<s>
Xenomai	B-Operating_System
is	O
a	O
real-time	O
development	O
software	B-Architecture
framework	I-Architecture
cooperating	O
with	O
the	O
Linux	B-Operating_System
kernel	I-Operating_System
to	O
provide	O
pervasive	O
,	O
interface-agnostic	O
,	O
hard	O
real-time	B-General_Concept
computing	I-General_Concept
support	O
to	O
user	B-Operating_System
space	I-Operating_System
application	B-Application
software	I-Application
seamlessly	O
integrated	O
into	O
the	O
Linux	B-Application
environment	O
.	O
</s>
<s>
The	O
Xenomai	B-Operating_System
project	O
was	O
launched	O
in	O
August	O
2001	O
.	O
</s>
<s>
In	O
2003	O
,	O
it	O
merged	O
with	O
the	O
Real-Time	B-Application
Application	I-Application
Interface	I-Application
(	O
RTAI	B-Application
)	O
project	O
to	O
produce	O
RTAI/fusion	O
,	O
a	O
real-time	O
free	O
software	O
platform	O
for	O
Linux	B-Application
on	O
Xenomai	B-Operating_System
's	O
abstract	O
real-time	B-Operating_System
operating	I-Operating_System
system	I-Operating_System
(	O
RTOS	B-Operating_System
)	O
core	O
.	O
</s>
<s>
Eventually	O
,	O
the	O
RTAI/fusion	O
effort	O
became	O
independent	O
from	O
RTAI	B-Application
in	O
2005	O
as	O
the	O
Xenomai	B-Operating_System
project	O
.	O
</s>
<s>
Xenomai	B-Operating_System
is	O
based	O
on	O
an	O
abstract	O
RTOS	B-Operating_System
core	O
,	O
usable	O
for	O
building	O
any	O
kind	O
of	O
real-time	O
interface	O
,	O
over	O
a	O
nucleus	O
which	O
exports	O
a	O
set	O
of	O
generic	O
RTOS	B-Operating_System
services	O
.	O
</s>
<s>
Any	O
number	O
of	O
RTOS	B-Operating_System
personalities	O
called	O
“	O
skins	O
”	O
can	O
then	O
be	O
built	O
over	O
the	O
nucleus	O
,	O
providing	O
their	O
own	O
specific	O
interface	O
to	O
the	O
applications	O
,	O
by	O
using	O
the	O
services	O
of	O
a	O
single	O
generic	O
core	O
to	O
implement	O
it	O
.	O
</s>
<s>
Many	O
differences	O
exist	O
between	O
Xenomai	B-Operating_System
and	O
RTAI	B-Application
,	O
though	O
both	O
projects	O
share	O
a	O
few	O
ideas	O
and	O
support	O
the	O
RTDM	O
layer	O
.	O
</s>
<s>
While	O
RTAI	B-Application
is	O
focused	O
on	O
lowest	O
technically	O
feasible	O
latencies	O
,	O
Xenomai	B-Operating_System
also	O
considers	O
clean	O
extensibility	O
(	O
RTOS	B-Operating_System
skins	O
)	O
,	O
portability	O
,	O
and	O
maintainability	O
as	O
very	O
important	O
goals	O
.	O
</s>
<s>
Xenomai	B-Operating_System
's	O
path	O
towards	O
Ingo	O
Molnár	O
's	O
PREEMPT_RT	O
support	O
is	O
another	O
major	O
difference	O
compared	O
to	O
RTAI	B-Application
's	O
objectives	O
.	O
</s>
