In this paper, we discuss the real-time scheduling in ORB. After comparing some static scheduling strategies (RMT), run-time scheduling strategies (EDF, MLF), and their advantages, disadvantages, we propose a hybrid strategy (MIF).

• 在比较了几种静态调度策略(基于速率的策略RMT)和动态调度策略(最早期限策略EDF, 最少松弛度策略MLF)的优缺点的基础上，提出了一种动、静态相结合的策略：最重要的优先策略(MIF)。