Björn B. Brandenburg James H. Anderson Integrating Hard/Soft Real-Time Tasks and Best-Effort Jobs on Multiprocessors. 61-70 2007 conf/ecrts/2007 ECRTS http://doi.ieeecomputersociety.org/10.1109/ECRTS.2007.17 db/conf/ecrts/ecrts2007.html#BrandenburgA07