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<p>The problems associated with developing real-time software systems, including ensuring predictable real-time behavior under both normal and abnormal operating conditions, are outlined. The management of temporal complexity, structuring of dynamic real-time applications, object-oriented models, object-oriented real-time languages, and the requirements for real-time object-oriented models are discussed. Chaos, an object-based language and programming/execution paradigm designed for dynamic real-time applications, is described.</p>
Thomas E. Bihari, Prabha Gopinath, "Object-Oriented Real-Time Systems: Concepts and Examples", Computer, vol. 25, no. , pp. 25-32, December 1992, doi:10.1109/2.179114
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