IEEE Transactions on Software Engineering
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This paper presents the Tempus real-time middleware, which supports Real-Time CORBA 2.0'sdistributable threads (DTs) as an end-to-end programming abstraction for distributed real-timesystems. DTs in Tempus can have time constraints, including time/utility functions (TUFs),can have resource constraints, including mutual exclusion, and can be scheduled according to utility accrual (UA) disciplines. Tempus propagates the scheduling parameters of DT's as they transit objects and hence perhaps node boundaries. Node-local instances of a UA scheduling algorithm use the propagated parameters to construct local schedules and resolve resource dependencies for local timeliness optimization, towardapproximate, system-wide timeliness optimality. Tempus uses an application-level schedulingframework for node-local TUF/UA scheduling on real-time POSIX-compliant operatingsystems. Our experimental measurements demonstrate the effectiveness of the middleware inscheduling DTs.