@inproceedings{Thiele_2006,
    doi = {10.1145/1176887.1176894},
    url = {https://doi.org/10.1145%2F1176887.1176894},
    year = {2006},
    publisher = {{ACM} Press},
    author = {Lothar Thiele and Ernesto Wandeler and Nikolay Stoimenov},
    title = {Real-time interfaces for composing real-time systems},
    booktitle = {Proceedings of the 6th {ACM} {\&} {IEEE} International conference on Embedded software  - {EMSOFT} {\textquotesingle}06}
}

@inproceedings{Thiele_2006, doi = {10.1145/1176887.1176894}, url = {https://doi.org/10.1145%2F1176887.1176894}, year = {2006}, publisher = {{ACM} Press}, author = {Lothar Thiele and Ernesto Wandeler and Nikolay Stoimenov}, title = {Real-time interfaces for composing real-time systems}, booktitle = {Proceedings of the 6th {ACM} {\&} {IEEE} International conference on Embedded software - {EMSOFT} {\textquotesingle}06} }