Seungkweon Jeong Jaehyun Park Wook Hyun Kwon Kang G. Shin Evaluation of the communication latency over real-time channel in HARTS. 41-48 1996 conf/rtcsa/1996 RTCSA http://csdl.computer.org/comp/proceedings/rtcsa/1996/7626/00/76260041abs.htm db/conf/rtcsa/rtcsa1996.html#JeongPKS96