Marcel Verhoef Peter Visser Jozef Hooman Jan F. Broenink Co-simulation of Distributed Embedded Real-Time Control Systems. 639-658 2007 conf/ifm/2007 IFM http://dx.doi.org/10.1007/978-3-540-73210-5_33 db/conf/ifm/ifm2007.html#VerhoefVHB07