Steven Bradley William Henderson David Kendall Adrian Robson Stephen Hawkes A Formal Design and Implementation Method for Real-Time Embedded Systems. 77- 1996 conf/euromicro/1996 EUROMICRO http://csdl.computer.org/comp/proceedings/euromicro/1996/7487/00/74870077abs.htm db/conf/euromicro/euromicro1996.html#BradleyHKRH96