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Balasubramanian, J., A. Gokhale, F. Wolf, A. Dubey, C. Lu, C. Gill, and D. C. Schmidt, "{Resource-Aware Deployment and Configuration of Fault-tolerant Real-time Systems}", Proceedings of the 16th IEEE Real-time and Embedded Technology and Applications Symposium (RTAS '10), Stockholm, Sweden, pp. 69–78, 2010.