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Wireless sensor and actuator network (WSAN) are composed of a large number of heterogeneous sensors and actuators. In automated WSAN, sensors are collaborated to monitor the physical phenomenon in the surveillance field, while the actuators are to collect sensing data, process the data and perform appropriate actions without the existence of central controller. Most WSANs are used in the real-time sensing and reaction systems towards physical environment. In this paper, we propose a real-time architecture for automated WSAN to bind the latency in applications. In the QoS guaranteed architecture, we present distributed mechanisms for communication and coordination to maintain the delay sensitive. Simulation results are presented to demonstrate the advantages of our solutions.