RM policy - services with shorter period are assigned higher priority.
ROM Based - a boot or kernel image which is PIC and initially runs out of a non-volatile device, but tests and initializes memory and then copies itself to working memory and continues execution there.
ROM Resident - a boot or kernel image that executes out of non-volatile memory and sets up a data and stack segment in working memory, but the text segment remains always in the non-volatile memory.
Round Robin - a best effort scheme with preemptive time-slicing where the scheduler assigns threads a slice in a fair fashion where all ready threads are given a slice of CPU and put back on the end of the queue if needed.
Sanity Monitor (Software) - a service which periodically resets the hardware watchdog timer and also monitors keep-alive messages from other critical services in the system - if a critical service fails to post a keep-alive, then the sanity monitor provides error handling and attempts to recover that service - if the sanity monitor itself fails to function, then the hardware watchdog timer will time out and the whole system will reboot and start a system level recovery process.