The Real-Time Specification for Java (RTSJ) (http://rtj.org, http://jcp.org) is the result of an effort I started in 1998. The RTSJ is a set of API's and JVM semantics which allow Java developers to correctly reason about and control the temporal behavior of Java applications.
I'll talk a bit about the history of the RTSJ and it's principles, API set, semantics, and it's notion of a feasibility set. Currently we are implementing the RTSJ within Sun's J2SE HotSpot JVM for Solaris/SPARC under the code name, Mackinac.
I'll talk about the status of Mackinac and show a video of an inverted pendulum control system written completely in Java and running on Mackinac.