Recently, with the development of embedded system hardware technology, there is a\nneed to support various kinds of operating system (OS) operation in embedded systems. In mobile\nprocessors, ARM started to provide the virtualization extension support technology which was\nintended for processors in PC processors. Virtualization technology has the advantage of using\nhardware resources effectively. If the real-time operating system (RTOS) is operated on a hypervisor,\nthere is a problem that RTOS performance is degraded due to overhead. Thus, we need to compare\nthe performance between a single execution of the RTOS and simultaneous execution of multiple\nOS (RTOS + Linux). Therefore, in this paper, we measure the performance when the RTOS operates\nindependently on the NVidia Jetson TK-1 embedded board supporting virtualization technology.\nThen, we measure the performance when the RTOS and Linux are operating simultaneously on top\nof a hypervisor. For this purpose, we implemented and ported such a RTOS, especially FreeRTOS\nand uC/OS, onto two embedded boards, such as the Arndale board (SAMSUNG, Seoul, South Korea)\nand the NVidia TK1 board (NVIDIA, Santa Clara, CA, USA).
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