First of all, I am grateful for the opportunity to learn from many excellent texts available on real-time systems or embedded systems, the authors including Jane W.S. Liu, David E. Simon, Rob Williams, Qing Li, and Bruce P. Douglass, to mention only a few. They may recognize their influence in some parts of the book, directly or indirectly.

I am indebted to the reviewers for numerous comments and enlightening suggestions. I would like to thank my students, who have been influential in shaping my thoughts on how best to organize and teach a course on real-time embedded systems.

The final manuscript was ably edited by SPi. A most special thanks go to Tim Pitts, Charlie Kent and Nicky Carter at Elsevier. This book would not be ...

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