The framework has been successfully used in three different case studies: a multimedia application, an artificial intelligence application for soccer robots, and a distributed controller for an industrial robot. In two of the case studies, the applications were already built, and they were migrated to FSF, taking advantage of the new real-time features built into FSF, such as the ability to guarantee minimum processing resources and network bandwidth. For instance, it was possible to combine in the same network hard real-time traffic for robot control operations (with 10-50 millisecond hard deadlines) with image transmission over the network. Migration to the FSF was straightforward as it did not require changes to the software architecture. The other case study had software specifically developed with the FSF API in mind, and it showed the ease of use, even to novice users.