Gerardo Lamastra Giuseppe Lipari Giorgio C. Buttazzo Antonino Casile Fabio Conticelli HARTIK 3.0: a portable system for developing real-time applications. 43-50 1997 conf/rtcsa/1997 RTCSA http://csdl.computer.org/comp/proceedings/rtcsa/1997/8073/00/80730043abs.htm db/conf/rtcsa/rtcsa1997.html#LamastraLBCC97