Ichiro Mizunuma Chia Shen Morikazu Takegaki Middleware for Distributed Industrial Real-Time Systems on ATM Networks. 32-38 1996 conf/rtss/1996 IEEE Real-Time Systems Symposium http://computer.org/proceedings/rtss/7689/76890032abs.htm db/conf/rtss/rtss1996.html#MizunumaST96