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Developing large-scale Distributed Real-time and Embedded (DRE) systems is hard in part due to complex deployment and configuration issues involved in satisfying multiple Quality for Service (QoS) properties, such as real-timeliness and fault tolerance. This paper makes three contributions to the study of deployment and configuration middleware for DRE systems that satisfy multiple QoS properties. First, it describes a novel task allocation algorithm for passively replicated DRE systems to meet their real-time and fault-tolerance QoS properties while consuming significantly less resources.
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