Ivan Radojevic Zoran A. Salcic Partha S. Roop Modelling Heterogeneous Embedded Systems in DFCarts. 441-453 2005 FDL http://www.ecsi-association.org/ecsi/main.asp?l1=library&fn=def&id=426 conf/fdl/2005 db/conf/fdl/fdl2005.html#RadojevicSR05