Separating Essentials from Incidentals: An Execution Architecture for Real-Time Control Systems. - Daniel L. Dvorak; William K. Reinholtz (ISORC, 2004)

Hard real-time: C++ versus RTSJ. - Daniel L. Dvorak; William K. Reinholtz (OOPSLA Companion, 2004)

Bridging the Gap between Systems Design. - David Garlan; William K. Reinholtz; Bradley R. Schmerl; Nicholas D. Sherman; Tony Tseng (SEW, 2005)