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Integration of safety-critical tasks with di®erent certi¯cation requirements onto a common hardware platform has become a growing tendency in the design of real-time and embedded systems. In the past decade, great e®orts have been made to develop techniques for handling uncertainties in task worst-case execution time, quality-of-service, and schedulability of mixedcriticality systems. However, few works take fault-tolerance as a design requirement. In this paper, we address the scheduling ofdoi:10.1142/s0218126617500165 fatcat:zymhx5w3pfb75p37vdqm45fcem