Andreas Hansson Kees Goossens Marco Bekooij Jos Huisken CoMPSoC: A template for composable and predictable multi-processor system on chips. 2009 14 ACM Trans. Design Autom. Electr. Syst. 1 http://doi.acm.org/10.1145/1455229.1455231 db/journals/todaes/todaes14.html#HanssonGBH09