Inhalt

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   Contents
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   Abbreviations
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   Symbols
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  Introduction
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   Hypervisor-based Integration
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   Application Example
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   Adaptive Scheduling of Virtualized Real-Time Systems
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   Outline and Contributions
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   Fundamentals: Hypervisor-based Multicore Virtualization for Embedded Real-Time Systems
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  Embedded Real-Time Systems
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   Embedded Systems
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   Real-Time Computing
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   Mixed-Criticality Systems
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  Hypervisor-based Virtualization
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   System Virtualization
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   Processor Virtualization
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   I/O Virtualization
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   Virtualization for Mixed-Criticality Systems
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   Multicore Processors
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   Multicore Scheduling
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   Multicore and Predictability
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  Virtual Machine Scheduling
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   Hierarchical Scheduling
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   Virtual Processor and Virtual Time
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   Classification and Common Solutions
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   Summary
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   A Multicore Hypervisor for Embedded Real-Time Systems
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   Problem Statement
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   Related Work
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   Proteus Multicore Hypervisor
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   Architecture
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   Configurability
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   Processor Virtualization
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   Paravirtualization Interface
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   Multicore
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   Memory Virtualization
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   Virtualization of Timer and I/O Devices
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  Evaluation
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   Evaluation Platform: IBM PowerPC 405
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   Execution Times
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   Memory Footprint
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   Summary
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   Models
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  Workload Model
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   Task Model
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   Virtual Machine Model
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   Resource Model
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   Schedulability Analysis
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   Suitability of the Model
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   Related Work
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   Summary
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   Partitioning
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   Problem Statement
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   Related Work
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   Branch-and-Bound Partitioning
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   Pruning & Server Transformation
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   Optimization Goals
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   The Algorithm
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   Example
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   Evaluation
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   Summary
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   Adaptive Partitioned Hierarchical Scheduling
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   Problem Statement
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   Related Work
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   Scheduling Architecture
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   Server-based Virtual Machine Scheduling
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   Fixed Priority Virtual Machine Scheduling
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   Adaptive Bandwidth Distribution
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   Distributing Structural Slack
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   The Algorithm and its Computational Complexity
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   Protection under Overload Conditions
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   Correctness of Bandwidth Distribution
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   Steady State: Temporal Isolation and Minimum Bandwidth Guarantee
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   Correctness during Mode Transitions
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   Correctness of Redistribution of Dynamic Slack
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   Handling of Multiple Mode Change Requests
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   The Case for Paravirtualization
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   Integration into Hypervisor and Operating System
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  Evaluation
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   Scheduling Simulator
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   Execution Times
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   Overhead versus Benefit: Threshold for Slack Redistribution
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   Memory Footprint
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   Paravirtualization Effort
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   Comparative Evaluation
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   Summary
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   Real-Time Virtual Machine Migration
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   Problem Statement
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   Related Work
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  Design
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   Migration Policy
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   Integration into the Hypervisor
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   Protocol
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   Migration Test
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   Integration into Real-Time Virtual Machine Scheduling
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  Evaluation
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   Experimental Setup
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   Memory Footprint & Paravirtualization Effort
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   Execution Times & Downtime
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   Reliability Analysis
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   Case Study: Autonomous Rail Vehicle
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   Summary
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  Conclusion & Future Work
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   Summary of Results
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   Outlook
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   Publications
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   List of Figures
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   List of Tables
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   List of Algorithms
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   Bibliography