Safety analysis of timing properties in real-time systems
IEEE Transactions on Software Engineering - Special issue on reliability and safety in real-time process control
High-performance operating system primitives for robotics and real-time control systems
ACM Transactions on Computer Systems (TOCS)
Scheduling Tasks with Resource Requirements in Hard Real-Time Systems
IEEE Transactions on Software Engineering
CHAOS- kernel support for objects in the real-time domain
IEEE Transactions on Computers - Special Issue on Real-Time Systems
ARTS: a distributed real-time kernel
ACM SIGOPS Operating Systems Review
Experimental Evaluation of a Real-Time Scheduler for a Multiprocessor System
IEEE Transactions on Software Engineering
Thoth, a portable real-time operating system
Communications of the ACM
Reflection of developing user-level real-time thread packages
ACM SIGOPS Operating Systems Review
Predictable Threads for Dynamic, Hard Real-Time Environments
IEEE Transactions on Parallel and Distributed Systems
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Portability is an important attribute of real-time operating systems because their target hardware environments routinely vary from special purpose processors to parallel machines to distributed execution environments. In this paper, we address the issue of operating systems portability by development of a real-time threads package based on the Mach cthreads interface. Real-time threads have been implemented on standard Unix platforms and on a 32-node BBN Butterfly multiprocessor. In contrast to cthreads, the schedulability of real-time threads may be determined dynamically at the time of threads creation. In addition, any scheduling guarantees made at thread creation time are maintained when threads communicate or cooperate using the package's other primitives.