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ResearchIndex: National Research Council Canada: Harmony as an Object-Oriented Operating System
Ion is a key concept in the design of Harmony programs. The only interface to a task instance, once
created, is message passing. Access from the outside is permitted only when a task explicitly
performs a Receive operation.
http://citeseer.nj.nec.com/mackay-harmony.html
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Harmony
Multitasking, multiprocessing OS for realtime control, developed at National Research Council,
Canada, to serve a need for a flexible system for realtime control of robotics experiments and for
other uses of embedded systems where predictable time performance is a requirement. Extensible,
configurable, portable, across different target systems (typically assembled from single-board
computers) and development hosts.
http://wwwsel.iit.nrc.ca/projects/harmony/
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