Hai Jin Minghu Zhang Pengliu Tan Clock Synchronization Integrated with Traffic Smoothing Technique for Distributed Hard Real-Time Systems. 176 2006 conf/IEEEcit/2006 CIT http://doi.ieeecomputersociety.org/10.1109/CIT.2006.61 db/conf/IEEEcit/IEEEcit2006.html#JinZT06