Multiparadigm scheduling for distributed real-time embedded computing

Increasingly complex requirements, coupled with with tighter economic and organizational constraints, are making it hard to build complex distributed real-time embedded (DRE) systems entirely from scratch. The proportion of DRE systems made up of commercial-off-the-shelf (COTS) hardware and software is therefore increasing significantly. There are relatively few systematic empirical studies, however, that illustrate how suitable COTS-based hardware and software have become for mission-critical DRE sys-