<s>
The	O
optimality	O
criterion	O
for	O
scheduling	B-Application
multiple	O
TUF-constrained	O
actions	O
has	O
historically	O
in	O
the	O
literature	O
been	O
only	O
maximal	O
utility	O
accrual	O
(	O
UA	O
)	O
—	O
e.g.	O
,	O
a	O
(	O
perhaps	O
expected	O
)	O
weighted	O
sum	O
of	O
the	O
individual	O
actions	O
 '	O
completion	O
utilities	O
.	O
</s>
<s>
Additional	O
criteria	O
(	O
e.g.	O
,	O
energy	O
,	O
predictability	O
)	O
,	O
constraints	O
(	O
e.g.	O
,	O
dependencies	O
)	O
,	O
system	O
models	O
,	O
scheduling	B-Application
algorithms	O
,	O
and	O
assurances	O
have	O
been	O
added	O
as	O
the	O
TUF/UA	O
paradigm	O
and	O
its	O
use	O
cases	O
have	O
evolved	O
.	O
</s>
<s>
More	O
expressively	O
,	O
TUF/UA	O
allows	O
accrued	O
utility	O
,	O
timeliness	O
,	O
predictability	O
,	O
and	O
other	O
scheduling	B-Application
criteria	O
and	O
constraints	O
to	O
be	O
traded	O
off	O
against	O
one	O
another	O
for	O
the	O
schedule	O
to	O
yield	O
situational	O
application	O
QoS	O
—	O
as	O
opposed	O
to	O
only	O
timeliness	O
per	O
se	O
.	O
</s>
<s>
The	O
TUF/UA	O
paradigm	O
was	O
originally	O
created	O
to	O
address	O
certain	O
action	O
timeliness	O
,	O
predictability	O
of	O
timeliness	O
,	O
and	O
application	O
QoS-based	O
scheduling	B-Application
needs	O
of	O
various	O
military	O
applications	O
for	O
which	O
traditional	O
real-time	O
concepts	O
and	O
practices	O
are	O
not	O
sufficiently	O
expressive	O
(	O
e.g.	O
,	O
for	O
dynamically	O
timeliness-critical	O
systems	O
not	O
having	O
deadlines	O
)	O
and	O
load	O
resilience	O
(	O
e.g.	O
,	O
for	O
systems	O
subject	O
to	O
routine	O
action	O
overloads	O
)	O
.	O
</s>
<s>
Subsequently	O
,	O
numerous	O
variations	O
on	O
the	O
original	O
TUF	O
model	O
,	O
the	O
TUF/UA	O
paradigm	O
's	O
system	O
model	O
,	O
and	O
thus	O
scheduling	B-Application
techniques	O
and	O
algorithms	O
,	O
have	O
been	O
studied	O
in	O
the	O
academic	O
literature	O
—	O
e.g.	O
,	O
—	O
and	O
applied	O
in	O
civilian	O
contexts	O
.	O
</s>
<s>
Some	O
examples	O
of	O
the	O
latter	O
include	O
:	O
cyber-physical	O
systems	O
,	O
AI	O
,	O
multi-robot	O
systems	O
,	O
drone	O
scheduling	B-Application
,	O
autonomous	O
robots	O
,	O
intelligent	O
vehicle-to-cloud	O
data	O
transfers	O
,	O
industrial	O
process	O
control	O
,	O
transaction	O
systems	O
,	O
high	O
performance	O
computing	O
,	O
cloud	O
systems	O
,	O
heterogeneous	O
clusters	O
,	O
service-oriented	O
computing	O
,	O
networking	O
,	O
and	O
memory	O
management	O
for	O
real	O
and	O
virtual	O
machines	O
.	O
</s>
<s>
A	O
constant	O
TUF	O
has	O
an	O
arbitrary	O
critical	O
time	O
for	O
the	O
purpose	O
of	O
scheduling	B-Application
—	O
such	O
as	O
the	O
action	O
's	O
release	O
time	O
,	O
or	O
the	O
TUF	O
's	O
termination	O
time	O
.	O
</s>
<s>
(	O
A	O
TUF	O
that	O
has	O
negative	O
values	O
in	O
its	O
range	O
is	O
not	O
necessarily	O
dropped	O
from	O
scheduling	B-Application
consideration	O
or	O
aborted	O
during	O
its	O
operation	O
—	O
that	O
decision	O
depends	O
on	O
the	O
scheduling	B-Application
algorithm	O
.	O
)	O
</s>
<s>
Thus	O
,	O
TUFs	O
provide	O
a	O
rich	O
generalization	O
of	O
traditional	O
action	O
completion	O
time	O
constraints	O
in	O
real-time	B-General_Concept
computing	I-General_Concept
.	O
</s>
<s>
This	O
continuous	O
case	O
is	O
called	O
time-dependent	O
scheduling	B-Application
.	O
</s>
<s>
Time-dependent	O
scheduling	B-Application
was	O
introduced	O
for	O
(	O
but	O
is	O
not	O
limited	O
to	O
)	O
certain	O
real-time	O
military	O
applications	O
,	O
such	O
as	O
radar	O
tracking	O
systems	O
.	O
</s>
<s>
The	O
TUF/UA	O
paradigm	O
resolves	O
each	O
instance	O
of	O
this	O
contention	O
using	O
an	O
application-specific	O
algorithmic	O
technique	O
that	O
creates	O
(	O
or	O
updates	O
)	O
a	O
schedule	O
at	O
scheduling	B-Application
events	O
—	O
e.g.	O
,	O
times	O
(	O
such	O
as	O
action	O
arrival	O
or	O
completion	O
)	O
or	O
states	O
.	O
</s>
<s>
The	O
primary	O
objective	O
for	O
scheduling	B-Application
actions	O
having	O
TUFs	O
is	O
maximal	O
utility	O
accrual	O
(	O
UA	O
)	O
.	O
</s>
<s>
This	O
case	O
is	O
called	O
time-dependent	O
scheduling	B-Application
.	O
</s>
