Several methods addressing the same issue in fixed task priority exist [11], [12]. A fixed priority scheduling method has been
devised by Gang Yao et al. [11], where a maximum bound on the length of fixed non-preemptive regions is provided. In this
situation the computed length of the fixed non-preemptive regions are generally larger than in previous work, as the last chunk of a task’s execution is not subject to further preemptions. This enables a further reduction on the number of reemptions.