Foreword	6
	Preface	8
	Acknowledgements	10
	Contents	11
	Acronyms	15
	1 Introduction	18
	1.1 "Performance” of Real-time Systems	19
	1.2 Requirements of Real-time Applications	19
	1.3 Real-time Systems Revisited	20
	1.4 Quality and Performance of Real-time Systems	22
	1.5 Preview and How to Use this Book	24
	2 Performance Metrics for Real-time Systems	26
	2.1 Benchmarks and RTOS Standardisation	26
	2.2 DIN 19242 Performance Measurement Methods	27
	2.3 Benchmark Programs	29
	2.4 Timing Analysers	30
	2.5 Performance Monitors	31
	2.6 Concluding Remarks on Test Methods and Benchmarks	33
	3 QoS Criteria for Real-time Systems	34
	3.1 Breakdown of QoS Criteria	35
	3.2 Concluding Remarks on QoS Criteria	36
	4 QoS-oriented Design and Evaluation of Real-time Systems	38
	4.1 Introducing QoS Parameters into the Design of Real-time Systems	39
	4.2 System Evaluation	42
	4.3 System Certification	42
	4.4 Outlook	43
	5 QoS Decision Flowchart for Real-time Systems	44
	5.1 Predictability and Dependability	45
	5.2 Qualitative Exclusive Criteria	45
	5.3 Qualitative Gradual Criteria	51
	5.4 Quantitative Criteria	58
	6 Design of Real-time Systems for QoS	62
	6.1 Design for Predictability and Dependability	62
	6.2 Security-oriented Design	82
	6.3 Concluding Remarks on Design for QoS	87
	7 Design in UML Oriented at QoS	88
	7.1 UML for Real-time Systems	88
	7.2 UML Profile for Schedulability, Performance and Time Specification	97
	7.3 UML Profile to Model QoS and FT Characteristics and Mechanisms	109
	7.4 Project Life-cycle Management in UML	111
	7.5 Design Verification in UML with Checklists	114
	7.6 Concluding Remarks on UML-oriented Design for QoS	122
	8 Certification of Real-time Systems	124
	8.1 Technical Standards	124
	8.2 Technological Standards	127
	8.3 Technical Evaluation Standards	131
	8.4 Concluding Remarks on Certifying Real-time Systems	134
	9 Conclusion	136
	References	138
	Index	144