Bifröst: Visualizing and Checking Behavior of Embedded Systems across Hardware and Software. - William McGrath; Daniel Drew; Jeremy Warner; Majeed Kazemitabaar; Mitchell Karchemsky; David Mellis; Björn Hartmann (UIST, 2017)

WiFröst: Bridging the Information Gap for Debugging of Networked Embedded Systems. - William McGrath; Jeremy Warner; Mitchell Karchemsky; Andrew Head; Daniel Drew; Bjoern Hartmann (UIST, 2018)

Heimdall: A Remotely Controlled Inspection Workbench For Debugging Microcontroller Projects. - Mitchell Karchemsky; J. D. Zamfirescu-Pereira; Kuan-Ju Wu; François Guimbretière; Bjoern Hartmann (CHI, 2019)