Support for dynamic QoS in the HARTIK kernel

HARTIK (HArd Real-TIme Kernel) is a real-time kernel that was originally developed for supporting complex robot applications and hard real-time control applications in general. However, in the last few years, the kernel has been modified to introduce support for soft real-time and multimedia applications. Major changes include the development of a new service mechanism, which provides the abstraction of temporal protection, and the implementation of a QoS manager that is capable of adapting the reserved resources to the actual tasks´ requirements. In this paper, we report our experience with the new support for dynamic QoS applications, showing how our theoretical solutions have been applied on a real, stable and freely available kernel