Brian Dobbing Marc Richard-Foy T-SMART - Task-Safe, Minimal Ada Realtime Toolset. 244-253 1997 conf/adaEurope/1997 Ada-Europe db/conf/adaEurope/adaEurope1997.html#DobbingR97 http://dx.doi.org/10.1007/3-540-63114-3_22