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Part I: Introduction
Introduction to Real-Time Systems
The Hardware
Distributed Real-Time Systems
Part II: System Software
Real-Time Operating Systems
Design of an Experimental Distributed Real-Time Kernel
Distributed Real-Time Operating Systems and the Middleware
Part III: Scheduling and Resource Sharing
Uniprocessor Independent Task Scheduling
Uniprocessor Dependent Task Scheduling
Multiprocessor and Distributed Real-Time Scheduling
Part IV: Application Design
Software Engineering of Real-Time Systems
Real-Time Programming Languages
Fault Tolerance
Case Study: Environment Monitoring by a Wireless Sensor Network
Appendix A: Pseudocode Conventions
Appendix B: Lower Kernel Functions.

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