Dionisio de Niz Raj Rajkumar Time weaver: a software-through-models framework for embedded real-time systems. 133-143 2003 conf/lctrts/2003 LCTES https://doi.org/10.1145/780732.780751 https://doi.org/10.1145/780731.780751 db/conf/lctrts/lctes2003.html#NizR03