An approach to incremental design of distributed embedded systems

In this paper we present an approach to incremental design of distributed embedded systems for hard real-time applications. We start from an already existing system running a set of applications and the design problem is to implement new functionality so that the already running applications are not disturbed and there is a good chance that, later, new functionality can easily be added to the resulted system. The mapping and scheduling problem are considered in the context of a realistic communication model based on a TDMA protocol.