The thing about hard real time systems is that they must be predictable, which is quite wide term. Predictable memory utilization, predictable computation cost, predictable response time. In an attempt to at least fit into these requirements GC must be "passive", on-demand i.e. callable from code. Even with bounded collect times, number of collectings must be predictable/controlled to predict computational cost/time of code paths. And that becomes not much different from manual memory management.