A hardware-in-the-loop simulation environment for real-time systems development and architecture evaluation. - Vasily V. Balashov; Anatoly G. Bakhmurov; Maxim V. Chistolinov; Ruslan L. Smeliansky; Dmitry Yu. Volkanov; Nikita V. Youshchenko (Int. J. Crit. Comput. Based Syst., 2010)