Krzysztof Sierszecki Christo Angelov Xu Ke A Run-Time Environment Supporting Real-Time Execution of Embedded Control Applications. 61-68 2008 RTCSA http://dx.doi.org/10.1109/RTCSA.2008.33 conf/rtcsa/2008 db/conf/rtcsa/rtcsa2008.html#SierszeckiAK08