Michal Sojka, Zdenek Hanzálek. Modular architecture for real-time contract-based framework. In IEEE Fourth International Symposium on Industrial Embedded Systems - SIES 2009, Ecole Polytechnique Federale de Lausanne, Switzerland, July 8 - 10, 2009. pages 66-69, IEEE, 2009. [doi]
Abstract is missing.