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Industrial revolution is advancing, and the augmented role of autonomous technology and embedded Internet of Things (IoT) systems is at its vanguard. In autonomous technology, real-time systems and real-time computing are of core importance. It is crucial for embedded IoT devices to respond in real-time; along with fulfilling all the constraints. Many combinations for existing approaches have been proposed with different trade-offs between the resources constraints and tasks dropping rate. Hence, it highlights the significance of a task scheduler which not only takes care of complex nature task input; but also maximizes the CPU throughput. A complex nature task input is when combinations of hard real-time tasks and soft real-time tasks, with different priorities and urgency measures, arrive at the scheduler. In this work, we propose a custom tailored adaptive and intelligent scheduling algorithm for the efficient execution and management of hard and soft real time tasks in embedded IoT systems. The proposed scheduling algorithm aims to distribute the CPU resources fairly to the possibly starving, in overloaded cases, soft real-time tasks while focusing on the execution of high priority hard real-time tasks as its primary objective. The proposal is achieved with the help of two intelligent measures; Urgency Measure (UM) and Failure Measure (FM). The proposed mechanism reduces the rate of tasks missed and the rate of tasks starved, by utilizing the free CPU units for maximum CPU utilization and quick response times. We have performed comparisons of our proposed scheme based on performance metrics as percentage of task instances missed …