Trong-Yen Lee Pao-Ann Hsiung I-Mu Wu Feng-Shi Su RESS: Real-Time Embedded Software Synthesis and Prototyping Methodology. 529-544 https://doi.org/10.1007/978-3-540-24686-2_33 2003 conf/rtcsa/2003 RTCSA db/conf/rtcsa/rtcsa2003.html#LeeHWS03