Abhishek Singh Kevin Jeffay Co-Scheduling Variable Execution Time Requirement Real-Time Tasks and Non Real-Time Tasks. 191-200 2007 conf/ecrts/2007 ECRTS http://doi.ieeecomputersociety.org/10.1109/ECRTS.2007.87 db/conf/ecrts/ecrts2007.html#SinghJ07