ELZER PETER, F.; GOLLUB, Martin; TRENKEL, Sven. A simple and cost-effective method to construct reliable real-time programs. Journal of Automation, Mobile Robotics and Intelligent Systems, [S. l.], v. 4, n. 1, p. 28–42, 2010. Disponível em: https://www.jamris.org/index.php/JAMRIS/article/view/102. Acesso em: 30 apr. 2025.