In real-time applications, the timing requirements a re the main c onstraints a nd their
mastering is the predominant factor for a ssessing the quality of service. Timing con-straints span many application a reas, suc h a s industrial plant automation, embedded
systems, vehicle control, nuclear plant monitoring, scientiﬁc e xperiment guidance,
robotics, multimedia audio a nd video str eam conditioning, surgical operation moni-toring, and stock exchange orders follow-up.