Karsten Schwan Thomas E. Bihari Bruce W. Weide Gregor Taulbee High-Performance Operating System Primitives for Robotics and Real-Time Control Systems. 189-231 1987 5 ACM Trans. Comput. Syst. 3 http://doi.acm.org/10.1145/24068.24070 db/journals/tocs/tocs5.html#SchwanBWT87