The structure of control program is designed as multi-task scheduling to be general to fulfill various control requirements.
目标控制程序的设计采用多任务调度，使其结构通用，尽可能满足各种控制要求。
Firstly, the embedded microprocessor and embedded Real Time Operating System are described, and the multi-task scheduling solution based on single-processor is given.
本文首先介绍了嵌入式微处理器和嵌入式实时操作系统，给出了基于单处理器的多任务调度方案。
Introduce the kernel, memory management and partition, allocation strategy, multi-task scheduling and how to communicate by semaphore and message handling as well as interrupt management.
介绍了该操作系统的内核、存储器管理和分区、分配策略、多任务调度及任务间通过信号量和消息处理进行通信的机制、中断管理等。
Combined with method based on order and serial schedule generation scheme and multi-project task list, the gotten scheduling scheme can meet the project schedule constraints of precedence relations.
采用基于排列的方法和串行项目进度生成机制，结合多项目的任务列表，可以保证所得调度方案满足项目优先关系约束。
The algorithm based on model decomposition was proposed for the problem of multi-machine task scheduling with time Windows.
针对多机带时间窗口任务规划问题，提出了基于模型分解的规划求解算法。
Then, a sensor scheduling model for each task set is established based on the dynamic priority theory. Furthermore, a novel real-time sensor scheduling algorithm based on a multi-model is proposed.
然后，为两任务集合分别建立了基于动态优先级的优化调度模型，提出了一种基于多模型的实时传感器调度算法。
So, it is very important to decrease precision of real-time task and provide a maximize-utility fault-tolerant optimal scheduling to assure timeliness and reliability in the presence of multi-error.
因此，适当降低实时任务精确度以及在错误发生时提供最大利用率的容错优化方法以保证系统的实时性与可靠性变得非常重要。
So, it is very important to decrease precision of real-time task and provide a maximize-utility fault-tolerant optimal scheduling to assure timeliness and reliability in the presence of multi-error.
因此，适当降低实时任务精确度以及在错误发生时提供最大利用率的容错优化方法以保证系统的实时性与可靠性变得非常重要。
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