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@techreport{EZT99a, author = {Michael Eisenring and Eckart Zitzler and Lothar Thiele}, title = {CoFrame: A Modular Co-Design Framework for Heterogeneous Distributed Systems}, institution = {Computer Engineering and Networks Lab (TIK), Swiss Federal Institute of Technology (ETH) Zurich}, number = {81}, month = {Oct}, year = {1999} }