The performance of μ-kernel-based systems
Proceedings of the sixteenth ACM symposium on Operating systems principles
RTAI: Real Time Application Interface
Linux Journal
Virtualizing I/O Devices on VMware Workstation's Hosted Virtual Machine Monitor
Proceedings of the General Track: 2002 USENIX Annual Technical Conference
Experiences Using RT-Linux to Implement a Controller for a High Speed Magnetic Bearing System
RTAS '99 Proceedings of the Fifth IEEE Real-Time Technology and Applications Symposium
A Measurement-Based Analysis of the Real-Time Performance of Linux
RTAS '02 Proceedings of the Eighth IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS'02)
Linux on ITRON: A Hybrid Operating System Architecture for Embedded Systems
SAINT-W '02 Proceedings of the 2002 Symposium on Applications and the Internet (SAINT) Workshops
Xen and the art of virtualization
SOSP '03 Proceedings of the nineteenth ACM symposium on Operating systems principles
Intel Virtualization Technology
Computer
The role of virtualization in embedded systems
Proceedings of the 1st workshop on Isolation and integration in embedded systems
Building Multi-kernel Embedded System on PAC Multi-core Platform
QSIC '10 Proceedings of the 2010 10th International Conference on Quality Software
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Modern high-end embedded systems require both predictable real-time scheduling and high-level abstraction interface to their OS kernels. Since these features are difficult to be balanced by a single OS, some methods that accommodate multiple different versions of OS kernels, typically real-time OS and general purpose OS, into a single device have been proposed. The hybrid kernel, one of those methods, executes a general purpose OS kernel as a task of real-time OS which can support those features with reasonable engineering effort. However when adapting the approach to various combinations of OS kernels, which is required in the real-world embedded system design, the engineering effort of modifying the kernel becomes not negligible. This article introduce a method called a composition kernel which uses a thin abstraction layer for accommodating kernels without making direct dependencies between them. The authors developed the abstraction layer on an SH-4A processor and executed kernels on top of it. The amount of modifications to the kernels was significantly smaller than that in related work, while introducing only negligible verhead to the performance of the kernels.