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ChingChih Han, Kang G. Shin, Jian Wu, "A FaultTolerant Scheduling Algorithm for RealTime Periodic Tasks with Possible Software Faults," IEEE Transactions on Computers, vol. 52, no. 3, pp. 362372, March, 2003.  
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@article{ 10.1109/TC.2003.1183950, author = {ChingChih Han and Kang G. Shin and Jian Wu}, title = {A FaultTolerant Scheduling Algorithm for RealTime Periodic Tasks with Possible Software Faults}, journal ={IEEE Transactions on Computers}, volume = {52}, number = {3}, issn = {00189340}, year = {2003}, pages = {362372}, doi = {http://doi.ieeecomputersociety.org/10.1109/TC.2003.1183950}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, }  
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TY  JOUR JO  IEEE Transactions on Computers TI  A FaultTolerant Scheduling Algorithm for RealTime Periodic Tasks with Possible Software Faults IS  3 SN  00189340 SP362 EP372 EPD  362372 A1  ChingChih Han, A1  Kang G. Shin, A1  Jian Wu, PY  2003 KW  Realtime systems KW  deadline mechanisms KW  notification time KW  primary KW  alternate KW  backwardsRM algorithm KW  CAT algorithm KW  EIT algorithm. VL  52 JA  IEEE Transactions on Computers ER   
Abstract—A hard realtime system is usually subject to stringent reliability and timing constraints since failure to produce correct results in a timely manner may lead to a disaster. One way to avoid missing deadlines is to trade the quality of computation results for timeliness and software fault tolerance is often achieved with the use of redundant programs. A deadline mechanism which combines these two methods is proposed to provide software fault tolerance in hard realtime periodic task systems. Specifically, we consider the problem of scheduling a set of realtime periodic tasks each of which has two versions:
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