For the demands of real-time, reliability and energy-efficiency in dependable embedded systems, a new scheduling algorithm was proposed for aperiodic real-time tasks. Based on the essential characteristics of aperiodic real-time tasks, the schedule slacks of tasks were used to reduce energy consumption by dynamic voltage/frequency scaling mechanism. Low time complexity, minimal system energy consumption, and non-violated high reliability and hard real-time, are main advantages of the proposed algorithm. The superiorities of our algorithm on reliability and energy efficiency were also showed by experiments.
