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@INPROCEEDINGS{xueliu:516, author = "Xue Liu and Hui Ding and Kihwal Lee and Qixin Wang and Lui Sha", title = "Online {ORTEGA:} An Efficient and Flexible Software Fault Tolerance Architecture for {Real-Time} Control Systems", booktitle = "Proceedings of the 20th Euromicro Conference on Real-Time Systems (ECRTS 2008)", pages = "125--134", year = 2008, note = " "}