Advanced design methods and tools for mobile robot development. - Jari Kaikkonen; Tommi Mäkeläinen; Hannu Hakala (IROS, 1991)

Interfacing functional modules within mobile robots. - Tommi Mäkeläinen; Jari Kaikkonen; Hannu Hakala (IROS, 1991)

Fast Prototyping Using System Emulators. - Tero Rissa; Tommi Mäkeläinen; Jarkko Niittylahti; Jouni Siirtola (FPL, 1998)

Transaction Level Modeling in Communication Engine Design. - Vesa Lahtinen; Jouni Siirtola; Tommi Mäkeläinen (FDL, 2006)

TLM: Crossing Over From Buzz To Adoption. - Francine Bacchini; Daniel D. Gajski; Laurent Maillet-Contoz; Haruhisa Kashiwagi; Jack Donovan; Tommi Mäkeläinen; Jack Greenbaum; Rishiyur S. Nikhil (DAC, 2007)