Grit Denker Nikil Dutt Sharad Mehrotra Mark-Oliver Stehr Carolyn L. Talcott Nalini Venkatasubramanian Resilient dependable cyber-physical systems: a middleware perspective. 41-49 2012 3 J. Internet Services and Applications 1 http://dx.doi.org/10.1007/s13174-011-0057-4 db/journals/jisa/jisa3.html#DenkerDMSTV12