PLUG-AND-PRODUCE TECHNOLOGIES REAL-TIME ASPECTS - Service Oriented Architectures for SME Robots and Plug-and-Produce In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: Service Oriented Architectures for SMErobots and Plug-and-Produce, 249-254, 2008 , Funchal - Madeira, Portugal