L. Ollinger, D. Zühlke, A. Theorin, and C. Johnsson. Proceedings of the 18th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA 2013), Cagliari, Italy, (2013)
E. Lee. Proceedings of the 11th IEEE International Symposium on Object Oriented Real-Time Distributed Computing (ISORC '08), Orlando, FL, USA, page 363-369. (2008)