Ulrich Hannemann Jozef Hooman Formal Design of Real-Time Components on a Shared Data Space Architecture. 143-150 2001 conf/compsac/2001 COMPSAC http://doi.ieeecomputersociety.org/10.1109/CMPSAC.2001.960610 db/conf/compsac/compsac2001.html#HannemannH01