Reworking SML threading and GC for real time systems (paper)

RTMLton: An SML Runtime for Real-Time Systems
in Practical Aspects of Declarative Languages (2020 proceedings).

from the Abstract and Conclusion:

… There has been relatively little progress on adapting more general purpose functional languages for programming embedded and real-time systems. … We focus primarily on the language runtime, re-working the threading subsystem and garbage collector. We provide preliminary results over a radar-based aircraft collision detector ported to SML. … We believe our biggest contribution in this paper is the integration of a real-time suitable garbage collector into a general purpose, functional language [appropriate for real-time systems].