Marco Di Natale Enrico Bini Optimizing the FPGA Implementation of HRT Systems. 22-31 2007 IEEE Real-Time and Embedded Technology and Applications Symposium http://doi.ieeecomputersociety.org/10.1109/RTAS.2007.25 conf/rtas/2007 db/conf/rtas/rtas2007.html#NataleB07