Ichiro Mizunuma Chia Shen Morikazu Takegaki Middleware for Distributed Industrial Real-Time Systems on ATM Networks. 32-38 1996 conf/rtss/1996 RTSS http://doi.ieeecomputersociety.org/10.1109/REAL.1996.563697 db/conf/rtss/rtss1996.html#MizunumaST96