Tomoya Kitani Yoshifumi Takamoto Keiichi Yasumoto Akio Nakata Teruo Higashino A Flexible and High-Reliable HW/SW Co-Design Method for Real-Time Embedded Systems. 437-446 2004 conf/rtss/2004 RTSS http://csdl.computer.org/comp/proceedings/rtss/2004/2247/00/22470437abs.htm db/conf/rtss/rtss2004.html#KitaniTYNH04