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In this paper, the authors have described the integration of release guards with distributable threads and federated event channels, to support predictable scheduling of end-to-end tasks in DRE middleware. They have systematically compared the performance of distributable threads and federated event channels for both random workloads and three canonical communication topologies: sequential task chains, branching task graphs and dynamic task graphs. In all of their experiments, both communication models introduced small overhead per subtask indicating that both models are reasonably efficient for many DRE applications.
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