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c
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it
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q
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ts
o
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v
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s.
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e
n
u
m
b
e
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ECUs
in
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to
m
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s
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t
w
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n
[
1
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2
]
.
I
n
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co
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r
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s
o
p
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is
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p
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m
p
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,
m
u
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a
s
k
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ap
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s
ar
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3
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ask
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n
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4
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5
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I
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f
t
h
e
ar
t
alg
o
r
ith
m
,
s
ec
tio
n
4
p
r
esen
t
s
th
e
p
r
o
p
o
s
ed
h
y
b
r
id
s
c
h
ed
u
ler
,
p
er
f
o
r
m
a
n
c
e
ev
alu
a
tio
n
a
n
d
an
al
y
s
i
s
o
f
r
esu
l
t
s
ar
e
d
is
cu
s
s
ed
i
n
s
ec
t
io
n
s
5
an
d
6
an
d
t
h
e
w
o
r
k
i
s
co
n
cl
u
d
ed
in
s
ec
tio
n
7
.
2.
SCH
E
DU
L
I
NG
CH
A
L
L
E
N
G
E
S O
N
M
UL
T
I
CO
R
E
E
C
US
T
ask
s
ch
ed
u
lin
g
i
s
a
f
u
n
ct
io
n
alit
y
o
f
r
ea
l
-
ti
m
e
o
p
er
atin
g
s
y
s
te
m
t
h
at
e
s
s
e
n
tiall
y
r
ef
er
s
to
d
eter
m
in
i
n
g
th
e
s
eq
u
e
n
ce
in
w
h
ic
h
th
e
v
ar
io
u
s
ta
s
k
s
ar
e
to
b
e
ex
ec
u
ted
ad
h
er
in
g
to
all
th
e
ti
m
i
n
g
co
n
s
tr
ai
n
ts
.
A
lar
g
e
n
u
m
b
er
o
f
alg
o
r
it
h
m
s
f
o
r
s
ch
ed
u
lin
g
r
ea
l
-
ti
m
e
tas
k
s
h
a
v
e
s
o
f
ar
b
ee
n
d
e
v
elo
p
ed
.
Sch
ed
u
l
in
g
ca
n
b
e
eith
er
p
r
io
r
ity
d
r
i
v
en
w
it
h
s
ta
t
ic
o
r
d
y
n
a
m
ic
p
r
io
r
it
y
o
r
it
ca
n
b
e
ev
en
t
d
r
iv
e
n
li
k
e
o
n
o
cc
u
r
r
en
ce
o
f
in
ter
r
u
p
t
s
.
T
h
e
r
ea
l
tim
e
o
p
er
atin
g
s
y
s
t
e
m
s
ch
ed
u
ler
eith
er
ca
n
h
a
v
e
n
o
n
-
p
r
ee
m
p
t
iv
e
o
r
p
r
ee
m
p
t
iv
e
o
r
co
o
p
er
ativ
e
s
ch
ed
u
lin
g
m
ec
h
a
n
is
m
[
6
]
.
W
h
en
t
h
e
co
m
p
u
ti
n
g
u
n
it
is
a
s
i
n
g
le
co
r
e
ch
ip
,
th
e
tas
k
s
ch
ed
u
li
n
g
al
g
o
r
ith
m
s
ar
e
q
u
ite
s
i
m
p
le
a
n
d
w
ell
t
ested
.
B
u
t
th
e
s
c
h
ed
u
li
n
g
co
m
p
lex
it
y
i
n
cr
ea
s
e
s
w
i
th
t
h
e
m
u
l
tico
r
e
i
m
p
le
m
en
ta
tio
n
.
W
h
e
n
t
h
e
n
u
m
b
er
o
f
co
m
p
u
ti
n
g
co
r
es
i
s
m
o
r
e,
th
e
s
c
h
ed
u
li
n
g
c
h
alle
n
g
e
s
an
d
co
n
s
tr
ain
ts
ar
e
also
in
cr
ea
s
ed
.
I
f
th
e
co
r
es
ar
e
id
en
tical
in
f
ea
tu
r
e
s
,
an
y
ta
s
k
ca
n
b
e
s
c
h
ed
u
led
o
n
an
y
c
o
r
e.
B
u
t
if
th
e
co
r
e
f
ea
t
u
r
es
ar
e
d
if
f
er
en
t,
t
h
er
e
w
i
ll
b
e
allo
ca
tio
n
c
o
n
s
tr
ain
t
w
h
i
ch
m
a
y
a
f
f
ec
t
th
e
tas
k
r
esp
o
n
s
e
ti
m
e
[
7
]
.
A
ls
o
if
task
s
o
n
d
i
f
f
er
e
n
t
co
r
es
h
av
e
d
ep
en
d
en
c
y
,
it
i
n
c
u
r
s
h
ig
h
co
m
m
u
n
icatio
n
co
s
t.
I
f
tas
k
s
s
c
h
ed
u
led
o
n
d
i
f
f
er
en
t
co
r
es
h
av
e
co
m
m
o
n
d
ata
s
h
ar
i
n
g
th
e
n
i
n
ter
co
r
e
co
m
m
u
n
icat
io
n
w
ill
ad
d
co
m
p
le
x
it
y
to
th
e
ec
o
s
y
s
te
m
w
h
ic
h
is
d
if
f
ic
u
lt to
h
a
n
d
le
in
a
cr
itic
al
r
ea
l ti
m
e
au
to
m
o
ti
v
e
s
y
s
te
m
[
8
]
.
I
n
m
u
ltico
r
e
E
C
Us,
t
h
e
tas
k
allo
ca
tio
n
to
v
ar
io
u
s
co
r
es
ca
n
b
e
s
tatic
o
r
d
y
n
a
m
ic
d
ep
en
d
in
g
o
n
t
h
e
cr
iticalit
y
o
f
t
h
e
ap
p
licatio
n
s
.
W
h
en
th
e
ta
s
k
s
ar
e
allo
ca
ted
,
t
h
e
r
e
s
h
o
u
ld
b
e
p
r
o
p
er
u
tili
za
ti
o
n
o
f
th
e
co
r
es
an
d
w
o
r
k
lo
ad
s
h
o
u
ld
b
e
b
alan
ce
d
ac
r
o
s
s
th
e
co
r
es.
A
cc
o
r
d
in
g
l
y
,
d
if
f
er
e
n
t
s
c
h
ed
u
li
n
g
ap
p
r
o
ac
h
es
ar
e
av
ailab
le
f
o
r
m
u
tico
r
e
p
r
o
ce
s
s
o
r
s
.
So
m
e
o
f
th
e
m
ar
e:
u
tili
za
t
io
n
b
alan
ci
n
g
al
g
o
r
ith
m
,
n
e
x
t
f
it
f
o
r
R
MA
,
b
in
p
ac
k
i
n
g
f
o
r
E
DF,
m
y
o
p
ic
alg
o
r
it
h
m
,
f
au
l
t
to
ler
an
t
alg
o
r
ith
m
etc
[
9
]
.
A
l
s
o
th
er
e
ar
e
th
r
ee
s
ch
ed
u
li
n
g
ap
p
r
o
ac
h
es
s
u
ch
as:
g
lo
b
al
s
ch
ed
u
li
n
g
,
p
ar
titi
o
n
ed
s
ch
ed
u
lin
g
a
n
d
clu
s
ter
ed
s
c
h
e
d
u
lin
g
.
P
ar
allel
m
u
ltit
h
r
ea
d
ed
s
o
f
t
w
ar
e
f
o
r
m
u
ltico
r
e
E
C
U
s
r
eq
u
ir
es
an
o
p
ti
m
al
s
c
h
ed
u
li
n
g
p
o
lic
y
to
en
s
u
r
e
a
h
i
g
h
l
y
s
tab
ilized
a
n
d
te
m
p
o
r
all
y
d
eter
m
in
is
tic
s
y
s
te
m
.
A
cc
o
r
d
in
g
to
Au
to
m
o
ti
v
e
Op
e
n
S
y
s
te
m
A
r
c
h
itect
u
r
e
(
A
UT
OS
A
R
)
4
.
0
,
th
er
e
ar
e
ce
r
tain
li
m
itat
io
n
s
o
n
m
u
l
t
ico
r
e
s
o
f
t
w
ar
e
i
m
p
le
m
e
n
tati
o
n
.
T
h
e
s
ch
ed
u
lin
g
alg
o
r
ith
m
s
s
tr
ictl
y
p
ar
t
itio
n
t
h
e
task
s
b
ased
o
n
s
i
m
ilar
f
u
n
ct
io
n
alit
y
o
r
p
er
io
d
icity
o
r
d
ep
e
n
d
en
c
y
an
d
a
s
s
i
g
n
th
o
s
e
ta
s
k
s
to
f
ix
ed
co
r
es
[
10
,
11]
.
T
ask
s
ar
e
s
ch
ed
u
led
i
n
t
h
e
in
te
n
d
ed
co
r
e
b
ased
o
n
th
e
ir
s
tatical
l
y
as
s
ig
n
ed
p
r
io
r
ity
.
I
n
th
e
cu
r
r
en
t
s
ce
n
ar
io
,
tr
ico
r
e
m
icr
o
co
n
tr
o
ll
er
i
m
p
le
m
en
ted
i
n
t
h
e
m
u
ltico
r
e
E
C
U
i
s
u
t
ilized
u
p
to
6
0
%
in
n
o
r
m
al
r
u
n
n
in
g
co
n
d
i
tio
n
an
d
f
e
w
co
r
es
ar
e
ev
en
l
ess
u
t
ilized
[
11
]
.
W
h
en
lo
ad
in
cr
ea
s
es
w
i
th
t
h
e
s
p
ee
d
o
f
th
e
v
e
h
icle,
it i
s
tr
an
s
f
er
r
ed
to
u
n
d
er
lo
ad
ed
co
r
es
.
3.
ST
A
T
E
O
F
T
H
E
ART
AL
G
O
RIT
H
M
I
n
t
h
e
co
n
te
x
t
o
f
ta
s
k
s
c
h
e
d
u
lin
g
f
o
r
m
u
l
tico
r
e
au
to
m
o
tiv
e
E
C
Us,
t
h
e
AUT
OSAR
s
u
g
g
e
s
ts
p
ar
titi
o
n
ed
s
tatic
p
r
io
r
it
y
s
c
h
ed
u
lin
g
to
g
et
p
r
ed
ictab
le
r
esp
o
n
s
e
f
o
r
s
af
et
y
cr
itical
ap
p
licatio
n
s
[
1
]
.
I
t
is
co
n
s
id
er
ed
as
th
e
s
tate
o
f
th
e
ar
t
alg
o
r
ith
m
f
o
r
task
s
ch
ed
u
l
in
g
.
Sin
ce
th
er
e
i
s
n
o
f
i
x
ed
p
ar
titi
o
n
i
n
g
m
et
h
o
d
,
th
e
p
r
o
b
lem
o
f
p
ar
titi
o
n
i
n
g
t
h
e
tas
k
t
h
r
ea
d
s
an
d
allo
ca
ti
n
g
th
o
s
e
o
n
m
u
l
tip
le
id
en
tical
co
r
es
h
av
e
b
ee
n
ad
d
r
ess
ed
th
r
o
u
g
h
v
ar
io
u
s
r
es
ea
r
ch
w
o
r
k
s
.
A
lo
w
-
co
m
p
le
x
i
t
y
h
e
u
r
is
tic
al
g
o
r
ith
m
to
p
ar
titi
o
n
th
e
th
r
ea
d
s
et
s
to
a
least
lo
ad
ed
co
r
e
an
d
b
u
il
d
s
eq
u
en
ce
r
tab
le
to
e
x
ec
u
te
a
t
a
least
lo
ad
ed
ti
m
e
s
lo
t
h
a
s
b
ee
n
p
r
o
p
o
s
ed
[
2
].
I
t
is
o
b
s
er
v
ed
th
at,
m
i
n
i
m
u
m
av
er
ag
e
lo
ad
o
f
t
h
e
to
tal
lo
ad
is
d
is
tr
ib
u
ted
to
ea
c
h
co
r
e
to
ac
h
iev
e
a
b
ala
n
ce
d
lo
ad
w
ith
ta
s
k
s
ch
ed
u
li
n
g
.
I
n
n
o
r
m
a
l
r
u
n
n
i
n
g
co
n
d
itio
n
o
f
th
e
v
e
h
icle
it
g
i
v
es
f
ea
s
i
b
le
s
ch
ed
u
le
w
it
h
u
tili
za
t
io
n
u
p
to
6
0
%.
B
u
t
th
i
s
alg
o
r
ith
m
h
as
li
m
i
tatio
n
s
w
it
h
th
e
lo
ad
co
n
d
itio
n
s
.
A
s
t
h
e
p
ar
titi
o
n
ed
tas
k
s
ar
e
s
ch
ed
u
led
in
t
h
eir
in
ten
d
ed
c
o
r
e
ac
co
r
d
in
g
to
t
h
e
s
tatic
p
r
i
o
r
ity
,
at
h
ea
v
y
lo
ad
co
n
d
itio
n
s
lo
w
p
r
io
r
it
y
ta
s
k
s
m
is
s
t
h
eir
d
ea
d
li
n
es.
E
v
en
t
h
o
u
g
h
t
h
e
ta
s
k
t
h
r
ea
d
s
ar
e
cl
u
s
ter
ed
co
n
s
id
er
in
g
t
h
e
p
r
ec
ed
en
ce
a
n
d
co
llo
ca
tio
n
co
n
s
tr
ain
ts
a
n
d
allo
ca
ted
to
o
n
e
co
r
e,
it
is
d
i
f
f
ic
u
lt
to
p
ar
titi
o
n
a
cl
u
s
ter
o
f
in
d
ep
en
d
e
n
t
th
r
ea
d
to
th
e
co
r
e
w
h
er
e
o
th
er
t
h
r
ea
d
s
o
f
t
h
e
s
a
m
e
tas
k
h
av
e
b
ee
n
allo
ca
ted
[
12
]
.
I
n
th
e
r
ea
l
s
ce
n
ar
io
,
s
u
ch
an
in
d
ep
en
d
e
n
t
th
r
ea
d
m
i
g
h
t
lo
s
e
it
s
s
eq
u
e
n
ce
w
h
ich
m
a
y
lead
to
d
ata
co
r
r
u
p
tio
n
.
So
in
s
tead
o
f
p
ar
titi
o
n
i
n
g
t
h
e
tas
k
th
r
ea
d
s
,
task
s
th
e
m
s
elv
e
s
ca
n
b
e
p
ar
titi
o
n
ed
w
it
h
i
n
w
h
ich
t
h
e
s
eq
u
en
ce
o
f
th
r
ea
d
s
ex
ec
u
tio
n
co
u
ld
b
e
d
ef
in
ed
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
20
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I
n
t J
R
ec
o
n
f
i
g
u
r
ab
le
&
E
m
b
ed
d
ed
Sy
s
t
Vo
l.
8
,
No
.
2
,
J
u
ly
2
0
1
9
:
1
1
4
–
1
2
3
116
4.
P
RO
P
O
SE
D
H
YB
RID SCH
E
DU
L
E
R
I
n
o
r
d
er
to
ad
d
r
ess
th
e
ab
o
v
e
id
en
ti
f
ied
p
r
o
b
le
m
s
,
v
ar
io
u
s
ta
s
k
m
o
d
els
h
av
e
b
ee
n
t
ested
w
ith
d
if
f
er
e
n
t
h
eu
r
i
s
tic
al
g
o
r
ith
m
s
.
T
h
e
s
ch
ed
u
li
n
g
alg
o
r
it
h
m
u
s
ed
f
o
r
m
u
l
t
ico
r
e
p
r
o
ce
s
s
o
r
e
n
v
ir
o
n
m
e
n
t
i
s
P
|
r
j
,
d
ea
d
lin
e
,
p
r
ec
ed
en
ce
co
n
s
tr
ai
n
ts
|
C
m
ax
.
T
h
is
alg
o
r
it
h
m
is
d
esig
n
ed
f
o
r
s
o
l
v
i
n
g
th
e
α
|
β
|
γ
=
P
|
r
j
,
p
r
ec
,
~d
j
|
C
m
a
x
p
r
o
b
lem
.
Her
e
α
=P
m
ea
n
s
th
e
tar
g
et
p
r
o
ce
s
s
o
r
h
as
P
n
u
m
b
er
o
f
co
r
es,
th
e
co
n
s
tr
ain
t
p
ar
a
m
eter
s
co
n
s
id
er
ed
f
o
r
β
f
ac
to
r
ar
e
r
elea
s
e
tim
e,
d
ea
d
lin
e
an
d
p
r
ec
e
d
en
ce
co
n
s
tr
ain
ts
.
T
h
e
alg
o
r
ith
m
u
s
es
m
o
d
i
f
ied
L
i
s
t
Sch
ed
u
l
in
g
al
g
o
r
ith
m
to
d
eter
m
i
n
e
a
n
u
p
p
er
b
o
u
n
d
o
f
t
h
e
cr
iter
io
n
γ
=
C
m
ax
i,e
m
ax
i
m
u
m
co
m
p
le
tio
n
t
i
m
e
[
1
3
]
.
Fro
m
th
e
r
esu
lted
s
c
h
e
d
u
le,
it
i
s
i
n
f
er
r
ed
th
a
t,
all
t
h
ese
m
e
n
tio
n
ed
co
n
s
tr
ai
n
t
p
ar
a
m
eter
s
h
a
v
e
to
b
e
co
n
s
id
er
ed
w
h
ile
d
er
iv
i
n
g
a
f
ea
s
ib
le
s
c
h
ed
u
le
f
o
r
r
ea
l
tim
e
tas
k
s
.
C
o
n
s
id
er
i
n
g
s
lack
o
f
th
e
tas
k
s
as
th
e
cr
iter
io
n
f
o
r
ass
ig
n
i
n
g
p
r
io
r
ity
,
an
ef
f
icie
n
t
h
y
b
r
id
s
ch
ed
u
l
er
h
as
b
ee
n
p
r
o
p
o
s
ed
in
th
is
p
ap
er
.
T
h
e
t
ask
w
it
h
m
i
n
i
m
u
m
s
lac
k
h
as
h
ig
h
es
t
p
r
io
r
it
y
.
T
h
is
alg
o
r
ith
m
h
as
t
h
e
f
ea
tu
r
es
o
f
b
o
th
g
lo
b
al
an
d
p
ar
titi
o
n
ed
s
ch
ed
u
li
n
g
an
d
tas
k
s
ar
e
allo
w
ed
to
m
i
g
r
ate
f
r
o
m
o
n
e
co
r
e
to
o
th
er
w
ith
a
p
r
o
b
ab
il
it
y
o
f
m
ee
ti
n
g
th
e
ir
d
ea
d
lin
es.
T
h
is
p
r
o
p
o
s
ed
alg
o
r
ith
m
is
r
ig
o
r
o
u
s
l
y
test
ed
w
it
h
m
u
ltip
le
ta
s
k
m
o
d
els
u
s
i
n
g
a
L
i
n
u
x
k
er
n
el
b
ased
s
i
m
u
la
tio
n
to
o
l
f
o
r
r
ea
l
ti
m
e
m
u
lt
ip
r
o
ce
s
s
o
r
s
ch
ed
u
li
n
g
.
I
t
i
s
also
tes
ted
w
it
h
ta
s
k
s
ets
o
f
h
i
g
h
u
tili
za
ti
o
n
r
ep
r
esen
ti
n
g
t
h
e
h
ea
v
y
lo
ad
co
n
d
itio
n
s
i
n
co
n
ti
n
g
e
n
c
y
s
ce
n
ar
io
s
.
I
t
s
p
er
f
o
r
m
an
ce
h
as
b
ee
n
co
m
p
ar
ed
w
i
th
th
e
s
tate
o
f
th
e
ar
t
alg
o
r
ith
m
.
T
h
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
h
as
s
ix
d
i
s
ti
n
ct
f
u
n
cti
o
n
s
:
I
n
i
tializatio
n
,
T
ask
Dis
tr
ib
u
tio
n
,
Sc
h
ed
u
ler
,
C
o
r
e
A
llo
ca
tio
n
,
an
d
P
r
ee
m
p
ti
o
n
&
Mi
g
r
atio
n
.
4
.
1
.
I
nitia
liza
t
io
n
T
h
e
alg
o
r
ith
m
s
tar
ts
w
it
h
th
e
i
n
itializa
tio
n
f
u
n
ctio
n
.
A
l
l
th
e
g
lo
b
al
lis
t,
lo
ca
l
lis
t,
lo
ca
l
v
ar
iab
les
an
d
f
la
g
s
ar
e
i
n
it
ialized
.
O
n
ce
t
h
e
task
s
g
et
ac
ti
v
ated
o
r
u
n
b
lo
ck
ed
,
th
eir
s
lac
k
t
i
m
e
s
ar
e
ca
lc
u
lated
.
I
n
t
h
is
w
o
r
k
,
s
in
ce
p
er
io
d
ic
s
en
s
o
r
tas
k
s
c
h
ar
ac
ter
is
tic
s
ar
e
u
s
ed
to
g
e
n
er
ate
th
e
tas
k
m
o
d
el
s
,
s
lac
k
is
t
h
e
d
if
f
er
en
ce
b
et
w
ee
n
t
h
e
p
er
io
d
an
d
t
h
e
e
x
ec
u
tio
n
ti
m
e
at
th
e
ti
m
e
o
f
r
el
ea
s
e.
T
h
e
tas
k
s
ar
e
th
e
n
s
o
r
ted
in
asce
n
d
in
g
o
r
d
er
o
f
th
eir
s
lac
k
at
t
h
e
g
lo
b
al
q
u
e
u
e
(
1
)
.
Slack
=
(
d
ea
d
lin
e
-
r
elea
s
e
ti
m
e
-
e
x
ec
u
tio
n
ti
m
e)
=>
(
p
er
io
d
-
ex
e
cu
tio
n
ti
m
e)
(
1)
4
.
2
.
T
a
s
k
d
is
t
ri
bu
t
io
n
T
h
e
s
o
r
ted
task
s
ar
e
d
i
s
tr
ib
u
te
d
to
th
e
lo
ca
l q
u
e
u
e
s
o
f
C
P
U
c
o
r
es.
T
h
e
cr
iter
io
n
f
o
r
d
is
tr
ib
u
tio
n
i
s
t
h
e
d
en
s
it
y
o
f
tas
k
s
ar
r
iv
a
l,
i,e
th
e
n
u
m
b
er
o
f
task
s
n
i
n
th
e
s
o
r
ted
g
lo
b
al
lis
t.
I
f
n
is
a
n
ev
e
n
n
u
m
b
er
,
th
e
n
f
ir
s
t
0
.
5
n
is
p
ass
ed
to
th
e
lo
ca
l
q
u
eu
e1
,
n
ex
t
0
.
2
5
n
to
lo
ca
l
q
u
eu
e2
an
d
r
e
m
ai
n
in
g
0
.
2
5
n
to
lo
ca
l
q
u
eu
e3
as
th
e
alg
o
r
ith
m
w
a
s
test
ed
o
n
tr
ico
r
e
p
r
o
ce
s
s
o
r
m
o
d
el.
I
f
n
is
a
n
o
d
d
n
u
m
b
er
,
t
h
en
[
0
.
5
(
n
+1
)
]
is
p
ass
ed
to
th
e
lo
ca
l
q
u
eu
e
1
,
[
n
-
0
.
5
(
n
+1
)
]
/2
to
lo
ca
l q
u
e
u
e
2
a
n
d
r
e
m
ai
n
i
n
g
ta
s
k
s
to
lo
ca
l q
u
eu
e
3
.
I
n
th
is
s
i
m
p
le
s
tr
ate
g
y
o
f
tas
k
s
d
is
tr
ib
u
tio
n
,
t
h
e
co
n
s
eq
u
e
n
ce
is
,
lo
ca
l
q
u
eu
e1
h
a
s
al
w
a
y
s
m
o
r
e
n
u
m
b
er
o
f
ta
s
k
s
t
h
an
lo
ca
l
q
u
eu
e
2
&
3
.
So
th
e
p
o
s
s
ib
le
m
ig
r
atio
n
o
f
tas
k
s
is
al
w
a
y
s
f
r
o
m
q
u
e
u
e1
to
q
u
eu
e2
o
r
q
u
e
u
e3
a
n
d
n
o
t
in
t
h
e
r
ev
er
s
e
d
ir
ec
tio
n
w
h
ic
h
co
n
s
id
er
ab
l
y
r
ed
u
ce
s
th
e
co
m
p
le
x
it
y
an
d
co
s
t o
f
m
i
g
r
atio
n
.
4
.
3
.
Schedu
ler
On
ce
th
e
tas
k
s
ar
e
j
o
in
ed
to
th
e
co
r
r
esp
o
n
d
in
g
lo
ca
l
q
u
eu
e
s
,
o
n
S
y
s
T
ick
(
)
,
th
e
s
ch
ed
u
li
n
g
w
in
d
o
w
i,e
ti
m
e
q
u
an
tu
m
Qt
an
d
t
h
e
lax
it
y
o
f
ea
c
h
ta
s
k
is
ca
lc
u
lat
ed
as
p
er
eq
u
atio
n
2
an
d
t
h
e
task
s
ar
e
s
o
r
ted
i
n
ascen
d
i
n
g
o
r
d
er
o
f
t
h
eir
la
x
it
y
.
T
h
e
tas
k
w
i
th
leas
t
la
x
it
y
i
s
ass
i
g
n
ed
w
it
h
h
i
g
h
e
s
t
p
r
io
r
it
y
an
d
s
ch
ed
u
led
f
o
r
ex
ec
u
t
io
n
f
r
o
m
t
h
e
h
ea
d
o
f
t
h
e
q
u
eu
e.
T
h
e
tas
k
at
t
h
e
h
ea
d
o
f
th
e
q
u
eu
e
is
allo
ca
ted
to
t
h
e
co
r
e
f
o
r
ex
ec
u
tio
n
an
d
r
u
n
s
f
o
r
a
tim
e
q
u
a
n
t
u
m
.
I
t
co
n
tin
u
es
e
x
ec
u
t
io
n
to
co
m
p
lete
its
W
o
r
s
t
C
ase
E
x
ec
u
tio
n
T
im
e
(
W
C
E
T
)
u
n
le
s
s
it
is
p
r
ee
m
p
ted
b
y
a
h
i
g
h
er
p
r
io
r
i
t
y
task
.
A
tas
k
ca
n
also
m
ig
r
ate
to
o
th
er
lo
ca
l
q
u
eu
es
w
h
e
n
th
er
e
i
s
p
o
s
s
ib
ilit
y
o
f
m
i
s
s
i
n
g
d
ea
d
lin
e
(
2
)
.
L
a
x
it
y
=
s
lac
k
-
w
aiti
n
g
ti
m
e=
>
[
s
lack
-
(
p
r
esen
t ti
m
e
-
r
elea
s
e
t
i
m
e
-
T
ov
er
)]
(
2)
4
.
4
.
Co
re
a
llo
ca
t
io
n
I
n
th
i
s
f
u
n
ctio
n
,
it
i
s
ch
ec
k
ed
if
t
h
e
r
u
n
n
i
n
g
tas
k
is
s
a
m
e
as
th
e
tas
k
at
t
h
e
h
ea
d
o
f
t
h
e
q
u
e
u
e.
I
f
tr
u
e,
th
e
e
x
ec
u
tio
n
ti
m
e
o
f
t
h
e
r
u
n
n
in
g
tas
k
is
co
u
n
ted
an
d
co
m
p
ar
ed
w
it
h
it
s
W
C
E
T
.
I
f
(
E
T
.
T
r
u
n
n
i
n
g
=
W
C
E
T
)
,
th
e
tas
k
i
s
r
e
m
o
v
ed
f
r
o
m
t
h
e
co
r
e
an
d
lo
ca
l
q
u
eu
e.
I
ts
E
x
ec
u
t
io
n
T
i
m
e
(
E
T
)
is
r
eset
to
ze
r
o
.
B
u
t
if
th
e
co
n
d
itio
n
is
f
al
s
e,
th
e
n
th
e
r
u
n
n
in
g
tas
k
is
p
r
ee
m
p
ted
an
d
th
e
s
ch
ed
u
led
h
i
g
h
er
p
r
io
r
ity
tas
k
g
o
es
th
r
o
u
g
h
th
e
ab
o
v
e
s
aid
p
r
o
ce
s
s
.
W
h
en
a
ta
s
k
is
b
lo
ck
ed
o
n
a
r
eso
u
r
ce
,
it
is
r
e
m
o
v
ed
f
r
o
m
th
e
g
lo
b
al
q
u
eu
e
a
n
d
j
o
in
ed
t
h
e
w
ait
l
is
t.
Si
m
i
lar
l
y
,
w
h
en
it i
s
ter
m
i
n
ated
o
n
co
m
p
letio
n
o
f
o
n
e
in
s
ta
n
ce
,
it is
r
e
m
o
v
ed
f
r
o
m
th
e
lo
ca
l li
s
t.
4
.
5
.
P
re
em
ptio
n
W
h
en
it
i
s
id
en
ti
f
ied
t
h
at,
th
e
r
u
n
n
i
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led
tas
k
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e
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r
ee
m
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tio
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ctio
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lled
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I
n
t
h
i
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u
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ctio
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h
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m
ai
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E
x
ec
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tio
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im
e
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R
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f
th
e
tas
k
is
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lcu
la
ted
an
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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t J
R
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n
f
i
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Sy
s
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I
SS
N:
2089
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4864
P
erfo
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ma
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o
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timiz
a
tio
n
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f t
a
s
k
in
ten
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ive
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ea
l time
a
p
p
lica
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n
s
o
n
mu
ltico
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e
…
(
Gee
tis
h
r
ee
Mis
h
r
a
)
117
co
m
p
ar
ed
w
it
h
th
e
s
lac
k
o
f
t
h
e
s
c
h
ed
u
led
tas
k
.
I
f
(
R
E
T
.
T
r
u
n
n
in
g
<
S
lack
.
T
q
h
ea
d
)
,
n
o
p
r
ee
m
p
tio
n
ta
k
e
s
p
lace
.
Oth
er
w
is
e
t
h
e
r
u
n
n
in
g
t
ask
i
s
d
ea
llo
ca
ted
f
r
o
m
t
h
e
co
r
e
an
d
ad
d
ed
to
th
e
tail
o
f
th
e
lo
ca
l
q
u
eu
e
an
d
t
h
e
s
ch
ed
u
led
task
i
s
allo
ca
ted
to
th
e
co
r
e
f
o
r
ex
ec
u
tio
n
.
T
h
e
lo
ca
l q
u
eu
e
is
r
eso
r
ted
af
ter
a
n
ev
en
t o
f
p
r
ee
m
p
tio
n
.
4
.
6
.
M
ig
ra
t
i
o
n
A
t
e
v
er
y
e
v
en
t
o
f
n
e
w
ta
s
k
s
a
r
r
iv
al
at
lo
ca
l
q
u
eu
es,
t
h
e
m
ig
r
atio
n
f
u
n
ct
io
n
is
ca
lled
.
I
n
t
h
is
f
u
n
c
tio
n
lax
it
y
o
f
th
e
tas
k
at
th
e
tail
o
f
t
h
e
q
u
e
u
e1
is
co
m
p
ar
ed
w
it
h
s
u
m
o
f
r
e
m
ai
n
i
n
g
ex
ec
u
tio
n
ti
m
es
o
f
al
l
tas
k
s
lis
ted
b
ef
o
r
e
it.
I
f
(
∑
(
)
)
(
3
)
&
its
p
r
ec
ed
en
ce
tas
k
is
n
o
t a
d
d
ed
in
th
e
q
u
eu
e,
m
i
g
r
atio
n
o
f
th
e
tas
k
is
allo
w
ed
.
I
f
(
)
,
th
e
task
i
s
m
i
g
r
ated
to
L
Q2
else
in
th
e
s
a
m
e
co
n
d
itio
n
,
th
e
task
i
s
m
i
g
r
ated
to
L
Q
3
.
Af
ter
m
ig
r
atio
n
,
s
o
r
tin
g
h
ap
p
en
s
ac
co
r
d
in
g
to
t
h
e
a
s
ce
n
d
i
n
g
o
r
d
er
o
f
lax
it
y
a
n
d
t
h
e
m
i
g
r
ated
tas
k
g
e
ts
o
n
to
th
e
C
P
U
co
r
e
im
m
ed
iatel
y
a
n
d
f
i
n
i
s
h
e
s
ex
ec
u
tio
n
w
it
h
i
n
d
ea
d
lin
e.
I
n
th
e
ca
s
e
w
h
e
n
b
o
th
th
e
s
aid
co
n
d
itio
n
s
ar
e
n
o
t
s
atis
f
ied
,
th
e
cu
m
u
lati
v
e
R
E
T
o
f
b
o
th
L
Q2
an
d
L
Q3
ar
e
ca
lcu
lated
f
o
r
h
al
f
o
f
th
eir
len
g
t
h
s
a
n
d
co
m
p
ar
ed
w
i
th
th
e
la
x
it
y
o
f
ta
s
k
at
t
h
e
tail
o
f
L
Q1
.
I
f
(
∑
(
)
)
(
4
)
task
i
s
m
i
g
r
ated
to
L
Q2
else i
f
(
∑
(
)
)
(
5
)
task
i
s
m
i
g
r
ated
to
L
Q3
.
Her
e
k
,
l,
m
ar
e
th
e
q
u
e
u
e
le
n
g
th
s
o
f
L
Q1
,
L
Q2
an
d
L
Q3
r
esp
ec
ti
v
el
y
.
5.
T
ASK
M
O
DE
L
DE
SCRI
P
T
I
O
N
I
n
t
h
is
w
o
r
k
,
t
h
e
p
ar
titi
o
n
s
ta
ti
c
an
d
t
h
e
p
r
o
p
o
s
ed
h
y
b
r
id
s
c
h
ed
u
ler
w
er
e
r
u
n
a
n
d
te
s
ted
u
s
i
n
g
v
ar
io
u
s
task
m
o
d
els
t
h
o
s
e
r
ep
r
esen
t
t
h
e
ap
p
licatio
n
s
s
o
f
t
w
ar
e
f
o
r
en
g
i
n
e
co
n
tr
o
l
E
C
U
t
h
at
is
d
esig
n
ed
w
it
h
th
r
ee
id
en
tical
co
m
p
u
ti
n
g
co
r
es
[
1
4
]
.
I
n
en
g
in
e
co
n
tr
o
l
u
n
it,
t
w
o
t
y
p
es
o
f
tas
k
s
ar
e
e
x
ec
u
ted
:
t
h
e
as
y
n
c
h
r
o
n
o
u
s
o
r
ti
m
e
-
tr
i
g
g
er
ed
tas
k
s
,
w
h
ich
ar
e
ac
tiv
ated
p
er
io
d
icall
y
a
n
d
t
h
e
s
y
n
ch
r
o
n
o
u
s
o
r
e
n
g
in
e
-
tr
i
g
g
er
ed
tas
k
s
,
w
h
ic
h
ar
e
ac
tiv
ated
at
a
s
p
ec
if
ic
an
g
u
lar
p
o
s
itio
n
o
f
t
h
e
en
g
i
n
e
cr
an
k
s
h
a
f
t.
A
s
a
co
n
s
eq
u
e
n
c
e,
th
e
f
r
eq
u
e
n
c
y
o
f
en
g
i
n
e
-
tr
i
g
g
er
ed
ta
s
k
ar
r
iv
al
v
ar
ies
w
it
h
th
e
s
p
ee
d
o
f
t
h
e
e
n
g
in
e.
A
d
d
itio
n
all
y
,
th
e
ex
ec
u
ti
o
n
ti
m
e
o
f
s
o
m
e
o
f
th
e
ti
m
e
tr
i
g
g
er
ed
task
s
m
a
y
also
d
ep
en
d
o
n
th
e
s
p
ee
d
o
f
t
h
e
en
g
i
n
e.
W
ith
all
t
h
ese
co
n
s
id
er
atio
n
s
,
ta
s
k
m
o
d
el
s
w
er
e
cr
ea
ted
r
ep
r
esen
tin
g
t
h
e
r
ea
l
ti
m
e
b
e
h
av
io
r
o
f
th
e
e
n
g
in
e.
T
h
e
ta
s
k
c
h
ar
ac
ter
is
tics
,
a
s
s
u
m
p
tio
n
s
co
n
s
id
er
ed
an
d
Sch
ed
u
lab
il
it
y
co
n
d
itio
n
s
f
o
r
th
e
p
r
o
p
o
s
ed
h
y
b
r
id
s
c
h
ed
u
ler
ar
e
p
r
esen
ted
h
er
e.
T
h
e
ith
task
is
ch
ar
ac
ter
ized
b
y
a
t
h
r
ee
tu
p
le
T
i=
(
C
i,
R
i
,
P
i
)
.
Qu
an
ti
ties
C
i,
R
i,
an
d
P
i
co
r
r
esp
o
n
d
to
th
e
w
o
r
s
t c
a
s
e
e
x
ec
u
t
io
n
ti
m
e
(
W
C
E
T
)
,
th
e
r
elea
s
i
n
g
in
s
ta
n
t
an
d
th
e
p
er
io
d
.
Su
b
s
eq
u
en
t i
n
s
tan
ce
s
o
f
t
h
e
ta
s
k
s
ar
e
r
elea
s
ed
p
er
io
d
ically
.
Slac
k
is
ca
lcu
la
ted
f
o
r
ea
ch
ta
s
k
a
n
d
is
d
en
o
ted
b
y
Si.
Si=P
i
-
W
C
E
T
-
W
t;
w
he
r
e
W
t=
w
ait
in
g
ti
m
e
o
f
a
ta
s
k
=
(
p
r
ese
n
t
ti
m
e
-
r
elea
s
e
ti
m
e
-
e
x
ec
u
ti
o
n
ti
m
e)
.
T
ab
le
1
s
h
o
w
s
f
e
w
p
er
io
d
ic
task
s
o
f
en
g
i
n
e
co
n
tr
o
l
u
n
i
t
[
1
]
th
at
ar
e
u
s
ed
as
th
e
m
o
d
el
task
s
f
o
r
s
i
m
u
latio
n
p
u
r
p
o
s
e.
T
as
k
m
o
d
els
ar
e
th
e
r
ep
r
esen
tatio
n
o
f
r
u
n
ti
m
e
b
eh
av
io
u
r
o
f
t
h
e
f
u
n
ctio
n
a
l
co
d
es
d
esig
n
ed
w
ith
t
h
e
co
n
s
id
er
atio
n
o
f
all
th
e
ti
m
i
n
g
co
n
s
tr
ai
n
t
s
.
Fo
r
th
is
s
ch
ed
u
ler
,
a
s
et
o
f
ass
u
m
p
tio
n
s
w
er
e
m
ad
e
f
o
r
th
e
task
m
o
d
el
s
,
co
n
s
id
er
in
g
th
e
s
a
f
et
y
cr
itical
ap
p
licatio
n
s
.
-
E
ac
h
tas
k
is
p
er
io
d
icall
y
ex
e
cu
ted
s
tr
ict
l
y
.
T
h
e
i
n
i
t
ial
r
ele
asin
g
i
n
s
tan
t
o
f
a
tas
k
ca
n
b
e
ch
o
s
e
n
f
r
ee
l
y
w
it
h
i
n
it
s
p
er
io
d
w
i
th
t
h
e
o
b
j
e
ctiv
e
o
f
b
ala
n
cin
g
t
h
e
C
P
U
lo
ad
o
v
er
a
s
ch
ed
u
li
n
g
c
y
cle
[
D]
.
-
P
er
io
d
s
ar
e
ch
o
s
en
as 5
m
s
,
1
0
m
s
,
2
0
m
s
,
5
0
m
s
a
n
d
1
0
0
m
s
f
o
r
r
ea
lis
tic
au
to
m
o
ti
v
e
ap
p
licatio
n
s
.
-
T
h
e
W
C
E
T
o
f
tas
k
s
ar
e
r
an
d
o
m
l
y
ch
o
s
en
to
h
av
e
a
C
P
U
u
tili
za
t
io
n
b
et
w
ee
n
0
.
1
to
0
.
2
ass
u
m
i
n
g
t
h
at,
m
ax
i
m
u
m
5
to
1
0
task
s
w
ill b
e
w
aiti
n
g
in
t
h
e
q
u
e
u
e
f
o
r
ex
ec
u
tio
n
at
t
h
e
s
a
m
e
i
n
s
ta
n
t.
-
A
ll
co
r
es
ar
e
id
en
tical
w
ith
r
eg
ar
d
to
th
eir
p
r
o
ce
s
s
in
g
s
p
ee
d
an
d
h
ar
d
w
ar
e
f
ea
tu
r
e
s
.
T
h
er
e
ar
e
n
o
d
ep
en
d
en
cies b
et
w
ee
n
ta
s
k
s
al
lo
ca
ted
o
n
d
if
f
er
en
t c
o
r
es [
1
5
,
1
6
]
.
-
T
ask
s
ar
e
f
r
ee
to
m
ig
r
ate
ac
r
o
s
s
t
h
e
co
r
es
w
h
e
n
th
e
y
d
o
n
‟
t h
av
e
p
r
ec
ed
en
ce
co
n
s
tr
ai
n
ts
.
T
h
e
s
ch
ed
u
lab
ilit
y
co
n
d
itio
n
s
ar
e:
-
T
h
e
to
tal
C
P
U
u
tili
za
tio
n
.
∑
,
w
h
er
e
n
=
n
u
m
b
er
o
f
ta
s
k
s
-
∀
n
,
µ≤
m
;
w
h
er
e
m
=
n
u
m
b
er
o
f
C
P
U
co
r
es
-
Slack
o
f
a
n
y
tas
k
„
T
i‟
s
h
o
u
ld
b
e
an
in
te
g
er
m
u
ltip
le
o
f
it
s
W
C
E
T
„
C
i‟
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
20
89
-
4864
I
n
t J
R
ec
o
n
f
i
g
u
r
ab
le
&
E
m
b
ed
d
ed
Sy
s
t
Vo
l.
8
,
No
.
2
,
J
u
ly
2
0
1
9
:
1
1
4
–
1
2
3
118
-
Slack
Si=P
i
-
W
C
E
T
-
W
t,
w
h
er
e
W
t=
w
aiti
n
g
ti
m
e.
-
R
e
m
a
in
i
n
g
s
lac
k
o
f
a
tas
k
in
a
lo
ca
l
q
u
eu
e
s
h
o
u
ld
b
e
g
r
ea
ter
th
an
t
h
e
s
u
m
o
f
r
e
m
ai
n
i
n
g
-
ex
ec
u
tio
n
ti
m
e
o
f
task
s
ar
r
an
g
ed
b
ef
o
r
e
it.
T
ab
le
1
.
P
er
io
d
ic
task
s
o
f
en
g
i
n
e
co
n
tr
o
l u
n
it
P
e
r
i
o
d
i
c
T
a
s
k
s
D
e
scri
p
t
i
o
n
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li
n
e
m
is
s
i
n
g
r
a
te.
I
n
t
h
is
w
o
r
k
,
b
o
th
t
h
e
p
r
o
p
o
s
ed
h
y
b
r
id
an
d
th
e
s
tate
o
f
t
h
e
ar
t p
ar
titi
o
n
s
tatic
alg
o
r
ith
m
s
h
ad
b
ee
n
r
ig
o
r
o
u
s
l
y
te
s
ted
f
o
r
t
w
en
t
y
d
i
f
f
er
e
n
t
tas
k
m
o
d
els
o
f
v
ar
ied
ta
s
k
c
h
ar
ac
ter
is
tic
s
,
r
ep
r
esen
tativ
e
s
o
f
e
n
g
i
n
e
co
n
t
r
o
l
E
C
U
f
u
n
ctio
n
alitie
s
.
I
t
h
a
s
b
ee
n
v
er
i
f
ied
th
at,
t
h
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
h
a
s
co
n
s
id
er
ab
le
i
m
p
r
o
v
e
m
e
n
ts
o
v
er
th
e
ex
i
s
ti
n
g
p
ar
titi
o
n
s
tat
ic
p
r
io
r
ity
a
lg
o
r
it
h
m
b
ased
o
n
t
h
e
p
er
f
o
r
m
a
n
ce
p
ar
am
eter
s
s
u
c
h
as
C
P
U
co
r
e
u
tili
za
t
io
n
,
a
v
er
ag
e
r
esp
o
n
s
e
t
i
m
e
o
f
tas
k
s
an
d
d
ea
d
lin
e
m
is
s
in
g
r
ate.
T
h
e
m
ai
n
m
o
tiv
e
b
e
h
in
d
d
ev
elo
p
i
n
g
t
h
i
s
h
y
b
r
id
s
c
h
ed
u
li
n
g
alg
o
r
it
h
m
w
as
to
d
is
tr
ib
u
te
th
e
ta
s
k
s
am
o
n
g
th
e
a
v
ailab
le
co
r
es
in
s
tead
o
f
s
tr
ict
p
ar
tit
i
o
n
in
g
ac
co
r
d
in
g
to
th
e
tas
k
p
er
io
d
s
.
I
n
th
i
s
p
r
o
p
o
s
ed
alg
o
r
ith
m
,
tas
k
s
w
er
e
allo
w
ed
to
m
i
g
r
ate
f
r
o
m
o
n
e
q
u
eu
e
to
an
o
t
h
er
,
h
e
n
ce
ab
le
to
r
ed
u
ce
th
e
r
esp
o
n
s
e
ti
m
e
a
n
d
m
ee
t t
h
e
d
ea
d
lin
e
s
.
As
all
t
h
e
co
r
es
s
h
ar
e
t
h
e
w
o
r
k
lo
ad
,
h
ig
h
er
u
tili
za
t
io
n
o
f
th
e
co
r
es
h
as
b
ee
n
a
ch
iev
ed
w
h
e
n
t
h
e
w
o
r
k
lo
ad
in
cr
ea
s
ed
.
RE
F
E
R
E
NC
E
S
[1
]
A
u
ré
li
e
n
M
o
n
o
t
,
Nic
o
las
Na
v
e
t,
F
ra
n
ç
o
ise
S
im
o
n
o
t,
Be
rn
a
rd
B
a
v
o
u
x
,
“
M
u
lt
ico
re
S
c
h
e
d
u
li
n
g
in
A
u
to
m
o
ti
v
e
ECUs”
,
Emb
e
d
d
e
d
R
e
a
l
T
ime
S
o
f
twa
re
a
n
d
S
y
ste
ms
-
ER
T
S
S
2
0
1
0
.
[2
]
G
io
rg
io
Bu
tt
a
z
z
o
,
En
rico
Bin
i,
Yif
a
n
W
u
,
“
P
a
rti
ti
o
n
in
g
Re
a
l
T
i
m
e
A
p
p
li
c
a
ti
o
n
s
Ov
e
r
M
u
lt
ico
re
Re
se
r
v
a
ti
o
n
s”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
In
d
u
stri
a
l
In
fo
rm
a
t
ics
,
p
p
3
0
2
–
3
1
5
,
M
a
rc
h
2
0
1
1
.
1
.
6
1
.
7
1
.
8
1
.
9
2
2
.
1
2
.
2
2
.
3
2
.
4
2
.
5
2
3
4
5
6
7
8
9
T
a
s
k
m
o
d
e
l
u
t
i
l
i
z
a
t
i
o
n
A
v
e
r
a
g
e
r
e
s
p
o
n
s
e
t
i
m
e
(
m
s
)
H
y
b
r
i
d
P
a
r
t
i
t
i
o
n
1
.
6
1
.
7
1
.
8
1
.
9
2
2
.
1
2
.
2
2
.
3
2
.
4
2
.
5
0
0
.
0
5
0
.
1
0
.
1
5
0
.
2
0
.
2
5
0
.
3
0
.
3
5
T
a
s
k
m
o
d
e
l
u
t
i
l
i
z
a
t
i
o
n
d
e
a
d
l
i
n
e
m
i
s
s
i
n
g
r
a
t
e
H
y
b
r
i
d
P
a
r
t
i
t
i
o
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
R
ec
o
n
f
i
g
u
r
ab
le
&
E
m
b
ed
d
ed
Sy
s
t
I
SS
N:
2089
-
4864
P
erfo
r
ma
n
ce
o
p
timiz
a
tio
n
o
f t
a
s
k
in
ten
s
ive
r
ea
l time
a
p
p
lica
tio
n
s
o
n
mu
ltico
r
e
…
(
Gee
tis
h
r
ee
Mis
h
r
a
)
123
[3
]
S
a
m
a
rji
t
Ch
a
k
ra
b
o
rty
,
M
a
rc
o
D
i
Na
tale
,
He
ik
o
F
a
lk
“
T
i
m
in
g
a
n
d
S
c
h
e
d
u
lab
i
li
ty
An
a
l
y
sis
f
o
r
Distrib
u
ted
A
u
to
m
o
ti
v
e
Co
n
tro
l
A
p
p
li
c
a
ti
o
n
s”
,
p
p
3
4
9
-
3
5
0
,
Pr
o
c
e
e
d
in
g
s
o
f
n
i
n
th
ACM
In
ter
n
a
ti
o
n
a
l
C
o
n
fer
e
n
c
e
o
n
Emb
e
d
d
e
d
S
o
ft
wa
re
2
0
1
1
.
[4
]
Nic
o
las
Na
v
e
t,
A
u
ré
li
e
n
M
o
n
o
t,
Be
rn
a
rd
Ba
v
o
u
x
,
F
ra
n
ç
o
ise
S
im
o
n
o
t
-
L
io
n
,
“
M
u
lt
i
-
S
o
u
rc
e
a
n
d
M
u
l
ti
c
o
re
A
u
to
m
o
ti
v
e
ECUs
–
OS
P
ro
tec
ti
o
n
M
e
c
h
a
n
ism
s
a
n
d
S
c
h
e
d
u
li
n
g
”
,
IEE
E
In
ter
n
a
ti
o
n
a
l
S
y
mp
o
si
u
m
o
n
I
n
d
u
stria
l
El
e
c
tro
n
ics
,
p
p
3
7
3
4
-
3
7
4
1
,
2
0
1
0
.
[5
]
T
ra
n
sp
o
rtatio
n
Re
se
a
rc
h
Bo
a
rd
,
“
T
h
e
S
a
f
e
t
y
P
ro
m
ise
a
n
d
Ch
a
ll
e
n
g
e
o
f
A
u
to
m
o
ti
v
e
El
e
c
tro
n
i
c
s”
,
Na
ti
o
n
a
l
Res
e
a
rc
h
Co
u
n
c
il
o
f
th
e
N
a
ti
o
n
a
l
Aca
d
e
mie
s
,
2
0
1
2
.
[6
]
A
n
ss
i,
S
.
T
u
c
c
i
-
P
ierg
io
v
a
n
n
i,
S
.
Ku
n
tz,
S
.
G
e
ra
rd
,
a
n
d
F
.
Terrier.
“
En
a
b
li
n
g
S
c
h
e
d
u
li
n
g
A
n
a
l
y
sis
fo
r
A
U
T
OS
AR
s
y
ste
m
s”
,
1
4
th
IEE
E
I
n
ter
n
a
t
io
n
a
l
S
y
mp
o
si
u
m
o
n
Ob
jec
t/
Co
mp
o
n
e
n
t/
S
e
rv
ice
-
Or
ien
ted
Rea
l
T
ime
Distrib
u
ted
Co
mp
u
t
in
g
,
p
p
1
5
2
-
1
5
9
,
M
a
rc
h
2
0
1
1
.
[7
]
Jin
k
y
u
L
e
e
,
In
sik
S
h
in
,
“
De
m
a
n
d
Ba
se
d
S
c
h
e
d
u
lab
il
i
ty
A
n
a
l
y
sis
f
o
r
Re
a
l
T
i
m
e
M
u
lt
ico
re
S
c
h
e
d
u
li
n
g
”
,
T
h
e
J
o
u
rn
a
l
o
f
S
y
ste
ms
a
n
d
S
o
f
twa
re
,
V
o
l
.
8
9
,
p
p
9
9
-
1
0
8
,
Oc
to
b
e
r
2
0
1
3
.
[8
]
Ka
rth
ik
Lak
sh
m
a
n
a
n
,
G
a
u
ra
v
Bh
a
ti
a
,
Ra
g
u
n
a
th
a
n
(Ra
j)
Ra
jk
u
m
a
r,
“
A
U
T
OS
A
R
Ex
t
e
n
sio
n
s
f
o
r
P
re
d
icta
b
le
T
a
s
k
S
y
n
c
h
ro
n
iza
ti
o
n
in
M
u
lt
i
-
Co
re
E
CUs
”
,
S
AE
In
ter
n
a
ti
o
n
a
l
2
0
1
1
.
[9
]
M
ik
e
Ho
len
d
e
rsk
i,
Re
in
d
e
r
J.
Br
il
a
n
d
Jo
h
a
n
J.
L
u
k
k
ien
,
“
A
n
Eff
icie
n
t
Hie
ra
rc
h
ica
l
S
c
h
e
d
u
li
n
g
F
ra
m
e
w
o
rk
f
o
r
th
e
A
u
to
m
o
ti
v
e
Do
m
a
in
”
,
Rea
l
-
T
ime
S
y
ste
ms
,
Arc
h
it
e
c
tu
re
,
S
c
h
e
d
u
li
n
g
,
a
n
d
A
p
p
l
ica
ti
o
n
,
p
p
6
7
-
9
4
,
2
0
1
2
.
[1
0
]
G
e
e
ti
sh
re
e
M
ish
ra
,
K
S
G
u
ru
m
u
rth
y
,
“
D
y
n
a
m
ic
T
a
s
k
S
c
h
e
d
u
li
n
g
o
n
M
u
lt
ico
re
A
u
to
m
o
ti
v
e
ECUs”
,
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
VL
S
I
d
e
si
g
n
a
n
d
C
o
mm
u
n
ic
a
ti
o
n
S
y
ste
ms
,
V
o
l
5
,
No
6
,
p
p
1
-
8
,
De
c
e
m
b
e
r
2
0
1
4
.
[1
1
]
W
e
n
f
e
n
g
S
h
e
n
a
,
Zh
a
o
k
a
i
L
u
o
,
Da
m
in
g
Wei,
W
e
i
m
in
X
u
,
X
i
n
Zh
u
,
“
L
o
a
d
P
re
d
icti
o
n
S
c
h
e
d
u
li
n
g
Alg
o
rit
h
m
f
o
r
Co
m
p
u
ter
S
im
u
latio
n
o
f
El
e
c
tro
c
a
rd
io
g
ra
m
in
H
y
b
rid
En
v
iro
n
m
e
n
ts”
,
T
h
e
J
o
u
rn
a
l
o
f
S
y
ste
ms
a
n
d
S
o
ft
wa
re
,
V
o
l
.
1
0
2
,
p
p
1
8
2
-
1
9
1
,
Ja
n
u
a
ry
2
0
1
5
.
[1
2
]
D
Clara
z
,
F
G
rima
l,
T
L
e
y
d
ier,
R
M
a
d
e
r,
G
W
irrer,
“
In
tro
d
u
c
i
n
g
M
u
lt
ico
re
a
t
A
u
to
m
o
ti
v
e
En
g
in
e
S
y
ste
m
s
”
,
S
p
rin
g
e
r 5
t
h
I
n
ter
n
a
t
io
n
a
l
Ch
a
ss
is
S
y
mp
o
si
u
m
,
2
0
1
4
.
[1
3
]
A
ru
n
a
c
h
a
la
m
A
n
n
a
m
a
lai,
Ra
n
c
e
Ro
d
r
ig
u
e
s,
Isra
e
l
Ko
re
n
,
S
a
n
d
ip
Ku
n
d
u
“
Dy
n
a
m
ic
T
h
re
a
d
S
c
h
e
d
u
li
n
g
in
A
s
y
m
m
e
tri
c
M
u
lt
ico
re
s
t
o
M
a
x
i
m
iz
e
P
e
rf
o
rm
a
n
c
e
-
p
e
r
-
W
a
tt
”
,
IEE
E
2
6
th
In
ter
n
a
ti
o
n
a
l
P
a
ra
l
lel
a
n
d
Distri
b
u
te
d
Pro
c
e
ss
in
g
S
y
mp
o
siu
m
W
o
rk
sh
o
p
s
&
Ph
D F
o
ru
m
,
p
p
9
6
4
-
9
7
1
,
2
0
1
2
.
[1
4
]
S
a
n
g
e
e
t
S
a
h
a
,
A
rn
a
b
S
a
rk
a
r,
Am
lan
Ch
a
k
ra
b
a
rti
,
“
S
c
h
e
d
u
li
n
g
Dy
n
a
m
ic
Ha
rd
Re
a
l
-
T
i
m
e
Tas
k
S
e
ts
o
n
F
u
ll
y
a
n
d
P
a
rti
a
ll
y
Re
c
o
n
f
ig
u
ra
b
le P
latf
o
rm
s”
,
IEE
E
Emb
e
d
d
e
d
S
y
ste
ms
L
e
tt
e
rs
,
p
p
2
3
-
2
6
,
2
0
1
5
.
[1
5
]
Ha
m
id
A
ra
b
n
e
jad
,
Jo
rg
e
G
.
Ba
rb
o
sa
,
“
L
ist
S
c
h
e
d
u
li
n
g
A
lg
o
rit
h
m
f
o
r
He
tero
g
e
n
e
o
u
s
S
y
ste
m
s
b
y
a
n
Op
ti
m
isti
c
Co
st T
a
b
le”
,
IEE
E
T
r
a
n
sa
c
ti
o
n
s
o
n
P
a
ra
l
lel
a
n
d
Distri
b
u
ted
S
y
ste
ms
,
p
p
6
8
2
-
6
9
4
,
2
0
1
4
.
[1
6
]
Bj
ö
rn
A
n
d
e
rss
o
n
,
G
u
ru
li
n
g
e
sh
Ra
ra
v
i,
“
Re
a
l
T
i
m
e
S
c
h
e
d
u
li
n
g
w
it
h
Re
so
u
rc
e
S
h
a
rin
g
On
H
e
tero
g
e
n
e
o
u
s
M
u
lt
i
p
ro
c
e
ss
o
rs”
,
S
p
rin
g
e
r R
e
a
l
T
ime
S
y
ste
ms
,
p
p
2
7
0
-
3
1
4
,
2
0
1
4
.
[1
7
]
A
b
u
sa
y
e
e
d
S
a
if
u
ll
a
h
,
Da
v
id
F
e
rr
y
,
Jin
g
L
i,
Ku
n
a
l
A
g
ra
wa
l,
Ch
e
n
y
a
n
g
L
u
,
a
n
d
Ch
rist
o
p
h
e
r
D.
G
il
l,
“
P
a
ra
ll
e
l
Re
a
l
-
T
i
m
e
S
c
h
e
d
u
li
n
g
o
f
DA
Gs
”
,
IEE
E
T
r
a
n
sa
c
ti
o
n
s
o
n
Pa
r
a
ll
e
l
a
n
d
Distri
b
u
te
d
S
y
ste
ms
,
p
p
3
2
4
2
–
3
2
5
2
,
2
0
1
4
.
[1
8
]
G
io
v
a
n
i
G
r
a
c
io
li
,
A
n
tô
n
i
o
A
u
g
u
sto
F
r
ö
h
li
c
h
,
R
o
d
o
lf
o
P
e
ll
izz
o
n
i,
S
e
b
a
stian
F
isc
h
m
e
ister
,
“
I
m
p
le
m
e
n
tatio
n
a
n
d
Ev
a
lu
a
ti
o
n
o
f
G
lo
b
a
l
a
n
d
P
a
r
ti
ti
o
n
e
d
S
c
h
e
d
u
li
n
g
i
n
a
Re
a
l
-
T
i
m
e
OS”,
S
p
rin
g
e
r
Rea
l
-
T
i
me
S
y
ste
ms
,
p
p
6
6
9
-
7
1
4
,
2
0
1
3
.
B
I
O
G
RAP
H
I
E
S
O
F
AUTH
O
RS
Dr
G
e
e
ti
sh
re
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M
ish
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re
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P
h
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f
ro
m
V
isv
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s
v
a
r
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a
T
e
c
h
n
o
lo
g
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c
a
l
Un
iv
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rsit
y
,
Be
lag
a
v
i
in
th
e
f
ield
o
f
Em
b
e
d
d
e
d
S
y
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m
s
a
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d
M
T
e
c
h
in
Dig
it
a
l
Co
m
m
u
n
ic
a
ti
o
n
f
ro
m
BM
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f
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g
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n
g
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.
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h
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is
c
u
rre
n
tl
y
w
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rk
in
g
a
s
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sta
n
t
P
r
o
f
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ss
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r,
De
p
a
rt
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t
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c
tro
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&
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m
m
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n
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n
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In
d
ia.
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re
se
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in
c
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d
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E
m
b
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d
d
e
d
S
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s,
Re
a
l
ti
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m
s,
A
r
c
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re
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Op
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ra
ti
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g
S
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ste
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h
wa
ri
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g
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P
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n
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M
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g
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tro
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g
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h
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m
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Na
ti
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g
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M
y
so
re
,
S
h
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c
u
rre
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t
ly
w
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in
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a
s
A
ss
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P
ro
f
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o
r,
De
p
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rtme
n
t
o
f
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o
m
m
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g
in
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,
BM
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Co
ll
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g
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o
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g
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rin
g
,
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n
g
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lo
re
,
In
d
ia.
He
r
re
s
e
a
rc
h
in
tere
sts
in
c
lu
d
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Em
b
e
d
d
e
d
S
y
ste
m
s an
d
W
irele
ss
Co
m
m
u
n
ica
ti
o
n
.
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