Shuichi Oikawa Ragunathan Rajkumar Portable RK: A Portable Resource Kernel for Guaranteed and Enforced Timing Behavior. 111-120 1999 IEEE Real Time Technology and Applications Symposium http://csdl.computer.org/comp/proceedings/rtas/1999/0194/00/01940111abs.htm db/conf/rtas/rtas1999.html#OikawaR99