Clifford W. Mercer Hideyuki Tokuda 2-10 1990 conf/rtss/1990 RTSS db/conf/rtss/rtss1990.html#MercerT90 https://doi.org/10.1109/REAL.1990.128721 https://doi.ieeecomputersociety.org/10.1109/REAL.1990.128721