diff --git a/devicemodel/samples/nuc/launch_xenomai.sh b/devicemodel/samples/nuc/launch_xenomai.sh
new file mode 100755
index 000000000..ae0604022
--- /dev/null
+++ b/devicemodel/samples/nuc/launch_xenomai.sh
@@ -0,0 +1,221 @@
+#!/bin/bash
+# Copyright (C) 2020 Intel Corporation.
+# SPDX-License-Identifier: BSD-3-Clause
+
+# set -x
+
+usage()
+{
+	echo "$0 [-b disk | -f img] [-k kernel.tar.gz] {-n ethernet} {-B mem_size}"
+	echo "   example:"
+	echo "   $0 -b /dev/sdb3 -k ~/linux-4.19.tar.gz -n eth0"
+	echo "   $0 -f clearlinux.img -k ../linux-5.2.tar -n eth0 -B 512M"
+	exit
+}
+
+function get_bdf()
+{
+	IFS=/
+	for dir in $1; do
+	    case $dir in 0000:??:??.?)
+		bdf=$dir;;
+	    esac
+	done
+
+	unset IFS
+	echo $bdf
+}
+
+modprobe pci_stub
+# pci devices for passthru
+dev_opts=
+declare -A passthru_devs
+guest_pci_nr=2
+
+function passthru_pci_devs()
+{
+	for dev in "${passthrus[@]}"
+	do
+		dev_info=$(find /sys/devices/pci* -name $(basename $dev))
+		dev_bdf=$(get_bdf $dev_info)
+		dev_path=$(echo $dev_info | sed "s/$dev_bdf\(.*\)//g")$dev_bdf
+		dev_vendor_id=$(cat $dev_path/vendor | sed 's/0x//g')
+		dev_device_id=$(cat $dev_path/device | sed 's/0x//g')
+		dev_bus=$(echo ${dev_bdf#0000:}|sed "s/:.*//g")
+		dev_dev=$(echo $dev_bdf|sed "s/.*://g"|sed "s/\..*//g")
+		dev_fun=$(echo $dev_bdf|sed "s/.*\.//g")
+		dev_drv=$(lspci -k -s $dev_bdf | grep "Kernel driver in use"|sed "s/.*: //g")
+		dev_passthru_opt="-s $guest_pci_nr,passthru,$dev_bus/$dev_dev/$dev_fun"
+
+		echo "passthrough a pci device:"
+		echo dev_info:$dev_info
+		echo dev_path:$dev_path
+		echo dev_vendor_id:$dev_vendor_id
+		echo dev_device_id:$dev_device_id
+		echo dev_bus:$dev_bus
+		echo dev_dev:$dev_dev
+		echo dev_fun:$dev_fun
+		echo dev_drv:$dev_drv
+		echo dev_passthru_opt:$dev_passthru_opt
+
+		# replace its driver with pci-stub
+		echo "$dev_vendor_id $dev_device_id" > /sys/bus/pci/drivers/pci-stub/new_id
+		echo $dev_bdf > $dev_path/driver/unbind
+		echo $dev_bdf > /sys/bus/pci/drivers/pci-stub/bind
+
+		# add to global options
+		dev_opts="$dev_opts $dev_passthru_opt"
+
+		# register for de-passthrough later
+		passthru_devs[$dev_bdf]=$dev_drv
+
+		# increase virtual pci slot number
+		guest_pci_nr=$(expr $guest_pci_nr + 1)
+	done
+}
+
+function de_passthru_pci_devs()
+{
+	for dev_bdf in "${!passthru_devs[@]}"
+	do
+		echo $dev_bdf > /sys/bus/pci/drivers/pci-stub/unbind
+		echo $dev_bdf > /sys/bus/pci/drivers/${passthru_devs[$dev_bdf]}/bind
+	done
+}
+
+# restore pci device driver on exit
+trap de_passthru_pci_devs EXIT
+
+mem_size=1024M
+eth=
+disk=
+img=
+kernel=
+passthrus=()
+while getopts hn:b:f:k:B: opt
+do
+	case "${opt}" in
+		h)
+			usage;
+			;;
+		n)
+			eth=${OPTARG}
+			passthrus+=($eth)
+			;;
+		b)
+			disk="${OPTARG}"
+			passthrus+=($disk)
+			;;
+		f)
+			img="${OPTARG}"
+			;;
+		k)
+			kernel="${OPTARG}"
+			;;
+		B)
+			mem_size="${OPTARG}"
+			;;
+		?)
+			echo "{OPTARG}"
+			;;
+	esac
+done
+
+if [[ ( -z "${kernel}") || (( -z "${disk}") && ( -z "${img}" )) ]]; then
+    usage; exit 1
+fi
+
+# create a unique tap device for each VM
+if [ -z $eth ];then
+	tap=tap_rtvm
+	tap_exist=$(ip a | grep "$tap" | awk '{print $1}')
+	if [ "$tap_exist"x != "x" ]; then
+		echo "tap device existed, reuse $tap"
+	else
+		ip tuntap add dev $tap mode tap
+		ip link set "$tap" master acrn-br0
+		ip link set dev "$tap" down
+		ip link set dev "$tap" up
+	fi
+
+	dev_opts="$dev_opts -s $guest_pci_nr,virtio-net,$tap"
+	guest_pci_nr=$(expr $guest_pci_nr + 1)
+fi
+
+function launch_hard_rt_vm()
+{
+mkdir -p /mnt
+if [ ! -z $img ]; then
+	# mount virtual disk (assuming the last partition is root)
+	vdisk=$(losetup -f -P --show $img)
+	vdisk_root=$(ls -1 ${vdisk}p* | tail -1)
+	mount $vdisk_root /mnt
+
+	# extract the kernel and install kernel modules
+	bzImage=/mnt/$(tar xzvf $kernel -C /mnt --dereference --exclude=vmlinux* | grep vmlinuz)
+	cp $bzImage /tmp/bzImage.xenomai
+
+	# umount disk
+	umount /mnt
+	losetup -d $vdisk
+
+	# find appropriate root partition information
+	disk_part_nr=$(basename $vdisk_root| sed 's/.*p\([0-9]$\)/\1/')
+	vdisk=/dev/vda$disk_part_nr
+
+	dev_opts="$dev_opts -s $guest_pci_nr,virtio-blk,$img"
+	guest_pci_nr=$(expr $guest_pci_nr + 1)
+elif [ ! -z $disk ];then
+	# mount the physical disk
+	mount $disk /mnt
+
+	# extract the kernel and install kernel modules
+	bzImage=/mnt/$(tar xzvf $kernel -C /mnt --dereference --exclude=vmlinux* | grep vmlinuz)
+	cp $bzImage /tmp/bzImage.xenomai
+
+	# umount disk
+	umount /mnt
+
+	# detect partition information
+	disk_part_nr=$(basename $disk| sed 's/.*\([0-9]$\)/\1/')
+	if grep -q "nvme" "$disk"; then
+    	vdisk=/dev/nvme0n1p$disk_part_nr
+    else
+    	vdisk=/dev/sda$disk_part_nr
+    fi
+fi
+
+passthru_pci_devs
+
+/usr/bin/acrn-dm -A -m $mem_size -s 0:0,hostbridge \
+-k /tmp/bzImage.xenomai \
+-U 495ae2e5-2603-4d64-af76-d4bc5a8ec0e5 \
+--lapic_pt \
+--rtvm \
+--virtio_poll 1000000 \
+-s 1,virtio-console,@stdio:stdio_port \
+$dev_opts \
+-B "root=$vdisk rw rootwait nohpet console=hvc0 consoleblank=0 \
+no_timer_check ignore_loglevel log_buf_len=16M nmi_watchdog=0 nosoftlockup \
+processor.max_cstate=0 intel_idle.max_cstate=0 intel_pstate=disable idle=poll \
+rcu_nocb_poll isolcpus=1 nohz_full=1 rcu_nocbs=1 \
+tsc=reliable x2apic_phys xenomai.supported_cpus=2 irqaffinity=0 mce=off" hard_rtvm
+}
+
+# offline SOS CPUs except BSP before launch UOS
+for i in `ls -d /sys/devices/system/cpu/cpu[1-99]`; do
+        online=`cat $i/online`
+        idx=`echo $i | tr -cd "[1-99]"`
+        echo cpu$idx online=$online
+        if [ "$online" = "1" ]; then
+                echo 0 > $i/online
+                echo $idx > /sys/class/vhm/acrn_vhm/offline_cpu
+        fi
+done
+
+echo 3 > /sys/kernel/debug/dri/0/i915_cache_sharing
+echo 300 > /sys/class/drm/card0/gt_max_freq_mhz
+echo 300 > /sys/class/drm/card0/gt_min_freq_mhz
+echo 300 > /sys/class/drm/card0/gt_boost_freq_mhz
+
+launch_hard_rt_vm