Wei-Kuan Shih Jane W.-S. Liu Jen-Yao Chung Donald W. Gillies Scheduling Tasks with Ready Times and Deadlines to Minimize Average Error. 14-28 1989 23 Operating Systems Review 3 db/journals/sigops/sigops23.html#ShihLCG89 http://doi.acm.org/10.1145/71021.71022