Yanbin Liu Aloysius K. Mok An Integrated Approach for Applying Dynamic Voltage Scaling to Hard Real-Time Systems. 116-123 2003 conf/rtas/2003 IEEE Real Time Technology and Applications Symposium http://doi.ieeecomputersociety.org/10.1109/RTTAS.2003.1203043 db/conf/rtas/rtas2003.html#LiuM03