Takanori Yokoyama Hidemitsu Naya Fumio Narisawa Satoru Kuragaki Wataru Nagaura Takaaki Imai Shoji Suzuki A development method of time-triggered object-oriented software for embedded control systems. 43-54 2003 34 Systems and Computers in Japan 2 http://dx.doi.org/10.1002/scj.1189 db/journals/scjapan/scjapan34.html#YokoyamaNNKNIS03