... Systems¹

The work reported in this paper is supported in part by the U.S. Airforce Office of Scientific Research under Grant No. F49620-01-1-0120, and by DARPA administered under AFRL contract F30602-01-02-0527.

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... wait-free²

A concurrent object implementation is non-blocking if at least one process that is accessing the object can complete an operation within a finite number of steps regardless of failures. Furthermore, it is wait-free if every process that is accessing the object can complete an operation within a finite number of steps [13]. Wait-free is a stronger form of non-blocking as it ensures starvation-free access.

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... executed.³

Aperiodic tasks can be handled by a periodic server [18], so the periodic task model is not a limiting assumption.

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...,⁴

This equals the deadline minus the release time of the task.

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