Tjerk Bijlsma Marco Bekooij Pierre G. Jansen Gerard J. M. Smit Communication between nested loop programs via circular buffers in an embedded multiprocessor system. 33-42 2008 SCOPES http://doi.acm.org/10.1145/1361096.1361104 conf/scopes/2008 db/conf/scopes/scopes2008.html#BijlsmaBJS08