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There is an increasing concern about the mitigation of radiation effects in embedded systems. This fact is demanding new flexible design methodologies and tools that allow dealing with design constraints and dependability requirements at the same time. This paper presents a novel proposal to design radiation-tolerant embedded systems combining hardware and software mitigation techniques. A hardening infrastructure, which facilitates the design space exploration and the trade-offs analyses, has been developed to support this fault tolerance co-design approach. The advantages of our proposal are illustrated by means of a case study.