Nunzio Nicoló Savino Vázquez Juan Luis Anciano Martin Carlos Juiz Unified system builder through interacting blocks (USBIB) for soft real-time systems. 83-90 2002 Workshop on Software and Performance http://doi.acm.org/10.1145/584369.584381 db/conf/wosp/wosp2002.html#VazquezMJ02