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This comprehensive book not only covers the fundamentals of real-time embedded systems such as hardware components, real-time operating systems, real-time programming, embedded memory and real-time resource management, but also modeling, real-time constraints verification approaches and practical issues like software rejuvenation and reliability. It's an important text for industrial practitioners with real-time and embedded software design, development, and management responsibilities and students and faculty involved in embedded and real-time software systems.