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rtos    

C Kernel
The C Kernel is a real-time preemptive kernel specially written for embedded applications running on various micro controller environments. Supports x86, 8051, C166, ZiLOG, Fujitsu F2MC-16 Since The C Kernel is written in C it is easy to make new bindings (ports) to other compilers and micro controllers or processors. GNU Lesser GPL License.
preview: http://home.hetnet.nl  

rtos    

Fiasco
Fiasco is a preemptible real-time kernel supporting hard priorities. It uses non-blocking synchronization for its kernel objects. This guarantees priority inheritance and makes sure that runnable high-priority processes never block waiting for lower-priority processes. Supports x86 architecture.
preview: http://os.inf.tu-dresden.de  

rtos    

MaRTE OS - Minimal Real-Time Operating System for Embedded Applications
MaRTE OS is a real-time kernel for embedded applications that follows the Minimal Real-Time POSIX.13 subset. Most of its code is written in Ada with some C and assembler parts. It allows software cross-development of Ada and C applications using the GNU compilers Gnat and Gcc. Supports x86.
preview: http://marte.unican.es  

rtos    

rtmk - real-time microkernel
rtmk is free real-time microkernel developed by Johan Rydberg. It shared alot of ideas with the Mach microkernel developed by CMU in the late 80's and early 90's (project stopped in -94).
preview: http://rtmk.sourceforge.net  

rtos    

S.Ha.R.K. (Soft Hard Real-Time Kernel)
S.Ha.R.K. is a dynamic configurable kernel architecture designed for supporting hard, soft, and non real-time applications with interchangeable scheduling algorithms. The kernel is fully modular in terms of scheduling policies, aperiodic servers, and concurrency control protocols, which typically are not modular in traditional operating systems.
preview: http://shark.sssup.it  

paper    

A Jitter-Free Kernel for Hard Real-Time Systems
The paper presents advanced task management techniques featuring Boolean vectors and bitwise vector operations on kernel data structures in the context of the HARTEXTM hard real-time kernel. These techniques have been consistently applied to all aspects of task management and interaction. Hence, the execution time of system functions no longer depends on the number of tasks involved, resulting in predictable, jitter-free kernel...
preview: http://www.seg.mci.sdu.dk   date: 1/1/2004

paper    

Application Specific Real-Time Microkernel in Hardware
This article demonstrates that a hardware based real-time kernel can keep or increase the performance of a monolithic structured real-time operating system, while improving system modularity.
preview: http://www.mrtc.mdh.se