Last year (2015), a paper called “Don’t Panic: Reverse Debugging of Kernel Drivers” was presented at the ESEC/FSE (European Software Engineering Conference and the ACM SIGSOFT Symposium on the Foundations of Software Engineering) conference. The paper was written by Pavel Dovgalyuk, Denis Dmitriev, and Vladimir Makarov from the Russian Academy of Sciences. It describes a rather interesting approach to Linux kernel device driver debug, using a deterministic variant of Qemu along with record/replay of hardware interactions. I think this is the first published instance of using reverse debugging in a simulator together with real hardware.