Philip Koopman Howie Choset Rajeev Gandhi Bruce H. Krogh Diana Marculescu Priya Narasimhan JoAnn M. Paul Ragunathan Rajkumar Daniel P. Siewiorek Asim Smailagic Peter Steenkiste Donald E. Thomas Chenxi Wang Undergraduate embedded system education at Carnegie Mellon. 500-528 2005 4 ACM Trans. Embedded Comput. Syst. 3 http://doi.acm.org/10.1145/1086519.1086522 db/journals/tecs/tecs4.html#KoopmanCGKMNPRSSSTW05