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Seamlessly updating software in running systems has recently gained momentum. Dynamically updating the software of real-time embedded systems, however, still poses numerous challenges: such systems must meet hard deadlines, cope with limited resources, and adhere to high safety standards. This paper presents a solution for updating component-based cyclic embedded systems without violating real-time constraints. In particular, it investigates how to identify points in time at which updates can be performed and how to transfer the state of a component to a new version of the same component. The authors also present experimental results to validate the proposed solution.
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