This work is about three subjects: Virtualisation, real-time computing and parallel computing. Taken by itself, each of these subjects has already been wellresearched, however, when considering all three together, as is necessary when looking at embedded systems, numerous questions as well as new possibilities arise. In this work we develop models describing the behaviour and requirements of real-time applications which execute in a hierarchy of processes as they do when running in a virtual machine. Also, the real-time capabilities of existing virtual machines are evaluated and new interfaces for virtualisation of multiprocessor machines which take into account the characteristics of embedded systems"specifically real-time computing" are defined, implemented and tested. This enables safe, secure and efficient coexistence of programs with largely differing time constraints within separate virtual machines on a single, common multiprocessor computer.