Issue No.06 - November/December (1987 vol.7)
Taming real-time systems can be a challenge. You'll gain flexibility and cut debugging time by adding additional processors and the right software.
Walter Heath, "Software Design for Real-Time Multiprocessor VMEbus Systems", IEEE Micro, vol.7, no. 6, pp. 71-80, November/December 1987, doi:10.1109/MM.1987.304920