Shih-Hsi Liu Barrett R. Bryant Jeffrey G. Gray Rajeev R. Raje Andrew M. Olson Mikhail Auguston QoS-UniFrame: A Petri Net-Based Modeling Approach to Assure QoS Requirements of Distributed Real-Time and Embedded Systems. 202-209 2005 conf/ecbs/2005 ECBS http://csdl.computer.org/comp/proceedings/ecbs/2005/2308/00/23080202abs.htm db/conf/ecbs/ecbs2005.html#LiuBGROA05