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On-line task scheduling is a very challenging issue for dual-core real-time embedded systems, because to control priority inversion and to manage system utilization are fundamentally at odds with each other. We propose an on-line dual-core scheduling framework for dynamic workloads with real-time constraints. The processor and the co-processor are dedicated to separate schedulers with different scheduling policies, and precedence constraints among tasks are dealt with the interaction between the two schedulers. We have shown that our proposed scheduling can achieve a good balance between high system utilization and stable task response under realistic workloads.