Basic idea: 

insert artificial delays to the release times of certain vertices of a task graph to get a new graph with a smoother workload, while still meeting the timing constraints of the original task graph.

Contribution:

the proposed method can make a significant number of task systems that was originally unschedulable to become schedulable.

在这里，将job v3延后一个时间单元释放，使得不可调度的序列变为可调度。

Reference:

[1]Gu C, Guan N, Feng Z, et al. Transforming Real-Time Task Graphs to Improve Schedulability[C]//Embedded and Real-Time Computing Systems and Applications (RTCSA), 2016 IEEE 22nd International Conference on. IEEE, 2016: 29-38.

[2]Stigge M, Ekberg P, Guan N, et al. The digraph real-time task model[C]//Real-Time and Embedded Technology and Applications Symposium (RTAS), 2011 17th IEEE. IEEE, 2011: 71-80.

Transforming Real-Time Task Graphs to Improve Schedulability