David F. Bacon Perry Cheng David Grove Michael Hind V. T. Rajan Eran Yahav Matthias Hauswirth Christoph M. Kirsch Daniel Spoonhower Martin T. Vechev High-level real-time programming in Java. 68-78 2005 conf/emsoft/2005 EMSOFT http://doi.acm.org/10.1145/1086228.1086242 db/conf/emsoft/emsoft2005.html#BaconCGHRYHKSV05