Chang Liu Debra J. Richardson Using RAIC for Dependable On-line Upgrading of Distributed Systems. 1006-1011 2002 conf/compsac/2002 COMPSAC http://doi.ieeecomputersociety.org/10.1109/CMPSAC.2002.1045138 db/conf/compsac/compsac2002.html#LiuR02