$1.$ Resource Access Control Consider a robot control system having the following four serially reusable resources: $$ Link: Used for receiving commands from the user and for transmitting environmental and status information and other data to the user. $$ Legs: Used for moving and turning. $$ Arms: Used for holding things. $$ Camera: Used for vision. The control system has the following $5$ tasks $($listed in the order of decreasing priority$)$: $1.$ Receive command task, TRC: p $=100,$ D $=35,$ e $=7$ with L$($Link$)$ at t $=1,$ U$($Link$)$ at t $=4.$

$2.$ Record event task, TRE: p $=120,$ D $=120,$ e $=12$ with L$($Camera$)$ at t $=1,$ U$($Camera$)$ at t $=2,$ L$($Arm$)$ at t $=6,$ L$($Camera$)$ at t $=7,$ U$($Camera$)$ at t $=8,$ U$($Arm$)$ at t $=9.$

$3.$ Transmit status task, TTS: p $=100,$ D $=35,$ e $=7$ with L$($Link$)$ at t $=3,$ U$($Link$)$ at t $=6.$

$4.$ Control motion task, TCM: p $=40,$ D $=40,$ e $=8$ with L$($Camera$)$ at t $=1,$ U$($Camera$)$ at t $=2,$ L$($Camera$)$ at t $=5,$ L$($Leg$)$ at t $=5,$ U$($Leg$)$ at t $=6,$ U$($Camera$)$ at t $=7.$

$5.$ Clear obstacle task, TCO: p $=140,$ D $=140,$ e $=7$ with L$($Camera$)$ at t $=1,$ L$($Leg$)$ at t $=2,$ U$($Leg$)$ at t $=4),$ L$($Arm$)$ at t $=4,$ U$($Arm$)$ at t $=6,$ U$($Camera$)$ at t $=7.$

The execution and resource access profiles of these tasks are also shown in the following figure:

Assuming the basic priority ceiling protocol, what is the maximum possible blocking time for each task?