Praveen Jayachandran Tarek F. Abdelzaher A Delay Composition Theorem for Real-Time Pipelines. 29-38 2007 conf/ecrts/2007 ECRTS http://doi.ieeecomputersociety.org/10.1109/ECRTS.2007.80 db/conf/ecrts/ecrts2007.html#JayachandranA07