VEST: An Aspect-Based Composition Tool for Real-Time Systems - John A. Stankovic; Ruiqing Zhu; Ram Poornalingam; Chenyang Lu; Zhendong Yu; Marty Humphrey; Brian Ellis (Proceedings of the 9th IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS 2003), May 27-30, 2003, Toronto, Canada, 2003)