I've just put up local copies of recent papers on dynamic feedback (co-authored; Andrew Baumann has been leading this research):
There's some neat stuff happening in this area - assisted by K42's encapsulated design, we are able to replace components of the operating system while it's running. In contrast to Linux's loadable modules, the components don't need to be fully quiesced before replacement. Andrew managed to update part of K42's memory management code (with an optimised replacement) with minimal disruption to the system.