Algorithm for computer control of a digital plotter
Seminal graphics
Real-Time Schedulability Tests for Preemptive Multitasking
WPDRTS Selected papers from the 4th workshop on Parallel and distributed real-time systems
Measuring computer performance: a practitioner's guide
Measuring computer performance: a practitioner's guide
A Metrics Suite for Object Oriented Design
IEEE Transactions on Software Engineering
Effective Analysis for Engineering Real-Time Fixed Priority Schedulers
IEEE Transactions on Software Engineering
Evaluating Real-Time Java Features and Performance for Real-Time Embedded Systems
RTAS '02 Proceedings of the Eighth IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS'02)
Evaluating Real-Time Java for Mission-Critical Large-Scale Embedded Systems
RTAS '03 Proceedings of the The 9th IEEE Real-Time and Embedded Technology and Applications Symposium
Programming with non-heap memory in the real time specification for Java
OOPSLA '03 Companion of the 18th annual ACM SIGPLAN conference on Object-oriented programming, systems, languages, and applications
Scoped Types for Real-Time Java
RTSS '04 Proceedings of the 25th IEEE International Real-Time Systems Symposium
The DaCapo benchmarks: java benchmarking development and analysis
Proceedings of the 21st annual ACM SIGPLAN conference on Object-oriented programming systems, languages, and applications
Scoped types and aspects for real-time Java memory management
Real-Time Systems
A real-time benchmark for Java™
JTRES '07 Proceedings of the 5th international workshop on Java technologies for real-time and embedded systems
Using real-time Java for industrial robot control
JTRES '07 Proceedings of the 5th international workshop on Java technologies for real-time and embedded systems
A real-time Java virtual machine with applications in avionics
ACM Transactions on Embedded Computing Systems (TECS)
Tax-and-spend: democratic scheduling for real-time garbage collection
EMSOFT '08 Proceedings of the 8th ACM international conference on Embedded software
Accurate garbage collection in uncooperative environments revisited
Concurrency and Computation: Practice & Experience
Challenge benchmarks for verification of real-time programs
Proceedings of the 4th ACM SIGPLAN workshop on Programming languages meets program verification
High-level programming of embedded hard real-time devices
Proceedings of the 5th European conference on Computer systems
Schism: fragmentation-tolerant real-time garbage collection
PLDI '10 Proceedings of the 2010 ACM SIGPLAN conference on Programming language design and implementation
Developing safety critical Java applications with oSCJ/L0
Proceedings of the 8th International Workshop on Java Technologies for Real-Time and Embedded Systems
The embedded Java benchmark suite JemBench
Proceedings of the 8th International Workshop on Java Technologies for Real-Time and Embedded Systems
Static checking of safety critical Java annotations
Proceedings of the 8th International Workshop on Java Technologies for Real-Time and Embedded Systems
The design of SafeJML, a specification language for SCJ with support for WCET specification
Proceedings of the 8th International Workshop on Java Technologies for Real-Time and Embedded Systems
Exhaustive testing of safety critical Java
Proceedings of the 8th International Workshop on Java Technologies for Real-Time and Embedded Systems
Test-based inference of polynomial loop-bound functions
Proceedings of the 8th International Conference on the Principles and Practice of Programming in Java
Worst-case analysis of heap allocations
ISoLA'10 Proceedings of the 4th international conference on Leveraging applications of formal methods, verification, and validation - Volume Part II
Scheduling real-time garbage collection on uniprocessors
ACM Transactions on Computer Systems (TOCS)
Virtualizing real-time embedded systems with Java
Proceedings of the 48th Design Automation Conference
WCET analysis of Java bytecode featuring common execution environments
Proceedings of the 9th International Workshop on Java Technologies for Real-Time and Embedded Systems
Exploiting static application knowledge in a Java compiler for embedded systems: a case study
Proceedings of the 9th International Workshop on Java Technologies for Real-Time and Embedded Systems
Region-Based RTSJ Memory Management: State of the art
Science of Computer Programming
Tailor-made JVMs for statically configured embedded systems
Concurrency and Computation: Practice & Experience
Safety-critical Java for low-end embedded platforms
Proceedings of the 10th International Workshop on Java Technologies for Real-time and Embedded Systems
The cardiac pacemaker case study and its implementation in safety-critical Java and Ravenscar Ada
Proceedings of the 10th International Workshop on Java Technologies for Real-time and Embedded Systems
Real-time Java API specifications for high coverage test generation
Proceedings of the 10th International Workshop on Java Technologies for Real-time and Embedded Systems
Ji.Fi: visual test and debug queries for hard real-time
Proceedings of the 10th International Workshop on Java Technologies for Real-time and Embedded Systems
Reducing startup time of a deterministic virtualizing runtime environment
Proceedings of the 16th International Workshop on Software and Compilers for Embedded Systems
A JVM for soft-error-prone embedded systems
Proceedings of the 14th ACM SIGPLAN/SIGBED conference on Languages, compilers and tools for embedded systems
Safety-critical Java programs from Circus models
Real-Time Systems
Resource management policies for real-time Java remote invocations
Journal of Parallel and Distributed Computing
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Java is becoming a viable platform for hard real-time computing. There are production and research real-time Java VMs, as well as applications in both military and civil sector. Technological advances and increased adoption of Real-time Java contrast significantly with the lack of real-time benchmarks. The few benchmarks that exist are either low-level synthetic micro-benchmarks, or benchmarks used internally by companies, making it difficult to independently verify and repeat reported results. This paper presents the x (Collision Detector) benchmark suite, an open source application benchmark suite that targets different hard and soft real-time virtual machines. x is, at its core, a real-time benchmark with a single periodic task, which implements aircraft collision detection based on simulated radar frames. The benchmark can be configured to use different sets of real-time features and comes with a number of workloads. We describe the architecture of the benchmark and characterize the workload based on input parameters.