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Embedded systems in safety-critical environments are continuously required todeliver more performance and functionality, while expected to provide verifiedsafety guarantees. Nonetheless, platform-wide software verification (requiredfor safety) is often expensive. Therefore, design methods that enableutilization of components such as real-time operating systems (RTOS), withoutrequiring their correctness to guarantee safety, is necessary.  In this paper, we propose a design approach to deploy safe-by-design embeddedsystems. To attain this goal, we rely on a small core of verified software tohandle faults in applications and RTOS and recover from them while ensuringthat timing constraints of safety-critical tasks are always satisfied. Faultsare detected by monitoring the application timing and fault-recovery isachieved via full platform restart and software reload, enabled by the shortrestart time of embedded systems. Schedulability analysis is used to ensurethat the timing constraints of critical plant control tasks are alwayssatisfied in spite of faults and consequent restarts. We derive schedulabilityresults for four restart-tolerant task models. We use a simulator to evaluateand compare the performance of the considered scheduling models.

Restart-Based Fault-Tolerance: System Design and Schedulability Analysis