Ingo Sander Jun Zhu Axel Jantsch Andreas Herrholz Philipp A. Hartmann Wolfgang Nebel High-level estimation and trade-off analysis for adaptive real-time systems. 1-4 2009 IPDPS http://dx.doi.org/10.1109/IPDPS.2009.5161208 conf/ipps/2009 db/conf/ipps/ipdps2009.html#SanderZJHHN09