An Evaluation of Microkernel-Based Virtualization for Embedded Real-Time Systems

Bruns, Felix; Traboulsi, Shadi; Szczesny, David; Gonzalez, Elizabeth; Xu, Yang; Bilgic, Attila

doi:10.1109/ecrts.2010.28

Cited by 19 publications

(8 citation statements)

References 10 publications

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“…We describe each category below: Native platforms: There are several implementations of hierarchical scheduling within middleware or OS kernels [10,17,24,38,41,44]. In these implementations, all levels of the scheduling hierarchy are implemented in one (user or kernel) space.…”

Section: Systems Perspectivementioning

confidence: 99%

Real-time multi-core virtual machine scheduling in xen

et al. 2014

Proceedings of the 14th International Conference on Embedded Software

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Recent years have witnessed two major trends in the development of complex real-time embedded systems. First, to reduce cost and enhance flexibility, multiple systems are sharing common computing platforms via virtualization technology, instead of being deployed separately on physically isolated hosts. Second, multicore processors are increasingly being used in real-time systems. The integration of real-time systems as virtual machines (VMs) atop common multicore platforms raises significant new research challenges in meeting the real-time performance requirements of multiple systems. This paper advances the state of the art in real-time virtualization by designing and implementing RTXen 2.0, a new real-time multicore VM scheduling framework in the popular Xen virtual machine monitor (VMM). RT-Xen 2.0 realizes a suite of real-time VM scheduling policies spanning the design space. We implement both global and partitioned VM schedulers; each scheduler can be configured to support dynamic or static priorities and to run VMs as periodic or deferrable servers. We present a comprehensive experimental evaluation that provides important insights into real-time scheduling on virtualized multicore platforms: (1) both global and partitioned VM scheduling can be implemented in the VMM at moderate overhead; (2) at the VMM level, while compositional scheduling theory shows partitioned EDF (pEDF) is better than global EDF (gEDF) in providing schedulability guarantees, in our experiments their performance is reversed in terms of the fraction of workloads that meet their deadlines on virtualized multicore platforms; (3) at the guest OS level, pEDF requests a smaller total VCPU bandwidth than gEDF based on compositional scheduling analysis, and therefore using pEDF at the guest OS level leads to more schedulable workloads in our experiments; (4) a combination of pEDF in the guest OS and gEDF in the VMM -configured with deferrable server -leads to the highest fraction of schedulable task sets compared to other real-time VM scheduling policies; and (5) on a platform with a shared last-level cache, the benefits of global scheduling outweigh the cache penalty incurred by VM migration.

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Section: Systems Perspectivementioning

confidence: 99%

Real-time multi-core virtual machine scheduling in xen

et al. 2014

Proceedings of the 14th International Conference on Embedded Software

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“…A method for selecting optimum time slices and periods for each VM was presented in [52]. The suitability of micro-kernel based VMMS was investigated in [53], while exporting VM OS scheduling to a micro-kernel based VMM scheduler was explored in [54]. The KUSP (formerly KURT) project focuses on modular hierarchical scheduling and instrumentation of Linux for improving real-time support [55], [56].…”

Section: Related Workmentioning

confidence: 99%

Omni-Kernel: An Operating System Architecture for Pervasive Monitoring and Scheduling

Kvalnes

Johansen

Renesse

et al. 2015

IEEE Trans. Parallel Distrib. Syst.

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Abstract-The omni-kernel architecture is designed around pervasive monitoring and scheduling. Motivated by new requirements in virtualized environments, this architecture ensures that all resource consumption is measured, that resource consumption resulting from a scheduling decision is attributable to an activity, and that scheduling decisions are fine-grained. Vortex, implemented for multi-core x86-64 platforms, instantiates the omni-kernel architecture, providing a wide range of operating system functionality and abstractions. With Vortex, we experimentally demonstrated the efficacy of the omni-kernel architecture to provide accurate scheduler control over resource allocation despite competing workloads. Experiments involving Apache, MySQL, and Hadoop quantify the cost of pervasive monitoring and scheduling in Vortex to be below 6 percent of CPU consumption.

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“…4(a). In addition, domain D 2 consists of three tasks, τ 1 (8,4,8), τ 2 (6, 2, 6) and τ 3 (10, 1.5, 10), which are scheduled under gEDF on its VCPUs (Fig. 4(b)).…”

Section: B Vcpu-preemption Eventmentioning

confidence: 99%

Cache-Aware Compositional Analysis of Real-Time Multicore Virtualization Platforms

Phan

Lee

et al. 2013

2013 IEEE 34th Real-Time Systems Symposium

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Multicore processors are becoming ubiquitous, and it is becoming increasingly common to run multiple realtime systems on a shared multicore platform. While this trend helps to reduce cost and to increase performance, it also makes it more challenging to achieve timing guarantees and functional isolation.One approach to achieving functional isolation is to use virtualization. However, virtualization also introduces many challenges to the multicore timing analysis; for instance, the overhead due to cache misses becomes harder to predict, since it depends not only on the direct interference between tasks but also on the indirect interference between virtual processors and the tasks executing on them.In this paper, we present a cache-aware compositional analysis technique that can be used to ensure timing guarantees of components scheduled on a multicore virtualization platform. Our technique improves on previous multicore compositional analyses by accounting for the cache-related overhead in the components' interfaces, and it addresses the new virtualization-specific challenges in the overhead analysis. To demonstrate the utility of our technique, we report results from an extensive evaluation based on randomly generated workloads. Abstract-Multicore processors are becoming ubiquitous, and it is becoming increasingly common to run multiple real-time systems on a shared multicore platform. While this trend helps to reduce cost and to increase performance, it also makes it more challenging to achieve timing guarantees and functional isolation.One approach to achieving functional isolation is to use virtualization. However, virtualization also introduces many challenges to the multicore timing analysis; for instance, the overhead due to cache misses becomes harder to predict, since it depends not only on the direct interference between tasks but also on the indirect interference between virtual processors and the tasks executing on them.In this paper, we present a cache-aware compositional analysis technique that can be used to ensure timing guarantees of components scheduled on a multicore virtualization platform. Our technique improves on previous multicore compositional analyses by accounting for the cache-related overhead in the components' interfaces, and it addresses the new virtualizationspecific challenges in the overhead analysis. To demonstrate the utility of our technique, we report results from an extensive evaluation based on randomly generated workloads.

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An Evaluation of Microkernel-Based Virtualization for Embedded Real-Time Systems

Cited by 19 publications

References 10 publications

Real-time multi-core virtual machine scheduling in xen

Real-time multi-core virtual machine scheduling in xen

Omni-Kernel: An Operating System Architecture for Pervasive Monitoring and Scheduling

Cache-Aware Compositional Analysis of Real-Time Multicore Virtualization Platforms

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