Anne Benoit Fanny Dufossé Alain Girault Yves Robert Reliability and performance optimization of pipelined real-time systems. 851-865 2013 73 J. Parallel Distributed Comput. 6 https://doi.org/10.1016/j.jpdc.2013.02.009 db/journals/jpdc/jpdc73.html#BenoitDGR13