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This paper proposes a model based framework for the design of dependable embedded systems. First we define a meta-model to encompass the different concepts to capture fault tolerance. This will be used to derive a UML profile for the specification and the management of the redundancy. Based on this profile, we propose a model library as reusable and composable UML components to construct a fault tolerant infrastructure. As proof of concept, a GPS use case with fault tolerance requirements is evaluated using the proposed framework.