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With the requirements of scheduling time triggered and event-triggered tasks, simply adopting cooperative scheduling or preemptive scheduling is more difficult to satisfy the practical demand in embedded real-time operating system. In order to integrate different scheduling modes and triggering modes, to obtain their advantages for improving scheduling performance, a real-time kernel SinewOS based on hybrid architecture is proposed in this paper. SinewOS can efficiently schedule multitask including cooperative and preemptive tasks in hybrid mode. It provides interrupt handling mechanism to improve system responsiveness after introducing cooperative tasks. Furthermore, the time-trace mechanism and task overrun handling methods can improve the dependability and determinability of SinewOS with less jitter. In the comparison of systems performance, experimental results show that SinewOS consumes less memory, reduces CPU overhead and provides fast event responsiveness comparing to existing COTS RTOS.