FreeRTOS is an example of a open-source real-time operating system (RTOS) kernel which supports both mutexes and semaphores, as well as both co-operative, and pre- emptive, priority based multi-tasking systems. (a) Explain, in your own words, the operation of a FreeRTOS application, with two independent tasks, that uses a pre-emptive tick-based Round-Robin scheduler and contrast it's operation to that of a co-operative multi-tasking system. (b) Identify one benefit, and one drawback, of utilising coding standards in developing embedded systems that use FreeRTOS. Support your answer(s) by explaining the rationale for the AUTOSAR Rule A15-0-7: "Exception handling mechanism shall guarantee a deterministic worst-case time execution time. "3 (c) If a task is taking too long to execute, what steps can be taken using FreeRTOS to eliminate or reduce any undesirable side-effects? (d) Describe how the proportion of time that tasks are running (i.e. CPU Utilization) can be determined within the FreeRTOS kernel. (e) Identify two advantages/disadvantages of utilising open-source kernels (vs. closed- source commercial or proprietary kernels) to implement real-time system(s). Sup- port your answer by referring to case studies of embedded system failure.