Paul Emberson Iain Bate Minimising Task Migration and Priority Changes in Mode Transitions. 158-167 2007 IEEE Real-Time and Embedded Technology and Applications Symposium http://doi.ieeecomputersociety.org/10.1109/RTAS.2007.17 conf/rtas/2007 db/conf/rtas/rtas2007.html#EmbersonB07