Evolution of a distributed, real-time, object-based operating system

In this paper, we discuss the architecture of MK, its salient features and the evolution of MK from its multi-user, timesharing origins. MK targets a much broader class of applications than typical real-time executives so it must provide more sophisticated functionality than the typical real-time OS (RTOS). In addition to standard features such as pre-emptive scheduling and resource partitioning, MK is designed as a multi-level collection of frameworks that separate mechanisms from policies at each level of abstraction and enable mission specific customization. MK also provides innovative kernel abstractions such as trans-node, migrating threads and "paths", which greatly enhance both the "composibility" of the system and its ability to support a variety of end-to-end Qualities of Services.