Recomend a good book for real time operating systems

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A student pursuing a double degree in Electrical Engineering and Computer Engineering is seeking recommendations for a book on real-time systems to support their thesis work. They have prior experience with operating systems from two decades ago but are currently focused on embedded operating systems used in computer peripherals. A link to a resource on real-time systems is provided for further exploration.
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I'm doing a double degree in EE and Computer Engineering and was thinking of taking my real time course all the way to my thesis. I'm currently looking for a good book to help with all the nuances associated with this. Any recommendations?
 
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Link to a web site:

http://www.dedicated-systems.com/encyc/publications/faq/rtfaq.htm

I used to do OS stuff myself 20 years ago, but now my OS experience is with embedded OS's used in computer peripherals.
 
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