Jaiganesh Balasubramanian Aniruddha S. Gokhale Douglas C. Schmidt Nanbor Wang Towards Middleware for Fault-Tolerance in Distributed Real-Time and Embedded Systems. 72-85 2008 DAIS http://dx.doi.org/10.1007/978-3-540-68642-2_6 conf/dais/2008 db/conf/dais/dais2008.html#BalasubramanianGSW08