John Regehr Alastair Reid Kirk Webb Michael Parker Jay Lepreau Evolving real-time systems using hierarchical scheduling and concurrency analysis. 25- 2003 conf/rtss/2003 RTSS http://csdl.computer.org/comp/proceedings/rtss/2003/2044/00/20440025abs.htm db/conf/rtss/rtss2003.html#RegehrRWPL03