在分析任务级调试设计的同时，通过关注嵌入式系统调试中的实时性问题，引入了一种软件实现的用于跟踪系统代码执行流程的方法；

When designing the task-aware debugging, we notice the requirement of a real-time embedded system, and so we use a software-implemented method to keep the trace of system code executing flow.

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目的设计一种新型的基于闪烁扫描法的人体肠道微型诊疗胶囊的实时定位跟踪系统。

Objective the new real-time location system based on Gamma scintigraphy is designed to satisfy the location research on micro-system in the gastrointestinal tract.

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根据系统的实时性和跟踪精度指标，设计了主从式结构计算机控制系统。

Based on the real time and tracking accuracy indexes, the master-slave computer control system is designed.

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