César Sánchez Henny B. Sipma Venkita Subramonian Christopher D. Gill Zohar Manna Thread Allocation Protocols for Distributed Real-Time and Embedded Systems. 159-173 2005 conf/forte/2005 FORTE http://dx.doi.org/10.1007/11562436_13 db/conf/forte/forte2005.html#SanchezSSGM05