William Hawkins Tarek F. Abdelzaher Towards Feasible Region Calculus: An End-to-End Schedulability Analysis of Real-Time Multistage Execution. 75-86 2005 conf/rtss/2005 RTSS http://doi.ieeecomputersociety.org/10.1109/RTSS.2005.42 db/conf/rtss/rtss2005.html#HawkinsA05