Andrés Terrasa Agustín Espinosa Ana García-Fornes Extending RT-Linux to Support Flexible Hard Real-Time Systems with Optional Components. 41-50 1998 conf/lctrts/1998 LCTES http://link.springer.de/link/service/series/0558/bibs/1474/14740041.htm db/conf/lctrts/lctes1998.html#TerrasaEG98