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Dependability is an important requirement in hard real-time applications due to the potentially catastrophic consequences of failures. In these systems, fault tolerance mechanisms like temporal redundancy are adopted to improve reliability. Most of these types of systems are increasingly moving towards integrating critical and non-critical functionalities on the same platform to, e.g., better utilize resources and further reduce cost, and are commonly deployed in environments where errorsdoi:10.1016/j.procs.2015.01.027 fatcat:7bg76cfnezg7jcgdqkdsorfkwy