Statecharts in Use: Structured Analysis and Object-Orientation. - Bruce Powel Douglass; David Harel; Mark B. Trakhtenbrot (European Educational Forum: School on Embedded Systems, 1996)

Real-time UML - developing efficient objects for embedded systems. - Bruce Powel Douglass (Addison-Wesley-Longman, 1998)

Design, Methods, and Tools for ORC. - Edgar Nett; Andrea Bondavalli; Bruce Powel Douglass; Carlos Eduardo Pereira; Douglas C. Schmidt; Bran Selic; Kelvin D. Nilsen (ISORC, 2000)

Real-Time UML. - Bruce Powel Douglass (FTRTFT, 2002)

Fine Grained Patterns for Real-Time Systems. - Bruce Powel Douglass (UML for Real, 2003)

Agile and object oriented practices in embedded systems. - Charles E. Matthews; Bruce Powel Douglass; Jim Kiekbusch (OOPSLA Companion, 2011)

Aoopes'11 workshop overview abstract. - Charles E. Matthews; Jim Kiekbusch; Bruce Powel Douglass (SPLASH Workshops, 2011)