“…Yet as research interests in real-time computing and the rate of developing new realtime computing applications started growing faster in 1990's, the importance of software mechanisms facilitating safe and efficient interactions among concurrent computation threads started receiving a new level of recognition (Anderson et al, 1997;Bershad, 1993;Kim, 1995;Kopetz, 1993Kopetz, , 1997Kopetz et al, 1988;Mock and Nett, 1999;Prakash et al, 1994;Qazi et al, 1993;Rajkumar, 1991;Rajkumar et al, 1995;Zhao et al, 1995). Non-essential synchronizations are highly undesirable in OSs, middleware, and application software used in many real-time applications.…”