Quasi-static fault-tolerant scheduling schemes for energy-efficient hard real-time systems

► Quasi-static fault-tolerance task scheduling algorithms consisting of offline components and online components are proposed. ► The algorithms are based on a fault model that considers the effect of DVS on transient fault rate. ► The design of offline components enables the online components to save energy using slack due to uncertainties in fault occurrences. ► The algorithms are validated both under simulation environments and on a reallife hard real-time testbed.