8 Search Results for "Hernández, Carles"


Document
Detecting Low-Density Mixtures in High-Quantile Tails for pWCET Estimation

Authors: Blau Manau, Sergi Vilardell, Isabel Serra, Enrico Mezzetti, Jaume Abella, and Francisco J. Cazorla

Published in: LIPIcs, Volume 335, 37th Euromicro Conference on Real-Time Systems (ECRTS 2025)


Abstract
The variability arising from sophisticated hardware and software solutions in cutting-edge embedded products causes software to exhibit complex execution time distributions. Mixture distributions can happen, with different density (weight), as a result of inherent different features in the execution platform and multiple operational scenarios. In the context of probabilistic WCET (pWCET) analysis based on Extreme Value Theory (EVT), where identical distribution is a pre-requisite, mixtures are typically intercepted by applying stationarity tests on the full sample. Those tests, however, are instructed to detect only mixtures with sufficiently high probability (weight) and disregard low-density mixtures (which are unlikely to be preserved in the high-quantile tail of the sample) as they would prevent any form of stationarity. Nonetheless, low-density mixture distributions can persist and even exacerbate in the tail, and, when not considered, they can impair pWCET estimation in EVT-based approaches, leading to overly pessimistic or optimistic bounds. In this work, we propose TailID, an iterative point-wise approach that builds on the asymptotic convergence of the Maximum Likelihood Estimator (MLE) of the Extreme Value Index (EVI) parameter ξ to detect low-density mixture distributions on high-quantile tails and use this information to steer EVT tail selection. The benefits of the proposed method are assessed on synthetic mixture distributions and real data collected on an industrially representative embedded platform.

Cite as

Blau Manau, Sergi Vilardell, Isabel Serra, Enrico Mezzetti, Jaume Abella, and Francisco J. Cazorla. Detecting Low-Density Mixtures in High-Quantile Tails for pWCET Estimation. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 20:1-20:25, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)


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@InProceedings{manau_et_al:LIPIcs.ECRTS.2025.20,
  author =	{Manau, Blau and Vilardell, Sergi and Serra, Isabel and Mezzetti, Enrico and Abella, Jaume and Cazorla, Francisco J.},
  title =	{{Detecting Low-Density Mixtures in High-Quantile Tails for pWCET Estimation}},
  booktitle =	{37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
  pages =	{20:1--20:25},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-377-5},
  ISSN =	{1868-8969},
  year =	{2025},
  volume =	{335},
  editor =	{Mancuso, Renato},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.20},
  URN =		{urn:nbn:de:0030-drops-235982},
  doi =		{10.4230/LIPIcs.ECRTS.2025.20},
  annote =	{Keywords: WCET, EVT}
}
Document
Per-Flow Performance Guarantees in Networked Systems with Complex Feedback Structures

Authors: Anja Hamscher, Lukas Wildberger, and Jens Schmitt

Published in: LIPIcs, Volume 335, 37th Euromicro Conference on Real-Time Systems (ECRTS 2025)


Abstract
Many modern networked real-time systems encompass complex feedback structures and require stringent timing guarantees, especially bounds on the network delay. Network Calculus (NC) is a versatile methodology to compute such performance guarantees per individual flow; in particular, some fundamental results on how to deal with feedback exist. Yet, these are restricted to simple feedback structures and are mostly constrained to an analysis at the aggregate level (not per flow). In our work, we analyze more complex feedback structures than previously investigated by reducing them to canonical structures. We transform these closed-loop systems (with feedback) into open-loop systems (without feedback) and, subsequently, perform a per-flow analysis exploiting very recent NC results on per-flow performance guarantees. In a numerical experiment, we compare our new method to the current state-of-the-art which only allows for an aggregate FIFO analysis. We also compute how feedback constraints need to be allocated to ensure that a feedback system provides the same service as the system without feedback, in a sense providing for an optimal control. Furthermore, we compare different allocation strategies under a fixed budget for the feedback constraints.

Cite as

Anja Hamscher, Lukas Wildberger, and Jens Schmitt. Per-Flow Performance Guarantees in Networked Systems with Complex Feedback Structures. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 18:1-18:25, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)


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@InProceedings{hamscher_et_al:LIPIcs.ECRTS.2025.18,
  author =	{Hamscher, Anja and Wildberger, Lukas and Schmitt, Jens},
  title =	{{Per-Flow Performance Guarantees in Networked Systems with Complex Feedback Structures}},
  booktitle =	{37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
  pages =	{18:1--18:25},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-377-5},
  ISSN =	{1868-8969},
  year =	{2025},
  volume =	{335},
  editor =	{Mancuso, Renato},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.18},
  URN =		{urn:nbn:de:0030-drops-235961},
  doi =		{10.4230/LIPIcs.ECRTS.2025.18},
  annote =	{Keywords: Real-Time Networks, Network Calculus, Feedback Control}
}
Document
Survey
Uncertainty Management in the Construction of Knowledge Graphs: A Survey

Authors: Lucas Jarnac, Yoan Chabot, and Miguel Couceiro

Published in: TGDK, Volume 3, Issue 1 (2025). Transactions on Graph Data and Knowledge, Volume 3, Issue 1


Abstract
Knowledge Graphs (KGs) are a major asset for companies thanks to their great flexibility in data representation and their numerous applications, e.g., vocabulary sharing, Q&A or recommendation systems. To build a KG, it is a common practice to rely on automatic methods for extracting knowledge from various heterogeneous sources. However, in a noisy and uncertain world, knowledge may not be reliable and conflicts between data sources may occur. Integrating unreliable data would directly impact the use of the KG, therefore such conflicts must be resolved. This could be done manually by selecting the best data to integrate. This first approach is highly accurate, but costly and time-consuming. That is why recent efforts focus on automatic approaches, which represent a challenging task since it requires handling the uncertainty of extracted knowledge throughout its integration into the KG. We survey state-of-the-art approaches in this direction and present constructions of both open and enterprise KGs. We then describe different knowledge extraction methods and discuss downstream tasks after knowledge acquisition, including KG completion using embedding models, knowledge alignment, and knowledge fusion in order to address the problem of knowledge uncertainty in KG construction. We conclude with a discussion on the remaining challenges and perspectives when constructing a KG taking into account uncertainty.

Cite as

Lucas Jarnac, Yoan Chabot, and Miguel Couceiro. Uncertainty Management in the Construction of Knowledge Graphs: A Survey. In Transactions on Graph Data and Knowledge (TGDK), Volume 3, Issue 1, pp. 3:1-3:48, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)


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@Article{jarnac_et_al:TGDK.3.1.3,
  author =	{Jarnac, Lucas and Chabot, Yoan and Couceiro, Miguel},
  title =	{{Uncertainty Management in the Construction of Knowledge Graphs: A Survey}},
  journal =	{Transactions on Graph Data and Knowledge},
  pages =	{3:1--3:48},
  ISSN =	{2942-7517},
  year =	{2025},
  volume =	{3},
  number =	{1},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/TGDK.3.1.3},
  URN =		{urn:nbn:de:0030-drops-233733},
  doi =		{10.4230/TGDK.3.1.3},
  annote =	{Keywords: Knowledge reconciliation, Uncertainty, Heterogeneous sources, Knowledge graph construction}
}
Document
SP-IMPact: A Framework for Static Partitioning Interference Mitigation and Performance Analysis

Authors: Diogo Costa, Gonçalo Moreira, Afonso Oliveira, José Martins, and Sandro Pinto

Published in: OASIcs, Volume 128, Sixth Workshop on Next Generation Real-Time Embedded Systems (NG-RES 2025)


Abstract
Modern embedded systems are evolving toward complex, heterogeneous architectures to accommodate increasingly demanding applications. Driven by industry SWAP-C (Size, Weight, Power, and Cost) constraints, this shift has led to the consolidation of multiple systems onto single hardware platforms. Static Partitioning Hypervisors (SPHs) offer a promising solution to partition hardware resources and provide spatial isolation between critical workloads. However, shared hardware resources like the Last-Level Cache (LLC) and system bus can introduce significant temporal interference between virtual machines (VMs), negatively impacting performance and predictability. Over the past decade, academia and industry have focused on developing interference mitigation techniques, such as cache partitioning and memory bandwidth reservation. Configuring these techniques, however, is complex and time-consuming. Cache partitioning requires careful balancing of cache sections across VMs, while memory bandwidth reservation requires tuning bandwidth budgets and periods. With numerous possible configurations, testing all combinations is impractical and often leads to suboptimal configurations. Moreover, there is a gap in understanding how these techniques interact, as their combined use can result in compounded or conflicting effects on system performance. Static analysis solutions that estimate worst-case execution times (WCET) and upper bounds on execution times provide some guidance for configuring interference mitigation techniques. While useful in identifying potential interference effects, these tools often fail to capture the full complexity of modern multi-core systems, as they typically focus on a limited set of shared resources and neglect other sources of contention, such as IOMMUs and interrupt controllers. To address these challenges, we introduce SP-IMPact, an open-source framework designed to analyze and guide the configuration of interference mitigation techniques, through the deployment of diverse VM configurations and setups, and assessment of hardware-level contention (leveraging SPHs). It supports two mitigation techniques: (i) cache coloring and (ii) memory bandwidth reservation, while also evaluating the interactions between these techniques and their cumulative impact on system performance. By providing insights on real hardware platforms, SP-IMPact helps to optimize the configuration of these techniques in mixed-criticality systems, ensuring both performance and predictability.

Cite as

Diogo Costa, Gonçalo Moreira, Afonso Oliveira, José Martins, and Sandro Pinto. SP-IMPact: A Framework for Static Partitioning Interference Mitigation and Performance Analysis. In Sixth Workshop on Next Generation Real-Time Embedded Systems (NG-RES 2025). Open Access Series in Informatics (OASIcs), Volume 128, pp. 5:1-5:15, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)


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@InProceedings{costa_et_al:OASIcs.NG-RES.2025.5,
  author =	{Costa, Diogo and Moreira, Gon\c{c}alo and Oliveira, Afonso and Martins, Jos\'{e} and Pinto, Sandro},
  title =	{{SP-IMPact: A Framework for Static Partitioning Interference Mitigation and Performance Analysis}},
  booktitle =	{Sixth Workshop on Next Generation Real-Time Embedded Systems (NG-RES 2025)},
  pages =	{5:1--5:15},
  series =	{Open Access Series in Informatics (OASIcs)},
  ISBN =	{978-3-95977-366-9},
  ISSN =	{2190-6807},
  year =	{2025},
  volume =	{128},
  editor =	{Yomsi, Patrick Meumeu and Wildermann, Stefan},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.NG-RES.2025.5},
  URN =		{urn:nbn:de:0030-drops-229911},
  doi =		{10.4230/OASIcs.NG-RES.2025.5},
  annote =	{Keywords: Virtualization, Contention, Multi-core Interference, Mixed-Criticality Systems, Arm}
}
Document
H-MBR: Hypervisor-Level Memory Bandwidth Reservation for Mixed Criticality Systems

Authors: Afonso Oliveira, Diogo Costa, Gonçalo Moreira, José Martins, and Sandro Pinto

Published in: OASIcs, Volume 128, Sixth Workshop on Next Generation Real-Time Embedded Systems (NG-RES 2025)


Abstract
Recent advancements in fields such as automotive and aerospace have driven a growing demand for robust computational resources. Applications that were once designed for basic Microcontroller Units (MCUs) are now deployed on highly heterogeneous System-on-Chip (SoC) platforms. While these platforms deliver the necessary computational performance, they also present challenges related to resource sharing and predictability. These challenges are particularly pronounced when consolidating safety-critical and non-safety-critical systems, the so-called Mixed-Criticality Systems (MCS) to adhere to strict Size, Weight, Power, and Cost (SWaP-C) requirements. MCS consolidation on shared platforms requires stringent spatial and temporal isolation to comply with functional safety standards (e.g., ISO 26262). Virtualization, mainly leveraged by hypervisors, is a key technology that ensures spatial isolation across multiple OSes and applications; however ensuring temporal isolation remains challenging due to contention on shared resources, such as main memory, caches, and system buses, which impacts real-time performance and predictability. To mitigate this problem, several strategies (e.g., cache coloring and memory bandwidth reservation) have been proposed. Although cache coloring is typically implemented on state-of-the-art hypervisors, memory bandwidth reservation approaches are commonly implemented at the Linux kernel level or rely on dedicated hardware and typically do not consider the concept of Virtual Machines that can run different OSes. To fill the gap between current memory bandwidth reservation solutions and the deployment of MCSs that operate on a hypervisor, this work introduces H-MBR, an open-source VM-centric memory bandwidth reservation mechanism. H-MBR features (i) VM-centric bandwidth reservation, (ii) OS and platform agnosticism, and (iii) reduced overhead. Empirical results evidenced no overhead on non-regulated workloads, and negligible overhead (<1%) for regulated workloads for regulation periods of 2 µs or higher.

Cite as

Afonso Oliveira, Diogo Costa, Gonçalo Moreira, José Martins, and Sandro Pinto. H-MBR: Hypervisor-Level Memory Bandwidth Reservation for Mixed Criticality Systems. In Sixth Workshop on Next Generation Real-Time Embedded Systems (NG-RES 2025). Open Access Series in Informatics (OASIcs), Volume 128, pp. 4:1-4:15, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)


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@InProceedings{oliveira_et_al:OASIcs.NG-RES.2025.4,
  author =	{Oliveira, Afonso and Costa, Diogo and Moreira, Gon\c{c}alo and Martins, Jos\'{e} and Pinto, Sandro},
  title =	{{H-MBR: Hypervisor-Level Memory Bandwidth Reservation for Mixed Criticality Systems}},
  booktitle =	{Sixth Workshop on Next Generation Real-Time Embedded Systems (NG-RES 2025)},
  pages =	{4:1--4:15},
  series =	{Open Access Series in Informatics (OASIcs)},
  ISBN =	{978-3-95977-366-9},
  ISSN =	{2190-6807},
  year =	{2025},
  volume =	{128},
  editor =	{Yomsi, Patrick Meumeu and Wildermann, Stefan},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.NG-RES.2025.4},
  URN =		{urn:nbn:de:0030-drops-229905},
  doi =		{10.4230/OASIcs.NG-RES.2025.4},
  annote =	{Keywords: Virtualization, Multi-core Interference, Mixed-Criticality Systems, Arm, Memory Bandwidth Reservation}
}
Document
Survey
Logics for Conceptual Data Modelling: A Review

Authors: Pablo R. Fillottrani and C. Maria Keet

Published in: TGDK, Volume 2, Issue 1 (2024): Special Issue on Trends in Graph Data and Knowledge - Part 2. Transactions on Graph Data and Knowledge, Volume 2, Issue 1


Abstract
Information modelling for databases and object-oriented information systems avails of conceptual data modelling languages such as EER and UML Class Diagrams. Many attempts exist to add logical rigour to them, for various reasons and with disparate strengths. In this paper we aim to provide a structured overview of the many efforts. We focus on aims, approaches to the formalisation, including key dimensions of choice points, popular logics used, and the main relevant reasoning services. We close with current challenges and research directions.

Cite as

Pablo R. Fillottrani and C. Maria Keet. Logics for Conceptual Data Modelling: A Review. In Special Issue on Trends in Graph Data and Knowledge - Part 2. Transactions on Graph Data and Knowledge (TGDK), Volume 2, Issue 1, pp. 4:1-4:30, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2024)


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@Article{fillottrani_et_al:TGDK.2.1.4,
  author =	{Fillottrani, Pablo R. and Keet, C. Maria},
  title =	{{Logics for Conceptual Data Modelling: A Review}},
  journal =	{Transactions on Graph Data and Knowledge},
  pages =	{4:1--4:30},
  ISSN =	{2942-7517},
  year =	{2024},
  volume =	{2},
  number =	{1},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/TGDK.2.1.4},
  URN =		{urn:nbn:de:0030-drops-198616},
  doi =		{10.4230/TGDK.2.1.4},
  annote =	{Keywords: Conceptual Data Modelling, EER, UML, Description Logics, OWL}
}
Document
HWP: Hardware Support to Reconcile Cache Energy, Complexity, Performance and WCET Estimates in Multicore Real-Time Systems

Authors: Pedro Benedicte, Carles Hernandez, Jaume Abella, and Francisco J. Cazorla

Published in: LIPIcs, Volume 106, 30th Euromicro Conference on Real-Time Systems (ECRTS 2018)


Abstract
High-performance processors have deployed multilevel cache (MLC) systems for decades. In the embedded real-time market, the use of MLC is also on the rise, with processors for future systems in space, railway, avionics and automotive already featuring two or more cache levels. One of the most critical elements for MLC is the write policy that not only affects several key metrics such as performance, WCET estimates, energy/power, and reliability, but also the design of complexity-prone cache coherence protocol and cache reliability solutions. In this paper we make an extensive analysis of existing write policies, namely write-through (WT) and write-back (WB). In the context of the real-time domain, we show that no write policy is superior for all metrics: WT simplifies the design of the coherence and reliability solutions at the cost of performance, WCET, and energy; while WB improves performance and energy results, but complicates cache design. To take the best of each policy, we propose Hybrid Write Policy (HWP) a low-complexity hardware mechanism that reconciles the benefits of WT in terms of simplifying the cache design (e.g. coherence solution) and the benefits of WB in improved average performance and WCET estimates as the pressure on the interconnection network increases. Guaranteed performance results show that HWP scales with core count similar to WB. Likewise, HWP reduces cache energy usage of WT, to levels similar to those of WB. These benefits are obtained while retaining the reduced coherence complexity of WT, in contrast to high coherence costs under WB.

Cite as

Pedro Benedicte, Carles Hernandez, Jaume Abella, and Francisco J. Cazorla. HWP: Hardware Support to Reconcile Cache Energy, Complexity, Performance and WCET Estimates in Multicore Real-Time Systems. In 30th Euromicro Conference on Real-Time Systems (ECRTS 2018). Leibniz International Proceedings in Informatics (LIPIcs), Volume 106, pp. 3:1-3:22, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2018)


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@InProceedings{benedicte_et_al:LIPIcs.ECRTS.2018.3,
  author =	{Benedicte, Pedro and Hernandez, Carles and Abella, Jaume and Cazorla, Francisco J.},
  title =	{{HWP: Hardware Support to Reconcile Cache Energy, Complexity, Performance and WCET Estimates in Multicore Real-Time Systems}},
  booktitle =	{30th Euromicro Conference on Real-Time Systems (ECRTS 2018)},
  pages =	{3:1--3:22},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-075-0},
  ISSN =	{1868-8969},
  year =	{2018},
  volume =	{106},
  editor =	{Altmeyer, Sebastian},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2018.3},
  URN =		{urn:nbn:de:0030-drops-90005},
  doi =		{10.4230/LIPIcs.ECRTS.2018.3},
  annote =	{Keywords: multilevel caches, real-time systems, multicores, WCET}
}
Document
Design and Implementation of a Time Predictable Processor: Evaluation With a Space Case Study

Authors: Carles Hernández, Jaume Abella, Francisco J. Cazorla, Alen Bardizbanyan, Jan Andersson, Fabrice Cros, and Franck Wartel

Published in: LIPIcs, Volume 76, 29th Euromicro Conference on Real-Time Systems (ECRTS 2017)


Abstract
Embedded real-time systems like those found in automotive, rail and aerospace, steadily require higher levels of guaranteed computing performance (and hence time predictability) motivated by the increasing number of functionalities provided by software. However, high-performance processor design is driven by the average-performance needs of mainstream market. To make things worse, changing those designs is hard since the embedded real-time market is comparatively a small market. A path to address this mismatch is designing low-complexity hardware features that favor time predictability and can be enabled/disabled not to affect average performance when performance guarantees are not required. In this line, we present the lessons learned designing and implementing LEOPARD, a four-core processor facilitating measurement-based timing analysis (widely used in most domains). LEOPARD has been designed adding low-overhead hardware mechanisms to a LEON3 processor baseline that allow capturing the impact of jittery resources (i.e. with variable latency) in the measurements performed at analysis time. In particular, at core level we handle the jitter of caches, TLBs and variable-latency floating point units; and at the chip level, we deal with contention so that time-composable timing guarantees can be obtained. The result of our applied study with a Space application shows how per-resource jitter is controlled facilitating the computation of high-quality WCET estimates.

Cite as

Carles Hernández, Jaume Abella, Francisco J. Cazorla, Alen Bardizbanyan, Jan Andersson, Fabrice Cros, and Franck Wartel. Design and Implementation of a Time Predictable Processor: Evaluation With a Space Case Study. In 29th Euromicro Conference on Real-Time Systems (ECRTS 2017). Leibniz International Proceedings in Informatics (LIPIcs), Volume 76, pp. 16:1-16:23, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2017)


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@InProceedings{hernandez_et_al:LIPIcs.ECRTS.2017.16,
  author =	{Hern\'{a}ndez, Carles and Abella, Jaume and Cazorla, Francisco J. and Bardizbanyan, Alen and Andersson, Jan and Cros, Fabrice and Wartel, Franck},
  title =	{{Design and Implementation of a Time Predictable Processor: Evaluation With a Space Case Study}},
  booktitle =	{29th Euromicro Conference on Real-Time Systems (ECRTS 2017)},
  pages =	{16:1--16:23},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-037-8},
  ISSN =	{1868-8969},
  year =	{2017},
  volume =	{76},
  editor =	{Bertogna, Marko},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2017.16},
  URN =		{urn:nbn:de:0030-drops-71737},
  doi =		{10.4230/LIPIcs.ECRTS.2017.16},
  annote =	{Keywords: Processor design, performance guarantees, multicore, Industrial case studies, Application of real-time technology in realistic systems}
}
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