James Grenning Ward Cunningham Dave A. Thomas Workshop on Agile Development for Embedded Software Development. 209 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=2753&spage=209 2003 conf/xpu/2003xpu XP/Agile Universe db/conf/xpu/xpu2003.html#GrenningCT03