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This paper presents a real-time primary-backup replication scheme to support fault-tolerant data access in a real-time environment. The main features of the system are fast response to client requests, bounded inconsistency between primary and backup, temporal consistency guarantee for replicated data, and quick recovery from failures. The paper defines external and interobject temporal consistency, the notion of phase variance, and builds a computation model that ensures such consistencies for replicated data deterministically where the underlying communication mechanism provides deterministic message delivery semantics and probabilistically where no such support is available. It also presents an optimization of the system and an analysis of the failover process which includes failover consistency and failure recovery time. An implementation of the proposed scheme is built within the x-kernel architecture on the MK 7.2 microkernel from the Open Group. The results of a detailed performance evaluation of this implementation are also discussed. |
