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Even though real-time systems have the stringent constraint of completing tasks before their deadlines, many existing real-time operating systems do not implement fault tolerance capabilities. In this paper we summarize fault tolerant real-time scheduling policy for dynamic tasks with ready times and deadlines. Our focus in this paper is the implementation, which includes fault-tolerant scheduling, re-scheduling, and recovery mechanisms in the FT-RT-Mach operating system, a fault-tolerant version of RT-Mach. A realtime train control application is then implemented using the FT-RT-Mach operating system. Copyright  1999 John Wiley & Sons, Ltd.

Fault-Tolerant RT-Mach (FT-RT-Mach) and an Application to Real-Time Train Control