Yaroslav Domaratsky Maxim Perevozchikov Alexander Ingulets Alexander Alkhovik Back-End Software for Highly Dependable Real-Time Control Systems. 237-244 2001 conf/compsac/2001 COMPSAC http://doi.ieeecomputersociety.org/10.1109/CMPSAC.2001.960622 db/conf/compsac/compsac2001.html#DomaratskyPIA01