A framework to model dependable real-time systems based on real-time object model

Proposes a framework to model fault-tolerant real-time systems consisting of RobustRTOs (Robust Real-Time Objects) and RMOs (Region Monitor real-time Objects). A RobustRTO is an object which is capable of tolerating faults in itself. Many existing fault-tolerant mechanisms, such as RB (recovery blocks) and NVP (N-version programming), are modeled as RobustRTOs. An RMO is an object which is capable of monitoring a set of objects, named regions. The RMO detects any abnormal behavior of the objects within a region, diagnoses the symptoms and performs appropriate recovery and/or reconfiguration. Although the concepts of RobustRTOs and RMOs are introduced based on a real-time object model, we believe they are applicable to the modeling and design of any dependable embedded real-time system.