Iain Bate Paul Emberson Incorporating Scenarios And Heuristics To Improve Flexibility In Real-Time Embedded Systems. 221-230 2006 conf/rtas/2006 IEEE Real Time Technology and Applications Symposium http://doi.ieeecomputersociety.org/10.1109/RTAS.2006.21 db/conf/rtas/rtas2006.html#BateE06