Wan-Chen Lu Kwei-Jay Lin Hsin-Wen Wei Wei Kuan Shih New Schedulability Conditions for Real-Time Multiframe Tasks. 39-50 2007 conf/ecrts/2007 ECRTS http://doi.ieeecomputersociety.org/10.1109/ECRTS.2007.20 db/conf/ecrts/ecrts2007.html#LuLWS07