Real-time embedded systems have become ubiquitous in our daily life. Due to their diversified usage, the research on these systems has confronted with many emerging challenges. One such challenge is to reduce power and energy consumption while maintaining assurance that timing constraints will be met. Power densities in microprocessors are almost doubled every three years. As energy is power integrated over time, supplying the required energy may become prohibitively expensive, or even technologically infeasible. This is particularly difficult in portable systems that heavily rely on...