Samarjit Chakraborty Yanhong Liu Nikolay Stoimenov Lothar Thiele Ernesto Wandeler Interface-Based Rate Analysis of Embedded Systems. 25-34 2006 conf/rtss/2006 RTSS http://doi.ieeecomputersociety.org/10.1109/RTSS.2006.26 db/conf/rtss/rtss2006.html#ChakrabortyLSTW06