{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T21:06:26Z","timestamp":1777496786279,"version":"3.51.4"},"reference-count":80,"publisher":"Association for Computing Machinery (ACM)","issue":"3","license":[{"start":{"date-parts":[[2023,10,5]],"date-time":"2023-10-05T00:00:00Z","timestamp":1696464000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Comput. Surv."],"published-print":{"date-parts":[[2024,3,31]]},"abstract":"<jats:p>Industrial Automation and Control systems have matured into a stable infrastructure model that has been kept fundamentally unchanged, using discrete embedded systems (such as Programmable Logic Controllers) to implement the first line of sensorization, actuation, and process control and stations and servers providing monitoring, supervision, logging\/database and data-sharing capabilities, among others. More recently, with the emergence of the Industry 4.0 paradigm and the need for more flexibility, there has been a steady trend towards virtualizing some of the automation station\/server components, first by using virtual machines and, more recently, by using container technology. This trend is pushing for better support for real-time requirements on enabling virtualization technologies such as virtual machines and containers.<\/jats:p>\n          <jats:p>This article provides a systematic review on the use of container virtualization in real-time environments such as cyber-physical systems, assessing how existing and emerging technologies can fulfill the associated requirements. Starting by reviewing fundamental concepts related to container technology and real-time requirements, it goes on to present the methodology and results of a systematic study of 37 selected papers covering aspects related to the enforcement of real-time constrains within container hosts and the expected task latency on such environments, as well as an overview of container platforms and orchestration mechanisms for RT systems.<\/jats:p>","DOI":"10.1145\/3617591","type":"journal-article","created":{"date-parts":[[2023,8,26]],"date-time":"2023-08-26T10:35:35Z","timestamp":1693046135000},"page":"1-38","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":53,"title":["Container-based Virtualization for Real-time Industrial Systems\u2014A Systematic Review"],"prefix":"10.1145","volume":"56","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4584-4165","authenticated-orcid":false,"given":"Rui","family":"Queiroz","sequence":"first","affiliation":[{"name":"University of Coimbra, CISUC, Department of Informatics Engineering, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9278-6503","authenticated-orcid":false,"given":"Tiago","family":"Cruz","sequence":"additional","affiliation":[{"name":"University of Coimbra, CISUC, Department of Informatics Engineering, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4616-3473","authenticated-orcid":false,"given":"J\u00e9r\u00f4me","family":"Mendes","sequence":"additional","affiliation":[{"name":"University of Coimbra, CEMMPRE, ISR, ARISE, Department of Mechanical Engineering, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1425-156X","authenticated-orcid":false,"given":"Pedro","family":"Sousa","sequence":"additional","affiliation":[{"name":"Oncontrol Technologies, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5079-8327","authenticated-orcid":false,"given":"Paulo","family":"Sim\u00f5es","sequence":"additional","affiliation":[{"name":"University of Coimbra, CISUC, Department of Informatics Engineering, Portugal"}]}],"member":"320","published-online":{"date-parts":[[2023,10,5]]},"reference":[{"key":"e_1_3_1_2_2","doi-asserted-by":"publisher","DOI":"10.1145\/3373400.3373405"},{"key":"e_1_3_1_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/ETFA45728.2021.9613320"},{"key":"e_1_3_1_4_2","unstructured":"Amazon. 2022. Amazon Elastic Kubernetes Service. Retrieved from https:\/\/aws.amazon.com\/pt\/eks"},{"key":"e_1_3_1_5_2","unstructured":"Balena. 2022. Balena. Retrieved from https:\/\/www.balena.io"},{"key":"e_1_3_1_6_2","doi-asserted-by":"publisher","DOI":"10.4230\/LIPIcs.ECRTS.2022.15"},{"key":"e_1_3_1_7_2","unstructured":"Ltd. Canonical. 2022. What is LXD? Retrieved from https:\/\/linuxcontainers.org\/lxd\/introduction\/"},{"key":"e_1_3_1_8_2","volume-title":"Software Defined Virtualization for Virtual Power Plants","author":"Carvalho Ricardo","year":"2023","unstructured":"Ricardo Carvalho. 2023. Software Defined Virtualization for Virtual Power Plants. Master\u2019s thesis. University of Aveiro, Department of Electronics, Telecommunications and Informatics."},{"key":"e_1_3_1_9_2","doi-asserted-by":"publisher","DOI":"10.1109\/CloudNet55617.2022.9978874"},{"key":"e_1_3_1_10_2","doi-asserted-by":"publisher","DOI":"10.1109\/SPW53761.2021.00043"},{"key":"e_1_3_1_11_2","doi-asserted-by":"publisher","DOI":"10.23919\/DATE.2019.8714888"},{"key":"e_1_3_1_12_2","doi-asserted-by":"publisher","DOI":"10.4230\/LIPIcs.ECRTS.2019.5"},{"key":"e_1_3_1_13_2","doi-asserted-by":"publisher","DOI":"10.1109\/DSN-W.2018.00029"},{"key":"e_1_3_1_14_2","doi-asserted-by":"publisher","DOI":"10.1109\/RTSS.2017.00046"},{"key":"e_1_3_1_15_2","unstructured":"Clarivate. 2022. Web of Science. Retrieved from https:\/\/www.webofscience.com\/"},{"key":"e_1_3_1_16_2","doi-asserted-by":"publisher","DOI":"10.1109\/CLOUD.2018.00135"},{"key":"e_1_3_1_17_2","doi-asserted-by":"publisher","DOI":"10.1109\/EDGE.2019.00036"},{"key":"e_1_3_1_18_2","doi-asserted-by":"publisher","DOI":"10.1109\/ISSREW.2019.00089"},{"key":"e_1_3_1_19_2","unstructured":"Docker. 2022. Container Network Model. Retrieved from https:\/\/docs.docker.com\/network\/"},{"key":"e_1_3_1_20_2","unstructured":"XLAB d.o.o.2023. GitHub - xlab-si\/xopera-opera: xOpera Orchestrator Compliant with TOSCA YAML v1.3 in the making. Retrieved from https:\/\/github.com\/xlab-si\/xopera-opera"},{"key":"e_1_3_1_21_2","doi-asserted-by":"publisher","DOI":"10.2313\/NET-2016-07-1_01"},{"key":"e_1_3_1_22_2","unstructured":"Elsevier. 2022. Science Direct. Retrieved from https:\/\/www.sciencedirect.com"},{"key":"e_1_3_1_23_2","unstructured":"Elsevier. 2022. Scopus. Retrieved from https:\/\/www.scopus.com"},{"key":"e_1_3_1_24_2","doi-asserted-by":"publisher","DOI":"10.3390\/s19204455"},{"key":"e_1_3_1_25_2","volume-title":"Conducting Research Literature Reviews: From the Internet to Paper","author":"Fink Arlene","year":"2020","unstructured":"Arlene Fink. 2020. Conducting Research Literature Reviews: From the Internet to Paper. Sage Publications, Washington."},{"key":"e_1_3_1_26_2","unstructured":"Association for Computing Machinery. 2022. ACM Digital Library. Retrieved from https:\/\/dl.acm.org"},{"key":"e_1_3_1_27_2","unstructured":"Cloud Native Computing Foundation. 2022. Cloud Native Computing Foundation. Retrieved from https:\/\/www.cncf.io\/"},{"key":"e_1_3_1_28_2","unstructured":"Cloud Native Computing Foundation. 2022. Container Network Interface. Retrieved from https:\/\/github.com\/containernetworking\/cni"},{"key":"e_1_3_1_29_2","unstructured":"The Linux Foundation. 2022. Kubernetes. Retrieved from https:\/\/kubernetes.io\/"},{"key":"e_1_3_1_30_2","unstructured":"The Linux Foundation. 2022. Open Container Initiative. Retrieved from https:\/\/opencontainers.org\/"},{"key":"e_1_3_1_31_2","unstructured":"The Linux Foundation. 2022. PREEMPT_RT patch. Retrieved from https:\/\/wiki.linuxfoundation.org\/realtime\/preempt_rt_versions"},{"key":"e_1_3_1_32_2","unstructured":"The Linux Foundation. 2022. The Real Time Linux. Retrieved from https:\/\/wiki.linuxfoundation.org\/realtime\/start"},{"key":"e_1_3_1_33_2","doi-asserted-by":"publisher","DOI":"10.1109\/ETFA.2018.8502496"},{"key":"e_1_3_1_34_2","doi-asserted-by":"publisher","DOI":"10.1109\/SEAA.2016.23"},{"key":"e_1_3_1_35_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.sysarc.2018.03.002"},{"key":"e_1_3_1_36_2","unstructured":"Google. 2022. Google Kubernetes Engine. Retrieved from https:\/\/cloud.google.com\/kubernetes-engine"},{"key":"e_1_3_1_37_2","doi-asserted-by":"publisher","DOI":"10.1109\/ETFA.2018.8502659"},{"key":"e_1_3_1_38_2","doi-asserted-by":"publisher","DOI":"10.1109\/ETFA.2008.4638520"},{"key":"e_1_3_1_39_2","unstructured":"Red Hat. 2022. OpenShift. Retrieved from https:\/\/www.redhat.com\/en\/technologies\/cloud-computing\/openshift"},{"key":"e_1_3_1_40_2","unstructured":"Red Hat. 2022. Red Hat. Retrieved from https:\/\/www.redhat.com\/"},{"key":"e_1_3_1_41_2","doi-asserted-by":"publisher","DOI":"10.1109\/M2VIP.2018.8600827"},{"key":"e_1_3_1_42_2","doi-asserted-by":"publisher","DOI":"10.1002\/sys.21590"},{"key":"e_1_3_1_43_2","doi-asserted-by":"publisher","DOI":"10.1109\/CloudCom.2019.00021"},{"key":"e_1_3_1_44_2","unstructured":"IEC. 2012. IEC 61499-1:2012 Function blocks\u2014Part 1: Architecture. Retrieved from https:\/\/webstore.iec.ch\/publication\/5506"},{"key":"e_1_3_1_45_2","unstructured":"IEEE. 2022. IEEE Xplore. Retrieved from https:\/\/ieeexplore.ieee.org"},{"key":"e_1_3_1_46_2","unstructured":"Docker Inc.2022. Docker. Retrieved from https:\/\/www.docker.com"},{"key":"e_1_3_1_47_2","unstructured":"Open Container Initiative. 2022. Standards Specification. Retrieved from https:\/\/github.com\/opencontainer"},{"key":"e_1_3_1_48_2","doi-asserted-by":"publisher","DOI":"10.1109\/JIOT.2019.2939534"},{"key":"e_1_3_1_49_2","doi-asserted-by":"publisher","DOI":"10.1109\/ISIE.2017.8001413"},{"key":"e_1_3_1_50_2","unstructured":"B. Kitchenham and S. Charters. 2007. Guidelines for performing systematic literature reviews in software engineering. Technical Report EBSE 2007-001 Keele University and Durham University Joint Report."},{"key":"e_1_3_1_51_2","doi-asserted-by":"publisher","DOI":"10.1109\/ETFA46521.2020.9211939"},{"key":"e_1_3_1_52_2","unstructured":"Kubernetes. 2022. Container Runtime Interface. Retrieved from https:\/\/kubernetes.io\/docs\/concepts\/architecture\/cri\/"},{"key":"e_1_3_1_53_2","doi-asserted-by":"publisher","DOI":"10.3390\/s19204405"},{"key":"e_1_3_1_54_2","doi-asserted-by":"publisher","DOI":"10.1109\/AINA.2017.79"},{"key":"e_1_3_1_55_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jclepro.2020.124443"},{"key":"e_1_3_1_56_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSC.2019.2961082"},{"key":"e_1_3_1_57_2","doi-asserted-by":"publisher","DOI":"10.1109\/OJIES.2021.3055901"},{"key":"e_1_3_1_58_2","unstructured":"LXC. 2022. Linux Containers. Retrieved from https:\/\/www.linuxcontainers.org\/"},{"issue":"4","key":"e_1_3_1_59_2","first-page":"193","article-title":"Systematic reviews: What they are, why they are important, and how to get involved","volume":"1","author":"MacKenzie Heather","year":"2012","unstructured":"Heather MacKenzie, Ann Dewey, Amy Drahota, Sally Kilburn, P. Kalra, Carole Fogg, and D. Zachariah. 2012. Systematic reviews: What they are, why they are important, and how to get involved. J. Clinic. Prevent. Cardiol. 1, 4 (Oct. 2012), 193\u2013202.","journal-title":"J. Clinic. Prevent. Cardiol."},{"key":"e_1_3_1_60_2","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2016.7795942"},{"key":"e_1_3_1_61_2","unstructured":"Microsoft. 2022. Azure Container Instances. Retrieved from https:\/\/azure.microsoft.com\/en-us\/products\/container-instances\/"},{"key":"e_1_3_1_62_2","doi-asserted-by":"publisher","DOI":"10.1145\/2851613.2851737"},{"key":"e_1_3_1_63_2","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2017.2704444"},{"key":"e_1_3_1_64_2","unstructured":"Springer Nature. 2022. SpringerLink. Retrieved from https:\/\/link.springer.com\/"},{"key":"e_1_3_1_65_2","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3045563"},{"key":"e_1_3_1_66_2","unstructured":"OASIS Open. 2014. Topology and Orchestration Specification for Cloud Applications Version 1.0 \u2014 docs.oasis-open.org. Retrieved from http:\/\/docs.oasis-open.org\/tosca\/TOSCA\/v1.0\/TOSCA-v1.0.html"},{"key":"e_1_3_1_67_2","unstructured":"The Moby Project. 2022. The Moby Project. Retrieved from https:\/\/mobyproject.org\/"},{"key":"e_1_3_1_68_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.micpro.2023.104848"},{"key":"e_1_3_1_69_2","doi-asserted-by":"publisher","DOI":"10.1145\/3297714"},{"key":"e_1_3_1_70_2","unstructured":"RTAI. 2021. RTAI - The RealTime Application Interface. Retrieved from https:\/\/www.rtai.org\/"},{"key":"e_1_3_1_71_2","unstructured":"RTnet. 2012. RTnet. Retrieved from http:\/\/www.rtnet.org\/"},{"key":"e_1_3_1_72_2","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2022.3156647"},{"key":"e_1_3_1_73_2","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2020.3022843"},{"key":"e_1_3_1_74_2","doi-asserted-by":"publisher","DOI":"10.1109\/INDIN41052.2019.8972165"},{"key":"e_1_3_1_75_2","unstructured":"John Wiley & Sons. 2022. Wiley. Retrieved from https:\/\/onlinelibrary.wiley.com"},{"key":"e_1_3_1_76_2","doi-asserted-by":"publisher","DOI":"10.1109\/ETFA45728.2021.9613685"},{"key":"e_1_3_1_77_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICE.2018.8436369"},{"key":"e_1_3_1_78_2","doi-asserted-by":"publisher","DOI":"10.1109\/COASE.2018.8560546"},{"key":"e_1_3_1_79_2","unstructured":"Xenomai. 2022. Xenomai. Retrieved from https:\/\/source.denx.de\/Xenomai\/xenomai"},{"key":"e_1_3_1_80_2","doi-asserted-by":"publisher","DOI":"10.2174\/2666255813999201012192010"},{"key":"e_1_3_1_81_2","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2018.2851241"}],"container-title":["ACM Computing Surveys"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3617591","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3617591","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T16:45:59Z","timestamp":1750178759000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3617591"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,10,5]]},"references-count":80,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2024,3,31]]}},"alternative-id":["10.1145\/3617591"],"URL":"https:\/\/doi.org\/10.1145\/3617591","relation":{},"ISSN":["0360-0300","1557-7341"],"issn-type":[{"value":"0360-0300","type":"print"},{"value":"1557-7341","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,10,5]]},"assertion":[{"value":"2022-12-19","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2023-08-21","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2023-10-05","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}