这些更改提供了完全抢占式内核、线程中断处理程序、高分辨率计时器、优先级继承和健壮的互斥锁（mutex）。
These changes provide a fully preemptible kernel, threaded interrupt handlers, high-resolution timers, priority inheritance, and robust mutexes.
更重要的是，在这种情况下进行振动测试，螺母没有出现松脱现象。这表明即使螺母没有完全扭紧，其自锁效果仍然存在。
What's more, when a vibration test was performed in this condition, no loosening occurred, indicating that a self-locking effect is present even if the nut is not fully tightened.
所有的东西都会迁移到VM类，这个类是完全无锁的。
Everything else was moved to a VM class, which is completely lock-free.
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