Content

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   Abstract
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   Zusammenfassung
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   Dedication
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   Contents
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   List of Figures
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   List of Tables
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   1 Introduction
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   1.1 Purpose of the Thesis
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   1.2 Current Status
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   1.3 Structure of the Thesis
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   2 Virtualizing Embedded Real-Time Systems
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   2.1 Real-Time Systems
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   2.1.1 Task Models
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   2.1.2 Periodic task scheduling
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   2.2 The Architecture of VMs
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   2.2.1 System Virtual Machines
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   2.2.2 Processor Virtualization
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   2.2.3 Memory Virtualization
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   2.2.4 Multiple independent layers of security
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   2.3 Emulation
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   2.3.1 Interpretation
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   2.3.2 Binary translation
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   2.4 Summary
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   3 A Virtual Machine Monitor for Embedded Real-Time Systems
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   3.1 Problem Statement
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  3.2 Related Work
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   3.2.1 Academia
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   3.2.2 Industry
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   3.2.3 Summary
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   3.3 Design
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   3.3.1 Configurability
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   3.3.2 Architecture
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   3.3.3 Processor Virtualization
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   3.3.4 Timer Virtualization
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   3.3.5 Scheduler
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   3.3.6 Memory Virtualization
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   3.3.7 I/O Virtualization
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   3.3.8 Summary
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  3.4 Evaluation
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   3.4.1 PPC405 ISA Analysis
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   3.4.2 Worst Case Execution Times
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   3.4.3 Virtualization overhead
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   3.4.4 Footprint
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   3.4.5 Performance
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   3.5 Summary
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  4 Scheduling of full virtualized hard real-time systems
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   4.1 Problem Statement
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  4.2 Related Work
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   4.2.1 Academia
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   4.2.2 Industry
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   4.2.3 Classification
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   4.2.4 Summary
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   4.3 Model
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   4.4 Transformation of real-time systems into real-time virtual machines
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   4.4.1 Normalization
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   4.4.2 Scaling the virtual real-time system
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   4.4.3 Summary
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   4.5 Partitioning Policy
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   4.5.1 Activation slots
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   4.5.2 Period of the static resource partitions
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   4.5.3 Schedule
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   4.5.4 Summary
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   4.6 Evaluation
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   4.6.1 Algorithmic complexity
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   4.6.2 Distribution of the GCD
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   4.6.3 Experimental Setup
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   4.6.4 Scheduling performance
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   4.6.5 Context Switching
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   4.6.6 Case Study
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   4.6.7 Summary
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   5 Summary
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  A Evaluation
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   A.1 Measurements
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   A.2 Scenario I: Electrical Drive Engineering - Linear Motor Control
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   A.3 Scenario II: Industrial - CNC Machine
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   A.4 Scenario III: Medical - X-ray Machine
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   A.5 Scenario IV: Automotive - Airbag Control and Driver Assistance
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   Bibliography