• The Complete Edition – Software Engineering for Real-Time Systems. A software engineering perspective toward designing real-time systems by Jim Cooling

Linux

• ZDNET / 20 years later, real-time Linux makes it to the kernel - really

Tools

• SYMBOLRT (SYmbolic Model-Based test case generation toOL for Real-Time systems) is a model-based test generation tool developed to automatically generate test cases from symbolic models in order to test real-time systems.

Wikipedia

• Rational Rhapsody. a modeling environment based on UML, is a visual development environment for systems engineers and software developers creating real-time or embedded systems and software.
• FreeRTOS is a real-time operating system kernel for embedded devices that has been ported to 35 microcontroller platforms.