Real-time concurrent collection on stock multiprocessors
PLDI '88 Proceedings of the ACM SIGPLAN 1988 conference on Programming Language design and Implementation
Real-time garbage collection on general-purpose machines
Journal of Systems and Software
Real-time replication garbage collection
PLDI '93 Proceedings of the ACM SIGPLAN 1993 conference on Programming language design and implementation
Portable, unobtrusive garbage collection for multiprocessor systems
POPL '94 Proceedings of the 21st ACM SIGPLAN-SIGACT symposium on Principles of programming languages
Vortex: an optimizing compiler for object-oriented languages
Proceedings of the 11th ACM SIGPLAN conference on Object-oriented programming, systems, languages, and applications
Generational stack collection and profile-driven pretenuring
PLDI '98 Proceedings of the ACM SIGPLAN 1998 conference on Programming language design and implementation
Quicksilver: a quasi-static compiler for Java
OOPSLA '00 Proceedings of the 15th ACM SIGPLAN conference on Object-oriented programming, systems, languages, and applications
Eliminating external fragmentation in a non-moving garbage collector for Java
CASES '00 Proceedings of the 2000 international conference on Compilers, architecture, and synthesis for embedded systems
List processing in real time on a serial computer
Communications of the ACM
A parallel, real-time garbage collector
Proceedings of the ACM SIGPLAN 2001 conference on Programming language design and implementation
Automated discovery of scoped memory regions for real-time Java
Proceedings of the 3rd international symposium on Memory management
The Real-Time Specification for Java
The Real-Time Specification for Java
A real-time garbage collector with low overhead and consistent utilization
POPL '03 Proceedings of the 30th ACM SIGPLAN-SIGACT symposium on Principles of programming languages
An Implementation of Scoped Memory for Real-Time Java
EMSOFT '01 Proceedings of the First International Workshop on Embedded Software
Ownership types for safe region-based memory management in real-time Java
PLDI '03 Proceedings of the ACM SIGPLAN 2003 conference on Programming language design and implementation
IBM Systems Journal
Proceedings of the 1st ACM/USENIX international conference on Virtual execution environments
Static determination of allocation rates to support real-time garbage collection
LCTES '05 Proceedings of the 2005 ACM SIGPLAN/SIGBED conference on Languages, compilers, and tools for embedded systems
Scalable real-time parallel garbage collection for symmetric multiprocessors
Scalable real-time parallel garbage collection for symmetric multiprocessors
Eventrons: a safe programming construct for high-frequency hard real-time applications
Proceedings of the 2006 ACM SIGPLAN conference on Programming language design and implementation
An Emprical Evaluation of Memory Management Alternatives for Real-Time Java
RTSS '06 Proceedings of the 27th IEEE International Real-Time Systems Symposium
Compilation Techniques for Real-Time Java Programs
Proceedings of the International Symposium on Code Generation and Optimization
Reflexes: abstractions for highly responsive systems
Proceedings of the 3rd international conference on Virtual execution environments
A real-time Java virtual machine with applications in avionics
ACM Transactions on Embedded Computing Systems (TECS)
Scoped types and aspects for real-time java
ECOOP'06 Proceedings of the 20th European conference on Object-Oriented Programming
Tactics for minimal interference from class loading in real-time Java™
JTRES '07 Proceedings of the 5th international workshop on Java technologies for real-time and embedded systems
Flexible task graphs: a unified restricted thread programming model for java
Proceedings of the 2008 ACM SIGPLAN-SIGBED conference on Languages, compilers, and tools for embedded systems
Testing class libraries for RTSJ safety
JTRES '08 Proceedings of the 6th international workshop on Java technologies for real-time and embedded systems
Non-blocking root scanning for real-time garbage collection
JTRES '08 Proceedings of the 6th international workshop on Java technologies for real-time and embedded systems
Tax-and-spend: democratic scheduling for real-time garbage collection
EMSOFT '08 Proceedings of the 8th ACM international conference on Embedded software
Decoupled root scanning in multi-processor systems
CASES '08 Proceedings of the 2008 international conference on Compilers, architectures and synthesis for embedded systems
Low-latency time-portable real-time programming with Exotasks
ACM Transactions on Embedded Computing Systems (TECS)
Avoiding unbounded priority inversion in barrier protocols using gang priority management
Proceedings of the 7th International Workshop on Java Technologies for Real-Time and Embedded Systems
Real time Java on resource-constrained platforms with Fiji VM
Proceedings of the 7th International Workshop on Java Technologies for Real-Time and Embedded Systems
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
Reflexes: Abstractions for integrating highly responsive tasks into Java applications
ACM Transactions on Embedded Computing Systems (TECS)
Nonblocking real-time garbage collection
ACM Transactions on Embedded Computing Systems (TECS)
Scheduling of hard real-time garbage collection
Real-Time Systems
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
Hard real-time garbage collection for a Java chip multi-processor
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
Reducing startup time of a deterministic virtualizing runtime environment
Proceedings of the 16th International Workshop on Software and Compilers for Embedded Systems
Exploiting slicing and patterns for RTSJ immortal memory optimization
Proceedings of the 2013 International Conference on Principles and Practices of Programming on the Java Platform: Virtual Machines, Languages, and Tools
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The emergence of standards for programming real-time systems in Java has encouraged many developers to consider its use for systems previously only built using C, Ada, or assembly language. However, the RTSJ standard in isolation leaves many important problems unaddressed, and suffers from some serious problems in usability and safety. As a result, the use of Java for real-time programming has continued to be viewed as risky and adoption has been slow. In this paper we provide a description of IBM's new real-time Java virtual machine product, which combines Metronome real-time garbage collection, ahead-of-time compilation, and a complete implementation of the RTSJ standard, running on top of a custom real-time multiprocessor Linux kernel. We will describe the implementation of each of these components, including how they interacted both positively and negatively, and the extensions to previous work required to move it from research prototype to a system implementing the complete semantics of the Java language. The system has been adopted for hard real-time development of naval weapons systems and soft real-time telecommunications servers. We present measurements showing that the system is able to provide sub-millisecond worst-case garbage collection latencies, 50 microsecond Linux scheduling accuracy, and eliminate non-determinism due to JIT compilation.