Deterministic Modeling and Simulation of Fault-Tolerant Real-Time Software

Time redundancy, a fault tolerance mechanism without extra hardware, negatively affects response times while improving fault tolerance. Although real-time scheduling in fault-tolerant systems is a well-studied area, there has not been a deterministic model supporting realistic simulation. To address this gap, we propose deterministic execution models of fault-tolerant real-time software, with a simulation of user software. Our evaluation shows that the proposed execution models deterministically avoid deadline misses of real-time software under failures. Our case study using ROSACE flight control software demonstrates our simulation method with user software.