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Systematic Methodology for Real-Time Cost-Effective Mapping of Dynamic Concurrent Task-Based Systems on Heterogenous Platforms by Francky Catthoor, Peng Yang, Chun Wong, Zheng Ma, Chantal Ykman-Couvreur, Daniele Paolo Scarpazza, Jose Ignacio Gomez, Pol Marchal, Stefaan Himpe (Hardback, 2007)