He Li Long Chen Xiaoping Li A Model-Based Approach to Quantifying Real-Time Performance and Resource Utilization in Heterogeneous Embedded Systems. SMC 2025 1385-1390 conf/smc/2025 https://doi.org/10.1109/SMC58881.2025.11342649 db/conf/smc/smc2025.html#LiCL25 streams/conf/smc