diff --git a/misc/sample_application/image_builder/README.rst b/misc/sample_application/image_builder/README.rst
new file mode 100644
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+:orphan:
+
+ACRN Sample Application Image Builder
+#####################################
+
+This directory contains the scripts to create VM images for ACRN sample
+application.
+
+Prerequisites
+*************
+
+Make sure you have Ubuntu installed with network access on your development
+computer. Then execute the following command to install the prerequisites.
+
+   .. code-block:: bash
+
+      sudo apt install -y kpartx \
+           schroot \
+           mount \
+	   wget \
+	   qemu-utils
+
+Also you'll need the Debian packages of Linux RT kernels built from
+https://github.com/projectacrn/acrn-kernel when (and only when) building a
+real-time VM image. After the kernel is built, copy those Debian packages (whose
+names looks like ``linux-libc-*``, ``linux-headers-*`` and ``linux-image-*``) to
+this directory (i.e. misc/sample_application/image_builder/).
+
+Build images
+************
+
+To build the VM image for graphical HMI, run the following command under this
+directory:
+
+   .. code-block:: bash
+
+      ./create_image.sh hmi-vm
+
+This will generate an image named ``hmi_vm.img`` under the this directory, which
+can be used as the file of a virtio-blk device of a post-launched VM. Installing
+the GNOME desktop system will take some time depending on your network and
+storage speed.
+
+To build the VM image for running real-time applications, run the following
+command under this directory:
+
+   .. code-block:: bash
+
+      ./create_image.sh rt-vm
+
+This will generate an image named ``rt_vm.img`` under the this directory.
diff --git a/misc/sample_application/image_builder/configRTcores.sh b/misc/sample_application/image_builder/configRTcores.sh
new file mode 100644
index 000000000..a29f51957
--- /dev/null
+++ b/misc/sample_application/image_builder/configRTcores.sh
@@ -0,0 +1,25 @@
+#!/bin/bash
+# Copyright (C) 2020-2022 Intel Corporation.
+# SPDX-License-Identifier: BSD-3-Clause
+
+#Move all IRQs to core 0.
+for i in `cat /proc/interrupts | grep '^ *[0-9]*[0-9]:' | awk {'print $1'} | sed 's/:$//' `;
+do
+    echo setting $i to affine for core zero
+    echo 1 > /proc/irq/$i/smp_affinity
+done
+
+#Move all rcu tasks to core 0.
+for i in `pgrep rcu`; do taskset -pc 0 $i; done
+
+#Change realtime attribute of all rcu tasks to SCHED_OTHER and priority 0
+for i in `pgrep rcu`; do chrt -v -o -p 0 $i; done
+
+#Change realtime attribute of all tasks on core 1 to SCHED_OTHER and priority 0
+for i in `pgrep /1`; do chrt -v -o -p 0 $i; done
+
+#Change realtime attribute of all tasks to SCHED_OTHER and priority 0
+for i in `ps -A -o pid`; do chrt -v -o -p 0 $i; done
+
+echo disabling timer migration
+echo 0 > /proc/sys/kernel/timer_migration
diff --git a/misc/sample_application/image_builder/create_image.sh b/misc/sample_application/image_builder/create_image.sh
new file mode 100755
index 000000000..091528c1e
--- /dev/null
+++ b/misc/sample_application/image_builder/create_image.sh
@@ -0,0 +1,202 @@
+#!/bin/bash
+# Copyright (C) 2020-2022 Intel Corporation.
+# SPDX-License-Identifier: BSD-3-Clause
+
+cloud_image=focal-server-cloudimg-amd64.img
+cloud_image_url=https://cloud-images.ubuntu.com/focal/current/focal-server-cloudimg-amd64.img
+hmi_vm_image=hmi_vm.img
+rt_vm_image=rt_vm.img
+rt_kernel=(linux-libc linux-headers linux-image)
+
+vm_type=$1
+if [[ ${vm_type} != "rt-vm" ]] && [[ ${vm_type} != "hmi-vm" ]]; then
+    cat <<EOT
+Usage: $0 <vm_type>
+This script creates VM images based on Ubuntu cloud images.
+
+VM type options:
+  hmi-vm        create a VM with GNOME desktop
+  rt-vm         create a VM with a preempt-RT-patched kernel and real-time test utilities
+EOT
+    exit 1
+fi
+
+########################################
+# Environment checks
+########################################
+
+if [[ ! -d /etc/schroot/chroot.d ]]; then
+    echo "Package schroot is not installed."
+    exit 1
+fi
+
+if [[ ! -d ../build ]]; then
+    echo "Please make the SampleApplication at first."
+    exit 1
+fi
+
+if [ ! -d mnt ]; then
+    mkdir mnt
+fi
+
+########################################
+# Helper functions
+########################################
+
+source logger.sh
+
+########################################
+# Actions defined as functions
+########################################
+
+function check_rt_kernel() {
+    for file in ${rt_kernel[@]}
+    do
+        ls *.deb | grep ${file}
+        if [ $? -eq 1 ]; then
+            echo "RT VM kernel package ${file} is not found."
+            exit
+        fi
+    done
+}
+
+function download_image() {
+    local dest=$1
+    local url=$2
+
+    if [[ -f ${dest} ]]; then
+        print_info "${dest} already exists. Do not redownload."
+    else
+        wget -O ${dest} ${url}
+    fi
+}
+
+function copy_and_enlarge_image() {
+    local source_image=$1
+    local dest_image=$2
+    local size_modifier=$3
+
+    if [[ -f ${dest_image} ]]; then
+        echo -n "${dest_image} already exists! Regenerate the image? (y/N)> "
+        read answer
+        if [[ $answer =~ ^[Yy]$ ]]; then
+            rm ${dest_image}
+        else
+            exit 1
+        fi
+    fi
+
+    qemu-img convert -f qcow2 -O raw ${source_image} ${dest_image} && \
+        qemu-img resize -f raw ${dest_image} ${size_modifier} && \
+        growpart ${dest_image} 1
+}
+
+function resizing_guest_root() {
+    local part_file=$1
+
+    sudo e2fsck -f ${part_file} && \
+        sudo resize2fs ${part_file}
+}
+
+function mount_filesystem() {
+    local part_file=$1
+    local mount_point=$2
+
+    # The symlink /etc/resolv.conf in a fresh cloud image is broken, which will
+    # prevent schroot from working. Touch that linked file to work it around.
+    mkdir -p ${mount_point} && \
+        sudo mount ${part_file} ${mount_point} && \
+        sudo mkdir -p ${mount_point}/run/systemd/resolve/ && \
+        sudo touch ${mount_point}/run/systemd/resolve/stub-resolv.conf
+}
+
+function create_schroot_config() {
+    local mount_point=$1
+    local temp_file=$(mktemp /tmp/acrn-guest.XXXX)
+
+    cat << EOF > ${temp_file}
+[acrn-guest]
+description=Contains ACRN guest root file system.
+type=directory
+directory=${mount_point}
+users=root
+root-groups=root
+profile=desktop
+personality=linux
+preserve-environment=true
+EOF
+
+    sudo mv ${temp_file} /etc/schroot/chroot.d/acrn-guest && \
+        sudo chown root:root /etc/schroot/chroot.d/acrn-guest
+}
+
+function setup_hmi_vm_rootfs() {
+    local mount_point=$1
+
+    sudo cp setup_hmi_vm.sh logger.sh ${mount_point}/ && \
+	sudo cp ../build/userApp ${mount_point}/root && \
+	sudo cp ../build/histapp.py ${mount_point}/root && \
+        sudo schroot -c acrn-guest bash /setup_hmi_vm.sh && \
+        sudo rm ${mount_point}/setup_hmi_vm.sh ${mount_point}/logger.sh
+}
+
+function setup_rt_vm_rootfs() {
+    local mount_point=$1
+
+    sudo cp *.deb ${mount_point}/root && \
+	sudo cp ../build/rtApp ${mount_point}/root && \
+        sudo mkdir ${mount_point}/root/scripts && \
+        sudo cp configRTcores.sh ${mount_point}/root/scripts/ && \
+        sudo cp setup_rt_vm.sh logger.sh ${mount_point}/ && \
+        sudo schroot -c acrn-guest bash /setup_rt_vm.sh && \
+        sudo rm ${mount_point}/setup_rt_vm.sh ${mount_point}/logger.sh
+}
+
+function cleanup() {
+    local mount_point=$1
+    local loop_dev=$2
+
+    sudo umount ${mount_point}
+    sudo rmdir ${mount_point}
+    sudo kpartx -vd /dev/${loop_dev}
+    sudo losetup -vd /dev/${loop_dev}
+    true
+}
+
+########################################
+# Do it!
+########################################
+
+mount_point=$(pwd)/mnt
+if [[ ${vm_type} == "hmi-vm" ]]; then
+    target_image=${hmi_vm_image}
+    size_modifier="+4G"
+elif [[ ${vm_type} == "rt-vm" ]]; then
+    target_image=${rt_vm_image}
+    size_modifier="+1G"
+else
+    echo "Internal error: undefined VM type '${vm_type}'"
+    exit 1
+fi
+
+try_step "Download Ubuntu Focal cloud image" download_image ${cloud_image} ${cloud_image_url}
+if [[ ${vm_type} == "rt-vm" ]]; then
+    try_step "Check availability of RT kernel image" check_rt_kernel
+fi
+try_step "Creating an enlarged copy of ${cloud_image}" copy_and_enlarge_image ${cloud_image} ${target_image} ${size_modifier}
+
+loop_dev=$(sudo kpartx -va ${target_image} 2>&1 | egrep -o -m 1 "loop[0-9]+")
+print_info "Guest image loop-mounted at /dev/${loop_dev}"
+
+try_step "Resizing guest root file system" resizing_guest_root /dev/mapper/${loop_dev}p1
+try_step "Mounting guest root file system at ${mount_point}" mount_filesystem /dev/mapper/${loop_dev}p1 ${mount_point}
+try_step "Preparing schroot configuration" create_schroot_config ${mount_point}
+
+if [[ ${vm_type} == "hmi-vm" ]]; then
+    try_step "Initializing guest root file system for HMI VM" setup_hmi_vm_rootfs ${mount_point}
+else
+    try_step "Initializing guest root file system for RT VM" setup_rt_vm_rootfs ${mount_point}
+fi
+
+do_step  "Cleaning up" cleanup ${mount_point} ${loop_dev}
+print_info "VM image created at ${target_image}."
diff --git a/misc/sample_application/image_builder/logger.sh b/misc/sample_application/image_builder/logger.sh
new file mode 100644
index 000000000..1ec8e359d
--- /dev/null
+++ b/misc/sample_application/image_builder/logger.sh
@@ -0,0 +1,40 @@
+# Copyright (C) 2020-2022 Intel Corporation.
+# SPDX-License-Identifier: BSD-3-Clause
+
+RED="\033[0;31m"
+YELLOW="\033[1;33m"
+GREEN="\033[0;32m"
+NO_COLOR="\033[0m"
+
+has_error=0
+
+function do_step() {
+    local prompt=$1
+    local func=$2
+    shift 2
+
+    echo -e "$(date -Iseconds) ${logger_prefix}${YELLOW}[ Starting ]${NO_COLOR} ${prompt}"
+    if $func $*; then
+        echo -e "$(date -Iseconds) ${logger_prefix}${GREEN}[   Done   ]${NO_COLOR} ${prompt}"
+    else
+        echo -e "$(date -Iseconds) ${logger_prefix}${RED}[  Failed  ]${NO_COLOR} ${prompt}"
+        has_error=1
+    fi
+}
+
+function try_step() {
+    local prompt=$1
+    shift 1
+
+    if [[ ${has_error} != 0 ]]; then
+        echo -e "$(date -Iseconds) ${logger_prefix}${YELLOW}[ Skipped  ]${NO_COLOR} ${prompt}"
+    else
+        do_step "$prompt" $*
+    fi
+}
+
+function print_info() {
+    if [[ ${has_error} == 0 ]]; then
+        echo -e "$(date -Iseconds) ${logger_prefix}${YELLOW}[   Info   ]${NO_COLOR} $*"
+    fi
+}
diff --git a/misc/sample_application/image_builder/setup_hmi_vm.sh b/misc/sample_application/image_builder/setup_hmi_vm.sh
new file mode 100644
index 000000000..b398f87d4
--- /dev/null
+++ b/misc/sample_application/image_builder/setup_hmi_vm.sh
@@ -0,0 +1,42 @@
+#!/bin/bash
+# Copyright (C) 2020-2022 Intel Corporation.
+# SPDX-License-Identifier: BSD-3-Clause
+
+logger_prefix="(hmi-vm-rootfs) "
+source logger.sh
+
+function umount_directory() {
+    target_dir=$1
+    umount -q ${target_dir} || true
+}
+
+function update_package_info() {
+    apt update
+    apt install python3 python3-pip net-tools python3-matplotlib
+    pip3 install flask numpy pandas posix_ipc
+
+}
+
+function install_desktop() {
+    apt install ubuntu-gnome-desktop
+}
+
+function change_root_password() {
+    passwd root
+}
+
+function add_normal_user() {
+    useradd -s /bin/bash -d /home/acrn/ -m -G sudo acrn && \
+        passwd acrn
+}
+
+# Change current working directory to the root to avoid "target is busy" errors
+# on unmounting.
+cd /
+
+try_step "Unmounting /root" umount_directory /root
+try_step "Unmounting /home" umount_directory /home
+try_step "Updating package information" update_package_info
+try_step "Installing GNOME desktop" install_desktop
+try_step "Changing the password of the root user" change_root_password
+try_step "Adding the normal user acrn" add_normal_user
diff --git a/misc/sample_application/image_builder/setup_rt_vm.sh b/misc/sample_application/image_builder/setup_rt_vm.sh
new file mode 100644
index 000000000..3f3c61cc7
--- /dev/null
+++ b/misc/sample_application/image_builder/setup_rt_vm.sh
@@ -0,0 +1,78 @@
+#!/bin/bash
+# Copyright (C) 2020-2022 Intel Corporation.
+# SPDX-License-Identifier: BSD-3-Clause
+
+logger_prefix="(rt-vm-rootfs) "
+source logger.sh
+
+function umount_directory() {
+    target_dir=$1
+    umount -q ${target_dir} || true
+}
+
+function disable_os_prober() {
+    if [[ -f /etc/grub.d/30_os-prober ]]; then
+        mv /etc/grub.d/30_os-prober /etc/grub.d/.30_os-prober
+    fi
+}
+
+function update_package_info() {
+    apt update
+}
+
+function install_tools() {
+    apt install rt-tests
+}
+
+function update_kernel_cmdline() {
+    cat <<EOF >> /etc/default/grub
+
+GRUB_CMDLINE_LINUX="rootwait rootfstype=ext4 console=ttyS0,115200 console=tty0 rw nohpet console=hvc0 no_timer_check ignore_loglevel log_buf_len=16M consoleblank=0 tsc=reliable clocksource=tsc tsc=reliable x2apic_phys processor.max_cstate=0 intel_idle.max_cstate=0 intel_pstate=disable mce=ignore_ce audit=0 isolcpus=nohz,domain,1 nohz_full=1 rcu_nocbs=1 nosoftlockup idle=poll irqaffinity=0 no_ipi_broadcast=1"
+EOF
+}
+
+function install_rt_kernel() {
+    search_dir=$1
+    for file in $(ls -r ${search_dir}/*acrn-kernel-*.deb)
+    do
+        apt install ${file}
+    done
+}
+
+function change_root_password() {
+    passwd root
+}
+
+function disable_services() {
+    services=(systemd-timesyncd.service \
+                  systemd-journald.service \
+                  systemd-journal-flush.service \
+                  serial-getty@ttyS2.service \
+                  apt-daily.service \
+                  apt-daily-upgrade.service)
+    for service in ${services[*]}
+    do
+        systemctl disable ${service}
+        systemctl mask ${service}
+    done
+
+    for timer in $(systemctl list-unit-files | grep -o "^.*\.timer"); do
+        systemctl disable ${timer}
+    done
+
+    apt-get remove unattended-upgrades
+ }
+
+# Change current working directory to the root to avoid "target is busy" errors
+# on unmounting.
+cd /
+
+try_step "Unmounting /root" umount_directory /root
+try_step "Unmounting /home" umount_directory /home
+try_step "Disabling GRUB OS prober" disable_os_prober
+try_step "Updating package information" update_package_info
+try_step "Installing tools" install_tools
+try_step "Updating kernel command line" update_kernel_cmdline
+try_step "Installing RT kernel" install_rt_kernel /root
+try_step "Changing the password of the root user" change_root_password
+try_step "Disabling services that impact real-time performance" disable_services