{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,22]],"date-time":"2026-03-22T09:29:07Z","timestamp":1774171747820,"version":"3.50.1"},"reference-count":91,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2018,9,11]],"date-time":"2018-09-11T00:00:00Z","timestamp":1536624000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100001659","name":"Deutsche Forschungsgemeinschaft","doi-asserted-by":"publisher","award":["SFB876-B2"],"award-info":[{"award-number":["SFB876-B2"]}],"id":[{"id":"10.13039\/501100001659","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Real-Time Syst"],"published-print":{"date-parts":[[2019,1]]},"DOI":"10.1007\/s11241-018-9316-9","type":"journal-article","created":{"date-parts":[[2018,9,11]],"date-time":"2018-09-11T16:07:41Z","timestamp":1536682061000},"page":"144-207","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":61,"title":["Many suspensions, many problems: a review of self-suspending tasks in real-time systems"],"prefix":"10.1007","volume":"55","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8114-9760","authenticated-orcid":false,"given":"Jian-Jia","family":"Chen","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4141-6718","authenticated-orcid":false,"given":"Geoffrey","family":"Nelissen","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9446-4719","authenticated-orcid":false,"given":"Wen-Hung","family":"Huang","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0941-2437","authenticated-orcid":false,"given":"Maolin","family":"Yang","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8254-3815","authenticated-orcid":false,"given":"Bj\u00f6rn","family":"Brandenburg","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3640-0239","authenticated-orcid":false,"given":"Konstantinos","family":"Bletsas","sequence":"additional","affiliation":[]},{"given":"Cong","family":"Liu","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0061-1971","authenticated-orcid":false,"given":"Pascal","family":"Richard","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0349-5462","authenticated-orcid":false,"given":"Fr\u00e9d\u00e9ric","family":"Ridouard","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3739-6590","authenticated-orcid":false,"given":"Neil","family":"Audsley","sequence":"additional","affiliation":[]},{"given":"Raj","family":"Rajkumar","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5560-590X","authenticated-orcid":false,"given":"Dionisio","family":"de Niz","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8137-3612","authenticated-orcid":false,"given":"Georg","family":"von der Br\u00fcggen","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2018,9,11]]},"reference":[{"key":"9316_CR1","unstructured":"Audsley NC (1991) Optimal priority assignment and feasibility of static priority tasks with arbitrary start times. Tech. Report YCS-164, Department of Computer Science, University of York"},{"key":"9316_CR2","doi-asserted-by":"crossref","unstructured":"Audsley NC, Bletsas K (2004a) Fixed priority timing analysis of real-time systems with limited parallelism. In: Proceedings of the 16th Euromicro conference on real-time systems (ECRTS), pp 231\u2013238","DOI":"10.1109\/EMRTS.2004.1311025"},{"key":"9316_CR3","doi-asserted-by":"crossref","unstructured":"Audsley NC, Bletsas K (2004b) Realistic analysis of limited parallel software\/hardware implementations. In: Proceedings of the 10th IEEE real-time and embedded technology and applications symposium (RTAS), pp 388\u2013395","DOI":"10.1109\/RTTAS.2004.1317285"},{"issue":"5","key":"9316_CR4","doi-asserted-by":"publisher","first-page":"284","DOI":"10.1049\/sej.1993.0034","volume":"8","author":"N Audsley","year":"1993","unstructured":"Audsley N, Burns A, Richardson M, Tindell K, Wellings A (1993) Applying new scheduling theory to static priority pre-emptive scheduling. Softw Eng J 8(5):284\u2013292","journal-title":"Softw Eng J"},{"key":"9316_CR5","doi-asserted-by":"crossref","unstructured":"Baruah S (2007) Techniques for multiprocessor global schedulability analysis. Proceedings of the 28th IEEE international real-time systems symposium, pp\u00a0119\u2013128","DOI":"10.1109\/RTSS.2007.35"},{"issue":"1","key":"9316_CR6","doi-asserted-by":"publisher","first-page":"5","DOI":"10.1023\/A:1008030427220","volume":"17","author":"S Baruah","year":"1999","unstructured":"Baruah S, Chen D, Gorinsky S, Mok A (1999) Generalized multiframe tasks. Real-Time Syst 17(1):5\u201322","journal-title":"Real-Time Syst"},{"issue":"7","key":"9316_CR7","doi-asserted-by":"publisher","first-page":"933","DOI":"10.1109\/TC.2003.1214341","volume":"52","author":"E Bini","year":"2003","unstructured":"Bini E, Buttazzo GC, Buttazzo GM (2003) Rate monotonic analysis: the hyperbolic bound. IEEE Trans Comput 52(7):933\u2013942","journal-title":"IEEE Trans Comput"},{"key":"9316_CR8","doi-asserted-by":"crossref","unstructured":"Biondi A, Balsini A, Pagani M, Rossi E, Marinoni M, Buttazzo GC (2016) A framework for supporting real-time applications on dynamic reconfigurable FPGAs. In: Proceedings of the IEEE real-time systems symposium, RTSS, pp 1\u201312","DOI":"10.1109\/RTSS.2016.010"},{"key":"9316_CR9","unstructured":"Bletsas K (2007) Worst-case and best-case timing analysis for real-time embedded systems with limited parallelism, Ph.D. thesis, Dept of Computer Science, University of York, UK"},{"key":"9316_CR10","doi-asserted-by":"crossref","unstructured":"Bletsas K, Audsley NC (2005) Extended analysis with reduced pessimism for systems with limited parallelism. In: Proceedings of the 11th IEEE international conference on embedded and real-time computing systems and applications (RTCSA), pp 525\u2013531","DOI":"10.1109\/RTCSA.2005.48"},{"issue":"1","key":"9316_CR11","first-page":"2:1","volume":"5","author":"K Bletsas","year":"2018","unstructured":"Bletsas K, Audsley NC, Huang W-H, Chen J-J, Nelissen G (2018) Errata for three papers (2004\u201305) on fixed-priority scheduling with self-suspensions. Leibniz Trans Embed Syst 5(1):2:1\u20132:20","journal-title":"Leibniz Trans Embed Syst"},{"key":"9316_CR12","doi-asserted-by":"crossref","unstructured":"Block A, Leontyev H, Brandenburg B, Anderson J (2007) A flexible real-time locking protocol for multiprocessors. In: Proceedings of the RTCSA, pp\u00a047\u201356","DOI":"10.1109\/RTCSA.2007.8"},{"key":"9316_CR13","unstructured":"Brandenburg B (2011) Scheduling and locking in multiprocessor real-time operating systems, Ph.D. thesis, The University of North Carolina at Chapel Hill"},{"key":"9316_CR14","doi-asserted-by":"crossref","unstructured":"Brandenburg B (2013) Improved analysis and evaluation of real-time semaphore protocols for P-FP scheduling. In: Proceedings of the RTAS, pp\u00a0141\u2013152","DOI":"10.1109\/RTAS.2013.6531087"},{"key":"9316_CR15","doi-asserted-by":"crossref","unstructured":"Brandenburg B, Anderson J (2010) Optimality results for multiprocessor real-time locking. In: Proceedings of the 31st real-time systems symposium, pp 49\u201360","DOI":"10.1109\/RTSS.2010.17"},{"issue":"3","key":"9316_CR16","doi-asserted-by":"publisher","first-page":"258","DOI":"10.1016\/j.sysarc.2013.11.010","volume":"60","author":"A Carminati","year":"2014","unstructured":"Carminati A, de Oliveira R, Friedrich L (2014) Exploring the design space of multiprocessor synchronization protocols for real-time systems. J Syst Archit 60(3):258\u2013270","journal-title":"J Syst Archit"},{"key":"9316_CR17","unstructured":"Chen J-J (2016) Computational complexity and speedup factors analyses for self-suspending tasks. In: Proceedings of the real-time systems symposium (RTSS), pp\u00a0327\u2013338"},{"issue":"1","key":"9316_CR18","first-page":"01:1","volume":"4","author":"J-J Chen","year":"2017","unstructured":"Chen J-J, Brandenburg B (2017) A note on the period enforcer algorithm for self-suspending tasks. Leibniz Trans Embed Syst (LITES) 4(1):01:1\u201301:22","journal-title":"Leibniz Trans Embed Syst (LITES)"},{"key":"9316_CR19","unstructured":"Chen J-J, Liu C (2014) Fixed-relative-deadline scheduling of hard real-time tasks with self-suspensions. In: Proceedings of the IEEE 35th IEEE real-time systems symposium (RTSS). A typo in the schedulability test in Theorem 3 was identified on 13 May 2015. http:\/\/ls12-www.cs.tu-dortmund.de\/daes\/media\/documents\/publications\/downloads\/2014-chen-FRD-erratum.pdf , pp\u00a0149\u2013160"},{"key":"9316_CR20","unstructured":"Chen J-J, Huang W-H, Liu C (2015) k2U: A general framework from k-point effective schedulability analysis to utilization-based tests. In: Proceedings of the real-time systems symposium (RTSS), pp\u00a0107\u2013118"},{"key":"9316_CR21","doi-asserted-by":"crossref","unstructured":"Chen J-J, Huang W, Liu C (2016a) k2Q: a quadratic-form response time and schedulability analysis framework for utilization-based analysis. In: Proceedings of the 2016 IEEE real-time systems symposium, RTSS, pp 351\u2013362","DOI":"10.1109\/RTSS.2016.041"},{"key":"9316_CR22","unstructured":"Chen J-J, Huang W-H, Nelissen G (2016b) A note on modeling self-suspending time as blocking time in real-time systems. Computing Research Repository (CoRR). http:\/\/arxiv.org\/abs\/1602.07750"},{"key":"9316_CR23","doi-asserted-by":"crossref","unstructured":"Chen J-J, Nelissen G, Huang W-H (2016c) A unifying response time analysis framework for dynamic self-suspending tasks. In: Proceedings of the Euromicro conference on real-time systems (ECRTS), pp\u00a0327 \u2013 338","DOI":"10.1109\/ECRTS.2016.31"},{"key":"9316_CR24","doi-asserted-by":"crossref","unstructured":"Devi UC (2003) An improved schedulability test for uniprocessor periodic task systems. In: Proceedings of the 15th Euromicro conference on real-time systems (ECRTS), pp 23\u201332","DOI":"10.1109\/EMRTS.2003.1212723"},{"key":"9316_CR25","unstructured":"Devi UC (2006) Soft real-time scheduling on multiprocessors, Ph.D. thesis, University of North Carolina at Chapel Hill"},{"key":"9316_CR26","doi-asserted-by":"crossref","unstructured":"Devi U, Anderson J (2005) Tardiness bounds under global EDF scheduling on a multiprocessor. In: Proceedings of the 26th IEEE real-time systems symposium, pp 330\u2013341","DOI":"10.1109\/RTSS.2005.39"},{"issue":"7","key":"9316_CR27","doi-asserted-by":"publisher","first-page":"1412","DOI":"10.1587\/transinf.E92.D.1412","volume":"92\u2013D","author":"S Ding","year":"2009","unstructured":"Ding S, Tomiyama H, Takada H (2009) Effective scheduling algorithms for I\/O blocking with a multi-frame task model. IEICE Trans 92\u2013D(7):1412\u20131420","journal-title":"IEICE Trans"},{"key":"9316_CR28","doi-asserted-by":"crossref","unstructured":"Dong Z, Liu C (2016) Closing the loop for the selective conversion approach: a utilization-based test for hard real-time suspending task systems. In: Proceedings of the real-time systems symposium (RTSS), pp\u00a0339\u2013350","DOI":"10.1109\/RTSS.2016.040"},{"key":"9316_CR29","unstructured":"Dutertre B (1999) The priority ceiling protocol: formalization and analysis using PVS. In: Proceedings of the 21st IEEE Conference on Real-Time Systems Symposium (RTSS), pp 151\u2013160"},{"key":"9316_CR30","doi-asserted-by":"crossref","unstructured":"Ekberg P, Yi W (2015) Uniprocessor feasibility of sporadic tasks with constrained deadlines is strongly coNP-Complete. In: Proceedings of the 27th Euromicro conference on real-time systems, ECRTS, pp\u00a0281\u2013286","DOI":"10.1109\/ECRTS.2015.32"},{"key":"9316_CR31","doi-asserted-by":"crossref","unstructured":"Ekberg P, Yi W (2017) Fixed-priority schedulability of sporadic tasks on uniprocessors is np-hard. In: Proceedings of the 2017 IEEE real-time systems symposium, RTSS 2017, Paris, France, December 5\u20138, 2017, pp\u00a0139\u2013146","DOI":"10.1109\/RTSS.2017.00020"},{"key":"9316_CR32","doi-asserted-by":"crossref","unstructured":"Fonseca J, Nelissen G, Nelis V, Pinho LM (2016) Response time analysis of sporadic dag tasks under partitioned scheduling. In: Proceedings of the 11th IEEE Symposium on Industrial Embedded Systems (SIES), pp\u00a01\u201310","DOI":"10.1109\/SIES.2016.7509443"},{"issue":"2","key":"9316_CR33","doi-asserted-by":"publisher","first-page":"107","DOI":"10.1023\/A:1007980022314","volume":"13","author":"J Goossens","year":"1997","unstructured":"Goossens J, Devillers R (1997) The non-optimality of the monotonic priority assignments for hard real-time offset free systems. Real-Time Syst 13(2):107\u2013126","journal-title":"Real-Time Syst"},{"key":"9316_CR34","doi-asserted-by":"crossref","unstructured":"Goossens J, Devillers R (1999) Feasibility intervals for the deadline driven scheduler with arbitrary deadlines. In: Proceedings of the sixth international conference on real-time computing systems and applications (RTCSA), pp\u00a054\u201361","DOI":"10.1109\/RTCSA.1999.811193"},{"key":"9316_CR35","doi-asserted-by":"crossref","unstructured":"Guan N, Stigge M, Yi W, Yu G (2009) New response time bounds for fixed priority multiprocessor scheduling. In: Proceedings of the IEEE real-time systems symposium, pp\u00a0387\u2013397","DOI":"10.1109\/RTSS.2009.11"},{"issue":"2","key":"9316_CR36","doi-asserted-by":"publisher","first-page":"903","DOI":"10.1109\/TII.2013.2290585","volume":"10","author":"G Han","year":"2014","unstructured":"Han G, Zeng H, di Natale M, Liu X, Dou W (2014) Experimental evaluation and selection of data consistency mechanisms for hard real-time applications on multicore platforms. IEEE Trans Ind Inf 10(2):903\u2013918","journal-title":"IEEE Trans Ind Inf"},{"key":"9316_CR37","doi-asserted-by":"crossref","unstructured":"Huang W-H, Chen J-J (2015a) Response time bounds for sporadic arbitrary-deadline tasks under global fixed-priority scheduling on multiprocessors. In: Proceedings of the RTNS, pp\u00a0215\u2013224","DOI":"10.1145\/2834848.2834849"},{"key":"9316_CR38","doi-asserted-by":"crossref","unstructured":"Huang W-H, Chen J-J (2015b) Schedulability and priority assignment for multi-segment self-suspending real-time tasks under fixed-priority scheduling, Tech. report, Technical University of Dortmund. http:\/\/ls12-www.cs.tu-dortmund.de\/daes\/media\/documents\/publications\/downloads\/2015-technical-report-multi-seg-Kevin.pdf","DOI":"10.1145\/2744769.2744891"},{"key":"9316_CR39","doi-asserted-by":"crossref","unstructured":"Huang W-H, Chen J-J (2015c) Techniques for schedulability analysis in mode change systems under fixed-priority scheduling. In: Proceedings of the embedded and real-time computing systems and applications (RTCSA), pp\u00a0176\u2013186","DOI":"10.1109\/RTCSA.2015.36"},{"key":"9316_CR40","unstructured":"Huang W-H, Chen J-J (2016) Self-suspension real-time tasks under fixed-relative-deadline fixed-priority scheduling. Design, Automation, and Test in Europe (DATE), pp\u00a01078\u20131083"},{"key":"9316_CR41","doi-asserted-by":"crossref","unstructured":"Huang W-H, Chen J-J, Zhou H, Liu C (2015) PASS: priority assignment of real-time tasks with dynamic suspending behavior under fixed-priority scheduling. In: Proceedings of the design automation conference (DAC), pp\u00a0154:1\u2013154:6","DOI":"10.1145\/2744769.2744891"},{"key":"9316_CR42","doi-asserted-by":"crossref","unstructured":"Huang W-H, Chen J-J, Reineke J (2016) MIRROR: symmetric timing analysis for real-time tasks on multicore platforms with shared resources. In: Proceedings of the design automation conference, DAC, pp\u00a0158:1\u2013158:6","DOI":"10.1145\/2897937.2898046"},{"key":"9316_CR43","doi-asserted-by":"crossref","unstructured":"Kang W, Son S, Stankovic J, Amirijoo M (2007) I\/O-aware deadline miss ratio management in real-time embedded databases. In: Proceedings of the 28th IEEE real-time systems symposium, pp\u00a0277\u2013287","DOI":"10.1109\/RTSS.2007.19"},{"key":"9316_CR44","doi-asserted-by":"crossref","unstructured":"Kato S, Lakshmanan K, Kumar A, Kelkar M, Ishikawa Y, Rajkumar R (2011) RGEM: a responsive GPGPU execution model for runtime engines. In: Proceedings of the real-time systems symposium RTSS, pp\u00a057\u201366","DOI":"10.1109\/RTSS.2011.13"},{"key":"9316_CR45","unstructured":"Kim I, Choi K, Park S, Kim D, Hong M (1995) Real-time scheduling of tasks that contain the external blocking intervals. In: In: Proceedings of the RTCSA, pp\u00a054\u201359"},{"key":"9316_CR46","doi-asserted-by":"crossref","unstructured":"Kim J, Andersson B, de\u00a0Niz D, Rajkumar R (2013) Segment-fixed priority scheduling for self-suspending real-time tasks. In: Proceedings of the IEEE 34th real-time systems symposium, (RTSS), pp\u00a0246\u2013257","DOI":"10.1109\/RTSS.2013.32"},{"key":"9316_CR47","doi-asserted-by":"crossref","unstructured":"Kim H, Wang S, Rajkumar R (2014) vMPCP: a synchronization framework for multi-core virtual machines. In: Proceedings of the real-time systems symposium RTSS, pp\u00a086\u201395","DOI":"10.1109\/RTSS.2014.11"},{"key":"9316_CR48","unstructured":"Kim J, Andersson B, de\u00a0Niz D, Chen J-J, Huang W-H, Nelissen G (2016) Segment-fixed priority scheduling for self-suspending real-time tasks, Tech. Report CMU\/SEI-2016-TR-002, CMU\/SEI. http:\/\/resources.sei.cmu.edu\/asset_files\/TechnicalReport\/2016_005_001_466102.pdf"},{"key":"9316_CR49","doi-asserted-by":"crossref","unstructured":"Lakshmanan K, Rajkumar R (2010) Scheduling self-suspending real-time tasks with rate-monotonic priorities. In: Proceedings of the 16th IEEE real-time and embedded technology and applications symposium (RTAS), pp\u00a03\u201312","DOI":"10.1109\/RTAS.2010.38"},{"key":"9316_CR50","doi-asserted-by":"crossref","unstructured":"Lakshmanan K, De\u00a0Niz D, Rajkumar R (2009) Coordinated task scheduling, allocation and synchronization on multiprocessors. In: Proceedings of the RTSS, pp\u00a0469\u2013478","DOI":"10.1109\/RTSS.2009.51"},{"key":"9316_CR51","doi-asserted-by":"crossref","unstructured":"Lehoczky J, Sha L, Ding Y (1989) The rate monotonic scheduling algorithm: exact characterization and average case behavior. In: Proceedings of the RTSS, pp\u00a0166\u2013171","DOI":"10.1109\/REAL.1989.63567"},{"key":"9316_CR52","unstructured":"Leontyev H (2010) Compositional analysis techniques for multiprocessor soft real-time scheduling, Ph.D. thesis, University of North Carolina at Chapel Hill"},{"key":"9316_CR53","doi-asserted-by":"crossref","unstructured":"Leontyev H, Anderson J (2007) Tardiness bounds for FIFO scheduling on multiprocessors. In: Proceedings of the 19th Euromicro conference on real-time systems, pp 71-80","DOI":"10.1109\/ECRTS.2007.33"},{"key":"9316_CR54","volume-title":"Real-time systems","author":"JWSW Liu","year":"2000","unstructured":"Liu JWSW (2000) Real-time systems, 1st edn. Prentice Hall PTR, Upper Saddle River","edition":"1"},{"key":"9316_CR55","doi-asserted-by":"crossref","unstructured":"Liu C, Anderson J (2009) Task scheduling with self-suspensions in soft real-time multiprocessor systems. In: Proceedings of the 30th real-time systems symposium, pp 425\u2013436","DOI":"10.1109\/RTSS.2009.10"},{"key":"9316_CR56","doi-asserted-by":"crossref","unstructured":"Liu C, Anderson J (2010a) Improving the schedulability of sporadic self-suspending soft real-time multiprocessor task systems. In: Proceedings of the 16th IEEE international conference on embedded and real-time computing systems and applications (RTCSA), pp 14\u201323","DOI":"10.1109\/RTCSA.2010.14"},{"key":"9316_CR57","doi-asserted-by":"crossref","unstructured":"Liu C, Anderson J (2010b) Scheduling suspendable, pipelined tasks with non-preemptive sections in soft real-time multiprocessor systems. In: Proceedings of the 16th IEEE real-time and embedded technology and applications symposium (RTAS), pp 23\u201332","DOI":"10.1109\/RTAS.2010.12"},{"key":"9316_CR58","doi-asserted-by":"crossref","unstructured":"Liu C, Anderson J (2012a) A new technique for analyzing soft real-time self-suspending task systems. In: Proceedings of the ACM SIGBED review, pp 29\u201332","DOI":"10.1145\/2452537.2452542"},{"key":"9316_CR59","doi-asserted-by":"crossref","unstructured":"Liu C, Anderson J (2012b) An O(m) analysis technique for supporting real-time self-suspending task systems. In: Proceedings of the 33th IEEE Real-time systems symposium (RTSS), pp 373\u2013382","DOI":"10.1109\/RTSS.2012.87"},{"key":"9316_CR60","doi-asserted-by":"crossref","unstructured":"Liu C, Anderson JH (2013) Suspension-aware analysis for hard real-time multiprocessor scheduling. In: Proceedings of the 25th Euromicro conference on real-time systems, ECRTS, pp\u00a0271\u2013281","DOI":"10.1109\/ECRTS.2013.36"},{"key":"9316_CR61","unstructured":"Liu C, Anderson JH (2015) Erratum to \u201csuspension-aware analysis for hard real-time multiprocessor scheduling\u201d. https:\/\/cs.unc.edu\/~anderson\/papers\/ecrts13e_erratum.pdf"},{"issue":"1","key":"9316_CR62","doi-asserted-by":"publisher","first-page":"46","DOI":"10.1145\/321738.321743","volume":"20","author":"CL Liu","year":"1973","unstructured":"Liu CL, Layland JW (1973) Scheduling algorithms for multiprogramming in a hard-real-time environment. J ACM 20(1):46\u201361","journal-title":"J ACM"},{"key":"9316_CR63","doi-asserted-by":"crossref","unstructured":"Liu C, Chen J-J (2014) Bursty-interference analysis techniques for analyzing complex real-time task models. In: Proceedings of the real-time systems symposium (RTSS), pp\u00a0173\u2013183","DOI":"10.1109\/RTSS.2014.10"},{"key":"9316_CR64","doi-asserted-by":"crossref","unstructured":"Liu C, Chen J-J, He L, Gu Y (2014a) Analysis techniques for supporting harmonic real-time tasks with suspensions. In: Proceedings of the 26th Euromicro conference on real-time systems, ECRTS 2014, Madrid, Spain, July 8\u201311, 2014, pp\u00a0201\u2013210","DOI":"10.1109\/ECRTS.2014.17"},{"key":"9316_CR65","doi-asserted-by":"crossref","unstructured":"Liu W, Chen J-J, Toma A, Kuo T-W, Deng Q (2014b) Computation offloading by using timing unreliable components in real-time systems. In: Proceedings of the the 51st annual design automation conference on design automation conference\u2014DAC \u201914, pp\u00a039:1\u201339:6","DOI":"10.1145\/2593069.2593109"},{"key":"9316_CR66","unstructured":"Ming L (1994) Scheduling of the inter-dependent messages in real-time communication. In: Proceedings of the first international workshop on real-time computing systems and applications"},{"key":"9316_CR67","doi-asserted-by":"crossref","unstructured":"Mohaqeqi M, Ekberg P, Yi W (2016) On fixed-priority schedulability analysis of sporadic tasks with self-suspension. In: Proceedings of the 24th international conference on real-time networks and systems, RTNS, pp\u00a0109\u2013118","DOI":"10.1145\/2997465.2997485"},{"key":"9316_CR68","unstructured":"Mok AK (1983) Fundamental design problems of distributed systems for the hard-real-time environment. Tech. report, Massachusetts Institute of Technology, Cambridge, MA, USA"},{"key":"9316_CR69","doi-asserted-by":"crossref","unstructured":"Nelissen G, Fonseca J, Raravi G, Nelis V (2015) Timing analysis of fixed priority self-suspending sporadic tasks. In: Proceedings of the Euromicro conference on real-time systems (ECRTS), pp\u00a080\u201389","DOI":"10.1109\/ECRTS.2015.15"},{"key":"9316_CR70","unstructured":"Nelissen G, Fonseca J, Raravi G, N\u00e9lis V (2017) Errata: Timing analysis of fixed priority self-suspending sporadic tasks. Tech. Report CISTER-TR-170205, CISTER, ISEP, INESC-TEC"},{"key":"9316_CR71","doi-asserted-by":"crossref","unstructured":"Nemati F, Behnam M, Nolte T (2011) Independently-developed real-time systems on multi-cores with shared resources. In: Proceedings of the ECRTS, pp\u00a0251\u2013261","DOI":"10.1109\/ECRTS.2011.31"},{"key":"9316_CR72","doi-asserted-by":"crossref","unstructured":"Nimmagadda Y, Kumar K, Lu Y-H, Lee CG (2010) Real-time moving object recognition and tracking using computation offloading. In: Proceedings of the 2010 IEEE\/RSJ international conference on intelligent robots and systems (IROS), IEEE, pp\u00a02449\u20132455","DOI":"10.1109\/IROS.2010.5650303"},{"key":"9316_CR73","unstructured":"Palencia JC, Harbour MG (1998) Schedulability analysis for tasks with static and dynamic offsets. In: Proceedings of the 19th IEEE real-time systems symposium (RTSS), pp\u00a026\u201337"},{"key":"9316_CR74","unstructured":"Peng B, Fisher N (2016) Parameter adaptation for generalized multiframe tasks and applications to self-suspending tasks. In: Proceedings of the international conference on real-time computing systems and applications (RTCSA), pp\u00a049\u201358"},{"key":"9316_CR75","doi-asserted-by":"crossref","unstructured":"Rajkumar R (1990) Real-time synchronization protocols for shared memory multiprocessors. ICDCS, pp\u00a0116\u2013123","DOI":"10.1109\/ICDCS.1990.89257"},{"key":"9316_CR76","unstructured":"Rajkumar R (1991) Dealing with Suspending Periodic Tasks., Tech. report, IBM T. J. Watson Research Center. http:\/\/www.cs.cmu.edu\/afs\/cs\/project\/rtmach\/public\/papers\/period-enforcer.ps"},{"key":"9316_CR77","doi-asserted-by":"crossref","unstructured":"Richard P (2003) On the complexity of scheduling real-time tasks with self-suspensions on one processor. In: Proceedings of the 15th Euromicro conference on real-time systems (ECRTS), pp\u00a0187\u2013194","DOI":"10.1109\/EMRTS.2003.1212743"},{"key":"9316_CR78","unstructured":"Ridouard F, Richard P (2006) Worst-case analysis of feasibility tests for self-suspending tasks. In: Proceedings of the 14th real-time and network systems RTNS, Poitiers, pp\u00a015\u201324"},{"key":"9316_CR79","doi-asserted-by":"crossref","unstructured":"Ridouard F, Richard P, Cottet F (2004) Negative results for scheduling independent hard real-time tasks with self-suspensions. In: Proceedings of the 25th IEEE international real-time systems symposium, pp 47\u201356","DOI":"10.1109\/REAL.2004.35"},{"issue":"9","key":"9316_CR80","doi-asserted-by":"publisher","first-page":"1175","DOI":"10.1109\/12.57058","volume":"39","author":"L Sha","year":"1990","unstructured":"Sha L, Rajkumar R, Lehoczky J (1990) Priority inheritance protocols: an approach to real-time synchronization. IEEE Trans Comput 39(9):1175\u20131185","journal-title":"IEEE Trans Comput"},{"key":"9316_CR81","unstructured":"Spuri M (1996) Analysis of deadline scheduled real-time systems. Tech. Report RR-2772, INRIA"},{"key":"9316_CR82","unstructured":"Sun Y, Lipari G, Guan N, Yi W et\u00a0al (2014) Improving the response time analysis of global fixed-priority multiprocessor scheduling. In: Proceedings of the IEEE international conference on embedded and real-time computing systems and applications (RTCSA), pp\u00a01\u20139"},{"key":"9316_CR83","doi-asserted-by":"crossref","unstructured":"Toma A, Chen J-J (2013) Computation offloading for frame-based real-time tasks with resource reservation servers. In: Proceedings of the ECRTS, pp\u00a0103\u2013112","DOI":"10.1109\/ECRTS.2013.21"},{"key":"9316_CR84","doi-asserted-by":"crossref","unstructured":"von\u00a0der Br\u00fcggen G, Huang W-H, Chen J-J, Liu C (2016) Uniprocessor scheduling strategies for self-suspending task systems. In: Proceedings of the international conference on real-time networks and systems, RTNS \u201916, pp\u00a0119\u2013128","DOI":"10.1145\/2997465.2997497"},{"key":"9316_CR85","doi-asserted-by":"crossref","unstructured":"von\u00a0der Br\u00fcggen G, Huang W-H, Chen J-J (2017) Hybrid self-suspension models in real-time embedded systems. In: Proceedings of the IEEE international conference on embedded and real-time computing systems and applications, RTCSA, pp\u00a01\u20139","DOI":"10.1109\/RTCSA.2017.8046328"},{"key":"9316_CR86","doi-asserted-by":"crossref","unstructured":"Wieder A, Brandenburg B (2013) On spin locks in AUTOSAR: blocking analysis of FIFO, unordered, and priority-ordered spin locks. In: Proceedings of the RTSS, pp\u00a045\u201356","DOI":"10.1109\/RTSS.2013.13"},{"key":"9316_CR87","doi-asserted-by":"crossref","unstructured":"Yang M, Lei H, Liao Y, Rabee F (2013) PK-OMLP: An OMLP based k-exclusion real-time locking protocol for multi- GPU sharing under partitioned scheduling. In: Proceedings of the DASC, pp\u00a0207\u2013214","DOI":"10.1109\/DASC.2013.63"},{"issue":"6","key":"9316_CR88","doi-asserted-by":"publisher","first-page":"1003","DOI":"10.1007\/s11390-014-1485-y","volume":"29","author":"M Yang","year":"2014","unstructured":"Yang M, Lei H, Liao Y, Rabee F (2014) Improved blocking time analysis and evaluation for the multiprocessor priority ceiling protocol. J Comput Sci Technol 29(6):1003\u20131013","journal-title":"J Comput Sci Technol"},{"key":"9316_CR89","doi-asserted-by":"crossref","unstructured":"Yang M, Wieder A, Brandenburg B (2015) Global real-time semaphore protocols: a survey, unified analysis, and comparison. In: Proceedings of the IEEE real-time systems symposium (RTSS), pp\u00a01\u201312","DOI":"10.1109\/RTSS.2015.8"},{"key":"9316_CR90","doi-asserted-by":"crossref","unstructured":"Zeng H, di\u00a0Natale M (2011) Mechanisms for guaranteeing data consistency and flow preservation in AUTOSAR software on multi-core platforms. In: Proceedings of the SIES, pp\u00a0140\u2013149","DOI":"10.1109\/SIES.2011.5953656"},{"issue":"9","key":"9316_CR91","doi-asserted-by":"publisher","first-page":"1250","DOI":"10.1109\/TC.2009.58","volume":"58","author":"F Zhang","year":"2009","unstructured":"Zhang F, Burns A (2009) Schedulability analysis for real-time systems with EDF scheduling. IEEE Trans Comput 58(9):1250\u20131258","journal-title":"IEEE Trans Comput"}],"container-title":["Real-Time Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11241-018-9316-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s11241-018-9316-9\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11241-018-9316-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,7]],"date-time":"2025-07-07T02:13:10Z","timestamp":1751854390000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s11241-018-9316-9"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,9,11]]},"references-count":91,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2019,1]]}},"alternative-id":["9316"],"URL":"https:\/\/doi.org\/10.1007\/s11241-018-9316-9","relation":{},"ISSN":["0922-6443","1573-1383"],"issn-type":[{"value":"0922-6443","type":"print"},{"value":"1573-1383","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,9,11]]},"assertion":[{"value":"11 September 2018","order":1,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}