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Compositional Real-Time Scheduling Framework
Compositional Real-Time Scheduling Framework is based on compositional scheduling analysis, which abstracts each component's workload to a simple interface based on resource models.  The tasks inside a component is guaranteed schedulable if the component can be provided the resource specified by its interface. 
Compositional Real-Time scheduling Framework also provides a tool, CARTS, to compute the interface of components of a hierarchical system.

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