Thomas Genssler Alexander Christoph Michael Winter Oscar Nierstrasz Stéphane Ducasse Roel Wuyts Gabriela Arévalo Bastiaan Schönhage Peter O. Müller Christian Stich Components for embedded software: the PECOS approach. 19-26 2002 conf/cases/2002 CASES http://doi.acm.org/10.1145/581630.581634 db/conf/cases/cases2002.html#GensslerCWNDWASMS02