Rodolfo Pellizzoni Bach Duy Bui Marco Caccamo Lui Sha Coscheduling of CPU and I/O Transactions in COTS-Based Embedded Systems. 221-231 2008 RTSS http://doi.ieeecomputersociety.org/10.1109/RTSS.2008.42 conf/rtss/2008 db/conf/rtss/rtss2008.html#PellizzoniBCS08