Dual OS architecture for reliable multiprocessor embedded system.

SafeG-MP是一个虚拟化环境，允许实时操作系统（RTOS）与通用操作系统（GPOS）在多核嵌入式系统上并发运行。SafeG-MP独立地在两个操作系统之间调度每个核心的工作负载。当两个OS都准备好在某个核心上运行时，RTOS将以更高的优先级执行。但是，这种调度算法在GPOS上存在性能问题：增加了同步延迟，以及核之间的负载不平衡。我们在物理平台上实施并评估了它，证实了它在减轻GPOS性能损失方面的有效性。

SafeG-MP is a virtualization environment that allows a real-time operating system (RTOS) to run concurrently with a general-purpose operating (GPOS) on a multi-core embedded system. SafeG-MP schedules the workload of each core between both OSs independently. When both Oss are ready to run on a certain core, the RTOS is executed with higher priority. Unfortunately, such scheduling algorithm has performance issues on the GPOS: an increased synchronization delay, and a load imbalance among cores.We propose a technique to address both issues. We implemented and evaluated it on a physical platform, confirming its effectiveness at mitigating the GPOS performance loss.