Jianfeng Mao Christos G. Cassandras Qianchuan Zhao Optimal Dynamic Voltage Scaling in Energy-Limited Nonpreemptive Systems with Real-Time Constraints. 678-688 2007 6 IEEE Trans. Mob. Comput. 6 http://doi.ieeecomputersociety.org/10.1109/TMC.2007.1024 db/journals/tmc/tmc6.html#MaoCZ07