GEM: Operating system primitives for robots and real-time control systems. - Karsten Schwan; Thomas E. Bihari; Bruce W. Weide; Gregor Taulbee (ICRA, 1985)

High-Performance Operating System Primitives for Robotics and Real-Time Control Systems. - Karsten Schwan; Thomas E. Bihari; Bruce W. Weide; Gregor Taulbee (ACM Trans. Comput. Syst., 1987)