Evaluating real-time Java features and performance for real-time embedded systems

This paper provides two contributions to the study of programming languages and middleware for real-time and embedded applications. First, we present the empirical results from applying the RTJPerf benchmarking suite to evaluate the efficiency and predictability of several implementations of the real-time specification for Java (RTSJ). Second, we describe some of the techniques used to develop jRate, which is an open-source ahead-of-time-compiled implementation of RTSJ we are developing. Our results indicate that RTSJ implementations are maturing to the point where they can be applied to a variety of real-time embedded applications.