提出了可靠性成本概念，建立了一个基于异构分布式系统实时容错调度模型。
The concept of reliability cost is presented, and a model of real time fault tolerant scheduling based on heterogeneous distributed systems given.
在分布式实时平台上实现了一个简化的构件化分层异构控制软件系统验证方法的可行性和适应性。
A simplified component-oriented hierarchically hybrid control system in a distributed real-time platform is implemented to prove the feasibility and flexibility of our methodology.
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