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<p>The authors present a real-time kernel developed to support a distributed multisensor system encountered in robotics applications. To ensure predictability, the kernel provides services with bounded worst-case execution times. In addition, the kernel allows the programmer to specify timing constraints for process execution and interprocess communication. The kernel uses these timing constraints both for scheduling processes and for scheduling communications. To illustrate the kernel, the authors describe a multisensor system being developed on their distributed real-time system. They present the measured performance of kernel primitives along with conclusions and remarks regarding distributed real-time systems.</p>

I. Lee, R. B. King and R. P. Paul, "A Predictable Real-Time Kernel for Distributed Multisensor Systems," in Computer, vol. 22, no. , pp. 78-83, 1989.
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