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We present a new scheduler architecture, which permits adding QoS (quality of service) policies to the scheduling decisions. We also present a new scheduling synthesis method which allows a designer to obtain a safe scheduler for a particular application. Our scheduler architecture and scheduler synthesis method can be used for heterogeneous applications where the tasks communicate through various synchronization primitives. We present a prototype implementation of this scheduler architecture and related mechanisms on top of an open-source OS (operating system) for embedded systems.