp. 57-64.
• Paulitsch, Morris, Hall, Driscoll, Koopman & Latronico, "Coverage and Use of Cyclic Redundancy Codes in Ultra-Dependable Systems," DSN05, June 2005
• Morris, J. & Koopman, P., "Representing Design Tradeoffs in Safety-Critical Systems," ICSE 2005 Workshop on Architecting Dependable Systems, May 2005

• Koopman, P., "Embedded System Security," IEEE Computer, July 2004.
• Shelton, C. & Koopman, P., "Improving System Dependability with Alternative Functionality," DSN04, June 2004.
• Latronico, E., Miner, P. & Koopman, P., "Quantifying the Reliability of Proven SPIDER Group Membership Service Guarantees," DSN04, June 2004.
• Morris, J., Kroening, D. & Koopman, P., "Fault Tolerance Tradeoffs in Moving from Decentralized to Centralized Embedded Systems," DSN04, June 2004.
• Koopman, P. & Chakravarty, T., "Cyclic Redundancy Code (CRC) Polynomial Selection For Embedded Networks," DSN04, June 2004.
• Martin, C. & Koopman, P., "Representing User Workarounds As A Component Of System Dependability," PRDC 2004: 10th IEEE Pacific Rim International Symposium on Dependable Computing, March 3-5, 2004.
• Orna Raz, Rebecca Buchheit, Mary Shaw, Philip Koopman, and Christos Faloutsos, "Automated Assistance for Eliciting User Expectations," International Conference of Software Engineering and Knowledge Engineering, June 2004.
• Orna Raz and Rebecca Buchheit and Mary Shaw and Philip Koopman and Christos Faloutsos, "Detecting Semantic Anomalies in Truck Weigh-In-Motion Traffic Data Using Data Mining," Journal of Computing in Civil Engineering, October 2004.

• Shelton, C. & Koopman, P., "Using Architectural Properties to Model and Measure Graceful Degradation," In: de Lemos, R., Gacek, C., & Romanovsky, A., Architecting Dependable Systems, Springer-Verlag, 2003.
• Koopman, P. & Hoffman, R., "Work-arounds, make-work, and kludges," IEEE Intelligent Systems, November/December 2003.
• Latronico, E. & Koopman, P., "A Period-Based Group Membership Strategy for Nodes of TDMA Networks," FeT03, July 2003.
• Morris, J. & Koopman, P., "Critical Message Integrity Over A Shared Network," FeT03, July 2003.
• Latronico, E., "Problems Facing Group Membership Specifications for X-by-Wire Protocols," DSN 2003 student paper, June 2003.
• Morris, J. & Koopman, P., "Software Defect Masquerade Faults in Distributed Embedded Systems," DSN 2003 FastAbs, June 2003.
• Koopman, P., "Elements of the self-healing system problem space," Workshop on Architecting Dependable Systems/WADS03, May 2003.
• Shelton, C., Koopman, P. & Nace, W., "A framework for scalable analysis and design of system-wide graceful degradation in distributed embedded systems," WORDS03, January 2003.
• Orna Raz, Rebecca Buchheit, Mary Shaw, Philip Koopman, and Christos Faloutsos "Eliciting User Expectations for Data Behavior via Invariant Templates" Technical report CMU-CS-03-105, January 2003.

• Raz, O., Koopman, P., & Shaw, M., "Enabling Automatic Adaptation in Systems with Under-Specified Elements," 1st Workshop on Self-Healing Systems (WOSS'02), affiliated with the 10th International Symposium on the Foundations of Software Engineering (FSE-10), Charleston, South Carolina, November 2002.
• Koopman, P., "Critical Embedded Automotive Networks," IEEE Micro, July-August 2002.
• Koopman, P. (ed.), Special Issue on Critical Embedded Automotive Networks, IEEE Micro, July-August 2002. (Issue is available from: IEEE Micro Archives; IEEE Xplore Archives
• DeVale, J. & Koopman, P., "Robust software - no more excuses," International Conference on Dependable Systems and Networks (DSN), Washington DC, July 2002
• Koopman, P., "32-bit cyclic redundancy codes for Internet applications," International Conference on Dependable Systems and Networks (DSN), Washington DC, July 2002
• Koopman, P. & Madeira, H., "Workshop on Dependability Benchmarking," International Conference on Dependable Systems and Networks (DSN), July 2002.
• Koopman, P. & Madeira, H. (eds.), Proceedings on the Workshop on Dependability Benchmarking, section within International Conference on Dependable Systems and Networks (DSN) SupplementWashington DC, July 2002.
• Koopman, P., "What's wrong with fault injection as a dependability benchmark?," Workshop on Dependability Benchmarking (in conjunction with DSN 2002), Washington DC, July 2002.
• Raz, O., Koopman, P. & Shaw, M., "Benchmarking semantic availability of dynamic data feeds," Workshop on Dependability Benchmarking (in conjunction with DSN 2002), Washington DC, July 2002.
• Raz, O., Shaw, M. & Koopman, P., "Semantic anomaly detection in on-line data sources," International Conference on Software Engineering (ICSE), Orlando FL, May 2002.
• Shelton, C., & Koopman, P., "Using Architectural Properties to Model and Measure System-Wide Graceful Degradation," Workshop on Architecting Dependable Systems (affiliated with ICSE 2002), May 25 2002 .
• Beveridge, M. & Koopman, P., "Jini Meets Embedded Control Networking: a case study in portability failure," Seventh IEEE Workshop on Object-Oriented Real-Time Dependable Systems: WORDS 2002, San Diego, January 2002.

• Nace, W. & Koopman, P., "A Graceful Degradation Framework for Distributed Embedded Systems," Workshop on Reliability in Embedded Systems (in conjunction with Symposium on Reliable Distributed Systems/SRDS-2001), October 2001.
• Shelton, C. & Koopman, P., "Developing a Software Architecture for Graceful Degradation in an Elevator Control System," Workshop on Reliability in Embedded Systems (in conjunction with Symposium on Reliable Distributed Systems/SRDS-2001), October 2001.
• Latronico, B., Martin, C. & Koopman, P., "Analyzing Dependability of Embedded Systems from the User Perspective," Workshop on Reliability in Embedded Systems (in conjunction with Symposium on Reliable Distributed Systems/SRDS-2001), October 2001.
• Latronico, E. & Koopman, P., "Representing Embedded System Sequence Diagrams As A Formal Language," UML 2001, Toronto Ontario, 3-5 Oct. 2001, pp. 302-316.
• Hoover, C., Hansen, J., Koopman, P. & Tamboli, S., "The Amaranth Framework: policy-based quality of service management for high-assurance computing," International Journal of Reliability, Quality, and Safety Engineering, Vol. 8, No. 4, 2001, pp. 1-28.
• DeVale, J. & Koopman, P., "Performance Evaluation of Exception Handling in I/O Libraries," International Conference on Dependable Systems and Networks (DSN), July 2001, Göteborg Sweden.
• Pan, J., Koopman, P., Siewiorek, D., Huang, Y., Gruber, R. & Jiang, M., "Robustness testing and hardening of CORBA ORB Implementations," International Conference on Dependable Systems and Networks (DSN) July 2001, Göteborg Sweden, pp. 141-150.
• Madeira, H. & Koopman, P. "Dependability benchmarking: making choices in an n-dimensional problem space," Workshop on Evaluating and Architecting System dependabilitY (EASY), concurrent with Dependable Systems and Networks (DSN), July 2001, Göteborg Sweden.
• Koopman, P. & Chakravarty, T., "Analysis of the Train Communication Network Protocol Error Detection Capabilities," http://www.tsd.org/papers/, February 25, 2001.
• Koopman, P. & Kaner, C., "The problem of embedded software in UCITA and drafts of revised Article 2," UCC Bulletin, 3 parts: February 2001; March 2001; April 2001.

• Nace, W. & Koopman, P., "A product family based approach to graceful degradation," DIPES 2000, 8-19 October 2000, Paderborn, Germany.
• Koopman, P. & DeVale, J., The Exception Handling Effectiveness of POSIX Operating Systems, IEEE Transactions on Software Engineering, Vol. 26, No. 9, September 2000. (Direct Link)
• Shelton, C. & Koopman, P., "Robustness Testing of the Microsoft Win32 API, International Conference on Dependable Systems and Networks (DSN), New York City, June 26-28 2000.

• Cholkar, A. & Koopman, P., "A Widely Deployable Web-based Distributed Network Simulation Framework using CORBA IDL-based APIs," Winter Simulation Conference 2000, December 5-8 1999, Phoenix, AZ, pp. 1587-1594.
• Koopman, P. & Madeira, H., "Dependability Benchmarking & Prediction: A Grand Challenge Technology Problem," 1st International Workshop on Real-Time Mission-Critical Systems: Grand Challenge Problems, Nov. 30, 1999; Phoenix, Arizona USA. 4 pages.
• Hoover, C., Hansen, J., Koopman, P. & Tamboli, S.,"The Amaranth Framework: Probabilistic, Utility-Based Quality of Service Management for High-Assurance Computing", IEEE Fourth International High-Assurance Systems Engineering Symposium (HASE’99), IEEE Computer Society Press, Los Alamitos, CA, Nov. 17-19, 1999, pp. 207-216.
• Fernsler, K. & Koopman, P., "Robustness Testing of a Distributed Simulation Backplane," ISSRE 99, Boca Raton, FL, Nov. 2-4, 1999, pp. 189-198.
• Pan, J., Koopman, P. & Siewiorek, D., "A Dimensionality Model Approach to Testing and Improving Software Robustness," Autotestcon99, August 30-September 2, 1999, San Antonio, TX.
• Koopman, P. & DeVale, J., "Comparing the Robustness of POSIX Operating Systems," Fault Tolerant Computing Symposium, June 1999.
• DeVale, J., Koopman, P. & Guttendorf, D., "The Ballista Software Robustness Testing Service," Testing Computer Software Conference, June 1999.

• Koopman, P., "Toward a Scalable Method for Quantifying Aspects of Fault Tolerance, Software Assurance, and Computer Security," Post proceedings of the Computer Security, Dependability, and Assurance: From Needs to Solutions (CSDA'98), 11-13 November 1998, Washington, D.C., pp. 103-131.
• Bayouth, M. & Koopman, P., "Functional Evolution of an Automated Highway System for Incremental Deployment," Transportation Research Record, #1651, Paper #981060, pp. 80-88.
• Koopman, P. & Bayouth, M., "Orthogonal Capability Building Blocks for Flexible AHS Deployment," Journal of Intelligent Transportation SystemsVol. 4, pp. 1-19, 1998.
• Kropp, N., Koopman, P. & Siewiorek, D., "Automated Robustness Testing of Off-the-Shelf Software Components," Fault Tolerant Computing Symposium, pp. 230-239, June 23-25, 1998.
• Koopman, P., Tran, E. & Hendrey, G. "Toward Middleware Fault Injection for Automotive Networks," Fault Tolerant Computing Symposium, pp. 78-79, June 23-25, 1998.
• Koopman, P., "Using CAD Tools for Embedded System Design: Obstacles Encountered in an Automotive Case Study," Integrated Computer Aided Engineering, 5(1) 85-94, 1998. (Also, Tech Report EDRC 05 103 96)

• Koopman, P., Sung, J., Dingman, C. & Siewiorek, D., "Comparing Operating Systems using Robustness Benchmarks," Symposium on Reliable Distributed Systems, Durham NC, October 22-24, 1997, pp. 72-79.
• Tran, E. & Koopman, P., Mission Failure Probability Calculations for Critical Function Mechanizations in the Automated Highway System, Technical Report CMU-RI-TR-97-44, Carnegie Mellon University, December 16, 1997. 34 pages.

• Koopman, P., Tracking down Lost Messages and System Failures Embedded Systems Programming, 9(11), October 1996, pp. 38-52
• Koopman, P., "Embedded System Design Issues -- The Rest of the Story", Proceedings of the 1996 International Conference on Computer Design, Austin, October 7-9 1996.
• Koopman, P., "On Being the Bearer of Bad News" (engineering ethics), The Institute, IEEE, vol. 20, no. 6, pg. 15, June 1996. Reprinted in Engineering Dimensions, Professional Engineers of Ontario, January 2000 pp. 25-26.

• Koopman, P., "A taxonomy of decomposition strategies based on structures, behaviors, and goals", 1995 Conference on Design Theory and Methodology, Boston, September 1995.
  
• Gupta, R., Koopman, P. & Wolfe, A., "Tutorial on CAD for Digital Embedded Systems", Design Automation Conference, June 1995.
• Koopman, P. & Upender, B., Time Division Multiple Access without a Bus Master, Technical Report 9500470, United Technologies Research Center, 1995.

• Koopman, P., "A preliminary exploration of optimized stack code generation", Journal of Forth Applications and Research, 6(4), 1994.
  
• Upender, B. & Koopman, P., "Communication protocols for embedded systems", Embedded Systems Programming, 7(11) 46-58, November 1994.
  
• Upender, B. & Koopman, P. "Structured Functional Modeling in SES/workbench," 1994 SES User Group Conference, Austin TX, 16 pages, April 1994. [presentation only]

• D'Anniballe, J. & Koopman, P., "Towards execution models of distributed systems: a case study of elevator design", ICCD Workshop on Hardware/Software Codesign, Boston, October 1993.
• Upender, B. & Koopman, P., "Embedded Communication Protocol Options," Proceedings of Embedded Systems Conference 1993, Santa Clara, pp. 469-480, October 1993; repeated in Proceedings of Embedded Systems Conference East 1994, Boston, April 1994.
• Koopman, P., "Perils of the PC Cache", Embedded Systems Programming, 6(5) 26-34, May 1993.
• Koopman, P., "A Brief Introduction to Forth," ACM SIGplan Notices, vol. 28, no. 3, pp. 357-358, March 1993, (History of Programming Languages HOPL-II preprints issue.)
• Koopman, P., "Stack Machines," In: Thorson, M. (ed.), "Usenet Nuggets," SIGARCH Computer Architecture News, 21(1), pp. 36-37, March 1993.

• Keown, W., Koopman, P. & Collins, A., "Performance of the Harris RTX 2000 stack architecture versus the Sun 4 Sparc and the Sun 3 M68020 architectures", Computer Architecture News, 20(3) 45-52, June 1992.
  
• Keown, W., Koopman, P. & Collins, A., "Real-Time Performance of the Harris RTX 2000 Stack Architecture versus the Sun 4 SPARC and the Sun 3 M68020 Architectures with a Proposed Real-Time Performance Benchmark," Performance Evaluation Review, May 1992, vol. 19, no. 4, pp. 40-48.
• Koopman, P., Lee, P. & Siewiorek, D., "Cache Behavior of Combinator Graph Reduction", Transactions on Programming Languages and Systems, 14(2) 265-297, April 1992.
• Koopman, P. & Siewiorek, D., "ICs for workstations", IEEE Spectrum, 29(4) 52-54, April 1992.
  

• Siewiorek, D. & Koopman, P., The Architecture of Supercomputers: Titan, a case study, Academic Press, 1991. (Archive.org)
• Koopman, P., Lee, P. & Siewiorek, D., "Architectural Considerations for Combinator Graph Reduction," Lee, P. (ed.) Topics In Advanced Language Implementation, MIT Press, 1991, pp. 369-95.
• Koopman, P. "Some Ideas for Stack Computer Design," 1991 Rochester Forth Conference, pg. 58, June 1991.
• Koopman, P. (ed), SIGForth '90 and SIGForth '91 Conference Proceedings, ACM Press, 1991.

• Koopman, P., An Architecture for Combinator Graph Reduction, Academic Press, 1990.
  
• Koopman, P., "Testing Toolkit," Forth Dimensions, vol. 12, no. 3 , pp. 31-32; 41, September 1990.
• Koopman, P., "Embedded Control as a Path to Forth Acceptance," SIGForth90, pp. 23-26, 1990.
• Koopman, P., "Heavyweight Tasking," Embedded Systems Programming, vol. 3, no. 4, pp. 42-52, April 1990.
• Koopman, P. "TIGRE: Combinator Graph Reduction on the RTX 2000," 1990 Rochester Forth Conference, pp. 82-86, June 1990.
• Koopman, P. "Architectural Opportunities for Future Stack Engines," 1990 Rochester Forth Conference, pp. 79-81, June 1990.
• Koopman, P. & VanNorman, R. "Adding a Third Stack to a Forth Engine," 1990 Rochester Forth Conference, pp. 150-151, June 1990.
• Koopman, P. "Design Constraints on Embedded Real Time Control Systems," System Design and Network Architecture Conference, pp. 71-77, May 8-10, 1990.
• Koopman, P. "Modern Stack Computer Architecture," System Design and Network Architecture Conference, pp. 153-164, May 8-10, 1990.
• Koopman, P., Lee, P. & Siewiorek, D., "Cache Performance of Combinator Graph Reduction", 1990 Int. Conf. on Computer Languages, March 12-15, 1990.
• Koopman, P., "Design Tradeoffs in Stack Computers," Forth Dimensions, vol. 11, no. 6, pp. 5-9, March 1990.
  

• Koopman, P., Stack Computers, Ellis Horwood, 1989.
• Koopman, P. & Lee, P., "A Fresh Look at Combinator Graph Reduction", Proc. of the 1989 SIGPLAN Conf. on Programming Language Design and Implementation, June 21-23, 1989.
• Koopman, P. & VanNorman, R., "RTX 4000," 1989 Rochester Forth Conference, pp. 84-86, June 6-10, 1989.
• Lee, P. & Koopman, P., Compiling for Direct Execution of Combinator Graphs, Ergo report, Carnegie Mellon University, Pittsburgh, 1989.

• Koopman, P. & Siewiorek, D., "The Impact of Rent's Rule on Massive Parallelism", Frontiers of Massively Parallel Computation, 1988.
• Koopman, P. "32 Bit RTX Chip Prototype," Journal of Forth Application and Research (Rochester Forth Conference Proceedings), vol. 5, no. 2, pp. 331-335, 1988.
• Koopman, P., "Fractal Landscapes," Dr. Dobb's Toolbox of Forth Vol. II, M&T Publishing, pp. 347-356, 1988.
• Koopman, P., "Bresenham Line Drawing Algorithm," Dr. Dobb's Toolbox of Forth Vol. II, M&T Publishing, pp. 357-365, 1988.

• Koopman, P., "Writable Instruction Set Stack Oriented Computers: The WISC Concept," Journal of Forth Application and Research (Rochester Forth Conference Proceedings), vol. 5, no. 1, pp. 49-71, 1987.
• Koopman, P., "The WISC Concept," BYTE, vol. 12, no. 4, pp. 187-194, April 1987.
• Koopman, P., "Microcoded vs. Hard-Wired Control," BYTE, vol. 12, no. 1, pp. 235-242, January 1987.

• Haydon, G., & Koopman, P., "MVP Microcoded CPU/16: History," Journal of Forth Application and Research (Rochester Forth Conference Proceedings), vol. 4, no. 2 , pp. 273-276, 1986.
• Koopman, P., & Haydon, G., "MVP Microcoded CPU/16: Architecture," Journal of Forth Application and Research (Rochester Forth Conference Proceedings), vol. 4, no. 2, pp. 277-280 1986.

• Koopman, P., "Redefining Words," Forth Dimensions, vol. 7, no. 4, pp. 36-37, November 1985.
• Koopman, P., Forth Floating Point, Mountain View Press, 1985.

Patents

• US2022/0004818A1, Systems and Methods for Evaluating Perception System Quality, 2022-01-06. (Published application.)
• WO2021/168435A1, Automated identification of training data candidates for perception systems, 2021-08-26. (Published application.)
• WO2020/142721A1, Methods and systems for improving permissiveness while ensuring the safety of an autonomous vehicle, 2020-07-09. (Published application.)
• WO2020/123567A1; Human-supervised autonomous systems performance and safety monitoring methods and apparatus, 2020-06-18. (Published application.)
• EP #3 400 676; A safety architecture for autonomous vehicles; Wagner, Ray, Kane, Koopman, April 1, 2020. (See also US #10,962,972, March 30, 2021 )
• #7,668,765; Method and apparatus for location-sensitive, subsidized cell phone billing; Tanaka, Hendrey & Koopman, February 23, 2010.
• #6,647,269; Method and system for analyzing advertisements delivered to a mobile unit; Hendrey, Tanaka & Koopman, November 11, 2003.
• #6,542,750; Method and system for selectively connecting mobile users based on physical proximity; Hendrey, Tanaka & Koopman, April 1, 2003.
• #6,542,749; Method and system for connecting proximately located mobile users based on compatible attributes; Tanaka, Hendrey, Koopman & King, April 1, 2003.
• #6,542,748; Method and system for automatically initiating a telecommunications connection based on distance; Hendrey, Koopman, King & Tanaka, April 1, 2003.
• #6,539,232; Method and system for connecting mobile users based on degree of separation; Hendrey, Tanaka, Koopman & King, March 25, 2003.
• #5,991,673; Vehicle anti-theft system including vehicle identification numbers programmed into on-board computers; Koopman & Carroll, November 23, 1999.
• #5,975,622; Wireless automotive door; Koopman, November 2, 1999.
• #5,952,937; System and method of updating communications in a security system; Koopman, Carroll, Grzybowski, Marshall, September 14, 1999.
• #5,940,002; Security system with random number remote communication; Finn, Koopman & Carroll, August 17, 1999.
• #5,783,994; Vehicle security system with combined key fob and keypad anti-driveaway protection; Koopman, Carroll, Grzybowski & Marshall, Jul. 21, 1998.
• #5,757,923; Method of generating secret identification numbers; Koopman, May 26, 1998.
• #5,696,828; Random number generating system and process based on chaos; Koopman, Dec. 9, 1997.
• #5,682,024; Elevator position determination; Koopman & Finn, Oct. 28, 1997.
• #5,659,159; Elevator level control system using elevator/landing gap as a reflection duct; Koopman, Aug. 19, 1997.
• #5,649,014; Pseudorandom composition-based cryptographic authentication process; Koopman, Finn & LaBarre, Jul. 15, 1997.
• #5,619,575; Pseudorandom composition-based cryptographic authentication process; Koopman, Finn & LaBarre, Apr. 8, 1997.
• #5,598,476; Random clock composition-based cryptographic authentication process and locking system; LaBarre & Koopman, Jan. 28, 1997.
• #5,535,212; Implicit Token Media Access Protocol Without Collision Detection; Koopman & Brajczewski, Jul. 9, 1996.
• #5,450,404; Explicit and Implicit Token Media Access Protocol with Multi-Level Bus Arbitration; Koopman & Brajczewski, Sep. 12, 1995.
• #5,436,901; Synchronous Time Division Multiplexing Using Jam-Based Frame Synchronization; Koopman, Jul. 25, 1995.
• #5,398,284; Cryptographic Encoding Process; Koopman & Finn, Mar. 14, 1995.
• #5,377,270; Cryptographic Authentication of Transmitted Messages Using Pseudorandom Numbers; Koopman & Finn, Dec. 27, 1994.
• #5,363,448; Pseudorandom Number Generation and Cryptographic Authentication; Koopman & Finn, Nov. 8, 1994. (Also issued as European Patent EP00706735B1; Re-issued with new claims as US #RE36,181)
• #5,053,952; Stack memory based 32-bit writable instruction set computer having a single data bus; Koopman & Haydon, Oct. 1, 1991.
• #4,980,821; Stack memory based writable instruction set computer having a single data bus; Koopman & Haydon, Dec. 25, 1990.

Philip Koopman: