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M.G. Harbour, M.H. Klein, J.P. Lehoczky, "Timing Analysis for FixedPriority Scheduling of Hard RealTime Systems," IEEE Transactions on Software Engineering, vol. 20, no. 1, pp. 1328, January, 1994.  
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@article{ 10.1109/32.263752, author = {M.G. Harbour and M.H. Klein and J.P. Lehoczky}, title = {Timing Analysis for FixedPriority Scheduling of Hard RealTime Systems}, journal ={IEEE Transactions on Software Engineering}, volume = {20}, number = {1}, issn = {00985589}, year = {1994}, pages = {1328}, doi = {http://doi.ieeecomputersociety.org/10.1109/32.263752}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, }  
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TY  JOUR JO  IEEE Transactions on Software Engineering TI  Timing Analysis for FixedPriority Scheduling of Hard RealTime Systems IS  1 SN  00985589 SP13 EP28 EPD  1328 A1  M.G. Harbour, A1  M.H. Klein, A1  J.P. Lehoczky, PY  1994 KW  realtime systems; interrupts; message passing; robots; scheduling; timing analysis; fixedpriority scheduling; hard realtime systems; periodic task set; uniprocessor; fixedpriority methods; periodic tasks; serially executed subtasks; execution time; schedulability; complex priority structure; interrupts; synchronization protocols; precedence constraints; nonpreemptible sections; messagepassing systems; robotics VL  20 JA  IEEE Transactions on Software Engineering ER   
This paper presents a timing analysis for a quite general hard realtime periodic task set on a uniprocessor using fixedpriority methods. Periodic tasks are composed of serially executed subtasks, where each subtask is characterized by an execution time, a fixed priority and a deadline. A method for determining the schedulability of each task and subtask is presented along with its theoretical underpinnings. This method can be used to analyze the schedulability of any task set on a uniprocessor whose priority structure can be modeled as serially executed subtasks, which can lead to a very complex priority structure. Important examples include task sets that involve interrupts, certain synchronization protocols, certain precedence constraints, nonpreemptible sections, and some messagepassing systems. The method is illustrated by a robotics example.
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