@ARTICLE{Auerbach2009,
  author = {J. Auerbach and D.F. Bacon and D.T. Iercan and C.M. Kirsch and V.T. Rajan and H. R\"ock and R. Trummer},
  title = {Low-Latency Time-portable Real-Time Programming with {Exotasks}},
  journal = {ACM Transactions on Embedded Computing Systems (TECS)},
  volume = {8},
  pages = {1--48},
  number = {2},
  publisher = {ACM},
  month = {January},
  year = {2009}
}