Analysis of Performance and Power Aspects of Hypervisors in Soft Real-Time Embedded Systems

The exponential growth of malware designed to attack soft real-time embedded systems has necessitated solutions to secure these systems. Hypervisors are a solution, but the overhead imposed by them needs to be quantitatively understood. Experiments were conducted to quantify the overhead hypervisors impose on soft real-time embedded systems. A soft real-time computer vision algorithm was executed, with average and worst-case execution times measured as well as the average power consumption. These experiments were conducted with two hypervisors and a control configuration. The experiments showed that each hypervisor imposed differing amounts of overhead, with one achieving near native performance and the other noticeably impacting the performance of the system

Flattening Hierarchical Scheduling.

ABSTRACT Recently, the application of virtual-machine technology to integrate real-time systems into a single host has received significant attention and caused controversy. Drawing two examples from mixed-criticality systems, we demonstrate that current virtualization technology, which handles guest scheduling as a black box, is incompatible with this modern scheduling discipline. However, there is a simple solution by exporting sufficient information for the host scheduler to overcome this problem. We describe the problem, the modification required on the guest and show on the example of two practical real-time operating systems how flattening the hierarchical scheduling problem resolves the issue. We conclude by showing the limitations of our technique at the current state of our research