Insup Lee George J. Pappas Rance Cleaveland John Hatcliff Bruce H. Krogh Peter Lee 0001 Harvey Rubin Lui Sha 33-38 2006 39 IEEE Computer 4 http://doi.ieeecomputersociety.org/10.1109/MC.2006.127 db/journals/computer/computer39.html#LeePCHKLRS06