Emphasizing concepts and principles, this book provides readers with an accessible approach to software design. It presents several examples of commercial and research systems throughout the chapters to explain and justify the concepts. And the material presented is technically diverse, including discussions of state machines, logic, concurrent programming, and scheduling algorithms. Table of Contents Preface. Introduction: The World of Real-Time Systems. Software Architectures. Requirements and Design Specifications. Systems of State Machines. Declarative Specifications. Deterministic Scheduling. Execution Time Prediction. Keeping Time on Computers. Programming Languages. Operating Systems. Appendix: Air Traffic Control System??????????????????????????????????????Project Specifications. Bibliography. Index.