Resource interfaces
A. Chakrabarti, L. De Alfaro, T.A. Henzinger, M. Stoelinga, in:, Third International Conference on Embedded Software, ACM, 2003, pp. 117–133.

Schedule-carrying code
T.A. Henzinger, C. Kirsch, S. Matic, in:, Proceedings of the 3rd International Conference on Embedded Software, ACM, 2003, pp. 241–256.