David Donari,  Leo Ordinez,  Rodrigo Santos,  Javier D. Orozco. 

In this paper, a new Real-Time Operating System (RTOS) for Embedded Systems (ES) is presented. The Server Oriented Operating System (SOOS) has two basic contributions. The first contribution is directly related to the way in which SOOS schedules and dispatches tasks. SOOS provides real-time scheduling for both soft and hard tasks by means of the resource reservation paradigm. SOOS has been implemented for the Hitachi H8 3297 that is the heart of the RCX 2.0 Lego Mindstorms.

http://www.lbd.dcc.ufmg.br/colecoes/wtr/2009/011.pdf

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