How to develop Dual OS in TK1

I have a plan to install dual OS in TK1.
First one is Ubuntu 14.04 and the other is RTOS.
I know that TK1 has 4 cores. So 3 of them are used for Ubuntu. One of them is for RTOS.

I couldn’t find how to develop it.
Would you let me know how to start? Or any instruction?

Thank you in advance for your time.

Hi Jeyong,

We don’t have the experience on developing dual OS at Jetson TK1/TX1, hope someone could share the experience if he did.

Looking forward to hear the update from yon.