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S. Ghaisas, G. Karmakar, D. Shenai, S. Tirodkar and K. Ramamritham, “SParK: Safety Partition Kernel for Integrated Real-Time Systems,” Lecture Notes in Computer Science, Vol. 6462, 2010, pp. 159-174. doi:10.1007/978-3-642-17226-7_10

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