Pedro Mejía-Alvarez Daniel Mossé A Responsiveness Approach for Scheduling Fault Recovery in Real-Time Systems. 4-13 1999 IEEE Real Time Technology and Applications Symposium http://csdl.computer.org/comp/proceedings/rtas/1999/0194/00/01940004abs.htm db/conf/rtas/rtas1999.html#Mejia-AlvarezM99