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We describe our experiences with a real-time multiprocessor operating system, called GEM (Generalized Executive for Multiprocessor applications) and with an extension to GEM, called CHAOS (Concurrent Hierarchical Adaptable Object System). CHAOS offers kernel-level primitives that allow high-performance, large-scale, real-time software to be programmed as a system of interacting objects. This significantly improves modularity, reconfigurability, and maintainability.
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Schwan et al. (1987) studied this question.
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