Ren, Shangping, Gul Agha. "A Modular Approach for Programming Embedded Systems," in Frits Vaandrager and Grzegorz Rozenberg (editors), Embedded Systems, Lecture Notes in Computer Science, vol. 1494, pp 170-207, Springer-Verlag, 1998. [bib]
Nielsen, Brian, Shangping Ren, Gul Agha. "Specification of Real-Time Interaction Constraints," in Proceedings of the First International Symposium on Object-Oriented Real-Time Computing, 9 pp, IEEE Computer Society, 1998. [pdf] [ps] [bib]
Ren, Shangping. "An Actor-Based Framework for Real-Time Coordination," PhD thesis, University of Illinois at Urbana-Champaign, 1997. [bib]
Ren, Shangping, Gul Agha. "Source Code Level Infeasibility Detection on Declarative Timing Constraints Specified with RTsynchronizers," ACM SIGPLAN Workshop on Languages, Compilers, and Tools for Real-Time Systems, pp 1-10, 1997. [bib]
Ren, Shangping, Gul Agha, Masahiko Saito. "A Modular Approach for Programming Distributed Real-Time Systems," Journal of Parallel and Distributed Computing, vol. 36, no. 1, pp 4-12, 1996. Also published in School on Embedded Systems, European Educational Forum 1996, pp 52-, 1996. [pdf] [ps] [bib]
Ren, Shangping, Gul Agha. "RTsynchronizer: Language Support for Real-Time Specifications in Distributed Systems," in Proceedings of ACM SIGPLAN Workshop on Languages, Compilers, and Tools for Real-Time Systems, June 1995. Also appeared in ACM Sigplan Notices, vol. 30, no. 11, pp 50-59, November, 1995. [pdf] [ps] [bib]