Irfan Pyarali Douglas C. Schmidt Ron Cytron Achieving End-to-end Predictability in the TAO Real-time CORBA ORB. 13-22 2002 conf/rtas/2002 IEEE Real Time Technology and Applications Symposium http://computer.org/proceedings/rtas/1739/17390013abs.htm db/conf/rtas/rtas2002.html#PyaraliSC02