Object - oriented ( oo ) analysis and design methodology has gained huge popularity in non - real - time system domains ; however , its adoption in development of real - time systems is still at an early stage 面向对象的分析和设计方法在非实时领域已经取得了巨大的成功，但它在实时系统特别是具有严格时间约束的硬实时系统中的应用目前仍然处在探索阶段。
However , concurrent systems with time restriction namely real - time systems are used widely in reallife , and the model - checking techniques are more and more applied to the verification of the properties of the real - time systems 实际生活中广泛应用的是带有时间约束的并发系统即实时系统，现在模型检测技术越来越被广泛地应用到这类系统的性质验证当中。
There are several crucial questions for researchers to answer : how to model and validate the timing constraints ? how to guarantee the satisfaction of constraint in system implementation 目前使用面向对象方法开发实时系统研究的热点问题包括：时间约束在对象模型中如何描述、如何应用传统的实时系统理论验证时间约束、以及如何在系统实现中保障时间约束的满足。
This thesis researches on some applications of aps in the background of one scm project . aiming at one distribution problem with time constraints , a kind of optimized arithmetic based on table - working method is presented 本文以一个scm工程项目为背景对aps在工程中的应用进行了初步的研究，针对受时间约束的配送问题，文中提出了一种基于表上作业法的改进算法。
This paper presents three kinds of scheduling algorithms : the resource - constrained algorithm , the timing - constrained algorithm and the timing - and - resource constrained algorithm for the case when resources operate at multiple voltages 文中分析了三类基于不同约束条件下的多电压调度算法：基于资源约束的调度算法、基于时间约束的调度算法和基于时间和资源约束的调度算法。
Aiming at the computation intensive embedded systems with fixed periodical constraint , the thesis presents a timed task graph ( ttg ) model , which making a good lbundation of hardware / software co - synthesis and performance evaluation 针对有固定周期约束的计算密集型嵌入式系统，本文提出了带时间约束的任务流图模型( ttg ) ，为软硬件协同综合综合和评价研究奠定了良好的基础。
Firstly , a set of oo modeling elements of real - time system is defined based on uml language . in order to facilitate automatic code generation , we define the structure and semantic of the core elements formally 本文首先基于uml语言建立了一个实时系统对象模型的四部分核心元素集合，给出了系统行为特别是时间约束有关的建模元素的形式化定义，它们是对实时系统进行分析和实现的依据。
For qualitative solution of the models , we define critical states and bring forward an algorithm to work out the critical states of a safety system , so the path leading to high risk ha ard state can be eliminated with inner lock and time constraints , two of our new concepts 在安全性定性分析方面，论文提出了关键状态的概念，给出了关键状态分析的搜索算法，研究了采用内锁和时间约束来消除高风险危险路径的方法。
Consequently , while more and more mission critical application domains have adopted distributed object - oriented architecture , real - time middlewares with time - constraint support become the focus on such preliminary research to fulfil the increasing requirement for it 尤其随着分布计算技术和分布应用的深入发展，一些关键业务领域也都使用分布对象技术进行构建，能够保证分布应用的时间约束的实时中间件逐渐成为研究的重点。
Trajectory control algorithm is also presented to make the excursion of flight converge to zero in given limited time during flying . it is mainly used to control and reduce the excursion and crab angle within given limited time when the aerocraft is following the reference flight path 然后本文提出了用于控制飞行器在跟踪参考航迹过程中出现的航迹偏移和偏航角的航迹控制算法,该算法能有效地使航迹偏移量和偏航角在给定的时间约束内收敛。
