10 Criteria for task Decomposition University of Electronic Science Technology of China(UESTC) Purpose of task decomposition >Identify the parallel functions according to the DFD >Determine the concurrent tasks What's the criteria of task decomposition Dependence on I/O >Time-critical functions >Computational requirements Functional cohesion >Temporal cohesion >Periodic execution How to apply the criteria in the robot controller design Real-Time Systems Lab LIAO Yong10 Real-Time Systems Lab LIAO Yong University of Electronic Science & Technology of China (UESTC) Criteria for task Decomposition  Purpose of task decomposition Identify the parallel functions according to the DFD Determine the concurrent tasks  What’s the criteria of task decomposition ? Dependence on I/O Time-critical functions Computational requirements Functional cohesion Temporal cohesion Periodic execution  How to apply the criteria in the robot controller design