Christian Ferdinand Reinhold Heckmann Hans-Jörg Wolff Christian Renz Oleg Parshin Reinhard Wilhelm Towards Model-Driven Development of Hard Real-Time Systems. 145-160 2006 ASWSD http://dx.doi.org/10.1007/978-3-540-70930-5_10 conf/aswsd/2006 db/conf/aswsd/aswsd2006.html#FerdinandHWRPW06