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The redundant components' nodes are widely used as design tactic to improve the reliability of complex embedded systems. The challenge is that; the obtained solution might not be sufficient because it demands high cost, and the system might be failed if the predicted cost does not estimated reasonably. Many publications have addressed this area to compose the systems by assembling COTS components only. However, combination of outsourced components and in-house developed components is essential to produce cost effective systems.
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