A simple embedded system contains different types of processors (CPU, disks, and networks). The scheduling algorithm used on each processor keeps the response time to a bound while satisfying the design constraints of the algorithm run by them. The bound is generated by applying non- greedy inter-processor synchronization. The modified phase modification protocol (MPM) and release guard protocol (RG) are such synchronization protocol. These protocols reshapes the release time of subtasks in different processors truly periodic.
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