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There is a real time specification of Java called RTSJ. It's also available from several vendors including IBM and Aicas (JamaicaVM)

https://en.wikipedia.org/wiki/Real_time_Java

https://www.aicas.com/cms/sites/default/files/rtsj-next-gen-...

http://www.ibm.com/developerworks/java/library/j-devrtj1/ind...



And Aonix (or Atego). Theirs had quite a few innovations. Plus, had a series of them ranging from full Java down to DO-178B, hard-real-time VM.




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