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The MARUTI Hard Real-Time Operating System., , , and . ACM SIGOPS Oper. Syst. Rev., 23 (3): 90-105 (1989)Allocation of Real-Time Computations under Fault Tolerance Constraints., , and . RTSS, page 161-170. IEEE Computer Society, (1988)Real-time system design., and . McGraw-Hill Computer Science series McGraw-Hill, (1990)