Some resources on task scheduling and CPU utilization
Scheduling Algorithms for Multiprogramming in a Hard-Real-Time Environment: http://citeseer.ist.psu.edu/liu73scheduling.html
Aperiodic Task Scheduling for Real-Time Systems: http://citeseer.ist.psu.edu/sprunt90aperiodic.html
Issues in Real-time System Design: http://www.eventhelix.com/RealtimeMantra/IssuesInRealtimeSystemDesign.htm
Rate-monotonic analysis keeps real-time systems on schedule: http://www.edn.com/article/CA81193.html
How to calculate CPU utilization: http://www.us.design-reuse.com/articles/article8289.html
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