Raimund Kirner Peter P. Puschner Time-Predictable Task Preemption for Real-Time Systems with Direct-Mapped Instruction Cache. 87-93 2007 ISORC http://doi.ieeecomputersociety.org/10.1109/ISORC.2007.56 conf/isorc/2007 db/conf/isorc/isorc2007.html#KirnerP07