Luigi Palopoli Paolo Ancilotti Giorgio C. Buttazzo A C Language Extension for Programming Real-Time Applications. 103-110 1999 conf/rtcsa/1999 RTCSA http://csdl.computer.org/comp/proceedings/rtcsa/1999/0306/00/03060103abs.htm db/conf/rtcsa/rtcsa1999.html#PalopoliAB99