Scheduling Algorithms for Multiprogramming in a Hard-Real-Time Environment
Journal of the ACM (JACM)
Real-Time Virtual Resource: A Timely Abstraction for Embedded Systems
EMSOFT '02 Proceedings of the Second International Conference on Embedded Software
A Model of Hierarchical Real-Time Virtual Resources
RTSS '02 Proceedings of the 23rd IEEE Real-Time Systems Symposium
Resource Partition for Real-Time Systems
RTAS '01 Proceedings of the Seventh Real-Time Technology and Applications Symposium (RTAS '01)
Xen and the art of virtualization
SOSP '03 Proceedings of the nineteenth ACM symposium on Operating systems principles
Pocket Hypervisors: Opportunities and Challenges
HOTMOBILE '07 Proceedings of the Eighth IEEE Workshop on Mobile Computing Systems and Applications
Scheduling I/O in virtual machine monitors
Proceedings of the fourth ACM SIGPLAN/SIGOPS international conference on Virtual execution environments
Alternatives for scheduling virtual machines in real-time embedded systems
Proceedings of the 1st workshop on Isolation and integration in embedded systems
The role of virtualization in embedded systems
Proceedings of the 1st workshop on Isolation and integration in embedded systems
Virtualization as an enabler for security in mobile devices
Proceedings of the 1st workshop on Isolation and integration in embedded systems
Shared device driver model for virtualized mobile handsets
Proceedings of the First Workshop on Virtualization in Mobile Computing
MobiVMM: a virtual machine monitor for mobile phones
Proceedings of the First Workshop on Virtualization in Mobile Computing
Power-aware provisioning of Cloud resources for real-time services
Proceedings of the 7th International Workshop on Middleware for Grids, Clouds and e-Science
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Real-time is one of the unique requirements in embedded systems. In this paper, we perform a feasibility study on how to support real-time in an embedded virtual machine system. Firstly, we argue that the I/O model of the current virtual machine monitor like Xen is not suitable to support real-time applications because it lacks in predictability and it does not guarantee a deterministic I/O processing. We provide an alternative I/O model for virtualized embedded systems. Devices are categorized into four groups: dedicated, active, running, dynamic. Dedicated devices make a virtual machine simple because they do not need to be virtualized for isolation. However, dedication does not mean the performance isolation. Our experimental results with dedicated device show that traditional dedication cannot guarantee the timely responsiveness in heavy interrupt cases. Specifically, responsiveness of real-time OS degrades as interrupt load increases. There-ore, a proper interrupt control mechanism is required at virtual machine monitor level in order to support timely responsiveness. In addition, our result supports that 1) short and prioritized interrupt processing helps responsiveness in a virtual machine system; 2) smaller time quantum results in better responsiveness also.