Grösbrink, Stefan: Adaptive virtual machine scheduling and migration for embedded real-time systems. 2015
Content
Contents
Introduction
Hypervisor-based Integration
Application Example
Adaptive Scheduling of Virtualized Real-Time Systems
Outline and Contributions
Fundamentals: Hypervisor-based Multicore Virtualization for Embedded Real-Time Systems
Embedded Real-Time Systems
Hypervisor-based Virtualization
System Virtualization
Processor Virtualization
I/O Virtualization
Virtualization for Mixed-Criticality Systems
Multicore Processors
Virtual Machine Scheduling
Summary
A Multicore Hypervisor for Embedded Real-Time Systems
Problem Statement
Related Work
Proteus Multicore Hypervisor
Architecture
Configurability
Processor Virtualization
Paravirtualization Interface
Multicore
Memory Virtualization
Virtualization of Timer and I/O Devices
Evaluation
Summary
Models
Partitioning
Adaptive Partitioned Hierarchical Scheduling
Problem Statement
Related Work
Scheduling Architecture
Adaptive Bandwidth Distribution
Distributing Structural Slack
The Algorithm and its Computational Complexity
Protection under Overload Conditions
Correctness of Bandwidth Distribution
Steady State: Temporal Isolation and Minimum Bandwidth Guarantee
Correctness during Mode Transitions
Correctness of Redistribution of Dynamic Slack
Handling of Multiple Mode Change Requests
The Case for Paravirtualization
Integration into Hypervisor and Operating System
Evaluation
Scheduling Simulator
Execution Times
Overhead versus Benefit: Threshold for Slack Redistribution
Memory Footprint
Paravirtualization Effort
Comparative Evaluation
Summary
Real-Time Virtual Machine Migration
Problem Statement
Related Work
Design
Migration Policy
Integration into the Hypervisor
Protocol
Migration Test
Integration into Real-Time Virtual Machine Scheduling
Evaluation
Experimental Setup
Memory Footprint & Paravirtualization Effort
Execution Times & Downtime
Reliability Analysis
Case Study: Autonomous Rail Vehicle
Summary
Conclusion & Future Work
Publications
List of Figures
List of Tables
List of Algorithms
Bibliography