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Distributed real-time systems are difficult to develop. External events occur independently of internal control, and the real-time system must be designed to accommodate them correctly. Two problems emerging from this are the logical correctness and the timing correctness of the system software: not only must it process the real-time events correctly, but the program timing must prevent the task of processing from interfering with the task of monitoring.
Tokuda et al. (Fri,) studied this question.