Aleksandra Tesanovic Mehdi Amirijoo Kaj-Mikael Björk Jörgen Hansson Empowering configurable QoS management in real-time systems. 39-50 2005 conf/aosd/2005 AOSD http://doi.acm.org/10.1145/1052898.1052902 db/conf/aosd/aosd2005.html#TesanovicABH05