University of Pennsylvania ScholarlyCommons Departmental Papers (CIS) Department of Computer & Information Science 4-1-2011 Removing Abstraction Overhead in the Composition of Hierarchical Real-Time System Sanjian Chen University of Pennsylvania, sanjian@cis.upenn.edu Linh T.X. Phan University of Pennsylvania, linhphan@cis.upenn.edu Jaewoo Lee University of Pennsylvania, jaewoo@cis.upenn.edu Insup Lee University of Pennsylvania, lee@cis.upenn.edu Oleg Sokolsky University of Pennsylvania, sokolsky@cis.upenn.edu Proceedings of the 17th IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS 2011), Chicago, April 12-14, 2011 This paper is posted at ScholarlyCommons. http://repository.upenn.edu/cis_papers/463 For more information, please contact repository@pobox.upenn.edu.