Takuya Azumi Masanari Yamamoto Yasuo Kominami Nobuhisa Takagi Hiroshi Oyama Hiroaki Takada A New Specification of Software Components for Embedded Systems. 46-50 2007 ISORC http://doi.ieeecomputersociety.org/10.1109/ISORC.2007.7 conf/isorc/2007 db/conf/isorc/isorc2007.html#AzumiYKTOT07