@article{231555,
 author = {Shangping Ren and Gul A. Agha and Masahiko Saito},
 title = {A modular approach to programming distributed real-time systems},
 journal = {J. Parallel Distrib. Comput.},
 volume = {36},
 number = {1},
 year = {1996},
 issn = {0743-7315},
 pages = {4--12},
 doi = {http://dx.doi.org/10.1006/jpdc.1996.0086},
 publisher = {Academic Press, Inc.},
 address = {Orlando, FL, USA},
 }