diff -ur src/ext/artlinux/art_ec/ArtExecutionContext.cpp.orig src/ext/ec/artlinux/ArtExecutionContext.cpp
--- src/ext/artlinux/art_ec/ArtExecutionContext.cpp.orig	2012-05-24 23:18:13.613646037 +0900
+++ src/ext/artlinux/art_ec/ArtExecutionContext.cpp	2012-06-12 18:52:25.216903029 +0900
@@ -29,8 +29,16 @@
 namespace RTC
 {
   ArtExecutionContext::ArtExecutionContext()
-    : PeriodicExecutionContext()
-  {
+    : PeriodicExecutionContext(),
+      m_priority(ART_PRIO_MAX-1)
+   {
+      rtclog.setName("ArtEC");
+      coil::Properties& prop(Manager::instance().getConfig());
+
+      // Priority
+      getProperty(prop, "exec_cxt.periodic.priority", m_priority);
+      getProperty(prop, "exec_cxt.periodic.art.priority", m_priority);
+      RTC_DEBUG(("Priority: %d", m_priority));
   }
 
   ArtExecutionContext::~ArtExecutionContext()
@@ -40,7 +48,8 @@
 
   int ArtExecutionContext::svc(void)
   {
-    if (art_enter(ART_PRIO_MAX-1, ART_TASK_PERIODIC, m_usec) == -1)
+    int usec = static_cast<int>(1.0e6/m_profile.rate);
+    if (art_enter(m_priority, ART_TASK_PERIODIC, usec) == -1)
       {
 	std::cerr << "fatal error: art_enter" << std::endl;
       }
diff -ur src/ext/artlinux/art_ec/ArtExecutionContext.h.orig src/ext/artlinux/art_ec/ArtExecutionContext.h
--- src/ext/artlinux/art_ec/ArtExecutionContext.h.orig	2012-05-24 23:18:13.617202824 +0900
+++ src/ext/artlinux/art_ec/ArtExecutionContext.h	2012-06-12 18:35:44.618520333 +0900
@@ -38,6 +38,22 @@
     ArtExecutionContext();
     virtual ~ArtExecutionContext();
     virtual int svc(void);
+
+    template <class T>
+    void getProperty(coil::Properties& prop, const char* key, T& value)
+    {
+    if (prop.findNode(key) != 0)
+      {
+        T tmp;
+        if (coil::stringTo(tmp, prop[key].c_str()))
+          {
+            value = tmp;
+          }
+      }
+    }
+
+  private:
+      int m_priority;
   };
 };
 
diff -ur src/ext/artlinux/art_ec/Makefile.am.orig src/ext/artlinux/art_ec/Makefile.am
--- src/ext/artlinux/art_ec/Makefile.am.orig	2012-05-24 23:18:13.617202824 +0900
+++ src/ext/artlinux/art_ec/Makefile.am	2012-06-12 18:49:09.984828415 +0900
@@ -19,7 +19,7 @@
 module_LTLIBRARIES = ArtExecutionContext.la
 
 ArtExecutionContext_la_SOURCES = ArtExecutionContext.cpp ArtExecutionContext.h
-ArtExecutionContext_la_LDFLAGS = -module -shared
+ArtExecutionContext_la_LDFLAGS = -module -shared $(ARTLIB)
 ArtExecutionContext_la_FLAGS   = -L$(top_builddir)/src/lib/rtm/.lib
 ArtExecutionContext_la_LIBADD  = $(top_builddir)/src/lib/rtm/libRTC.la
 
--- src/ext/artlinux/art_ec/Makefile.in.org	2012-06-15 19:45:04.104162375 +0900
+++ src/ext/artlinux/art_ec/Makefile.in	2012-06-15 19:45:21.820589893 +0900
@@ -230,7 +230,7 @@
 moduledir = $(pkgdatadir)/modules
 module_LTLIBRARIES = ArtExecutionContext.la
 ArtExecutionContext_la_SOURCES = ArtExecutionContext.cpp ArtExecutionContext.h
-ArtExecutionContext_la_LDFLAGS = -module -shared
+ArtExecutionContext_la_LDFLAGS = -module -shared $(ARTLIB)
 ArtExecutionContext_la_FLAGS = -L$(top_builddir)/src/lib/rtm/.lib
 ArtExecutionContext_la_LIBADD = $(top_builddir)/src/lib/rtm/libRTC.la
 all: all-am