Sloth on Time: Efficient Hardware-Based Scheduling for Time-Triggered RTOS. - Wanja Hofer; Daniel Danner; Rainer Muller; Fabian Scheler; Wolfgang Schröder-Preikschat; Daniel Lohmann (RTSS, 2012)

Multi Sloth: An Efficient Multi-core RTOS Using Hardware-Based Scheduling. - Rainer Muller; Daniel Danner; Wolfgang Schröder-Preikschat; Daniel Lohmann (ECRTS, 2014)

SAFER SLOTH: Efficient, hardware-tailored memory protection. - Daniel Danner; Rainer Muller; Wolfgang Schröder-Preikschat; Wanja Hofer; Daniel Lohmann (RTAS, 2014)