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A comment on Triple-Triple Redundant 777 Primary Flight Computer (1996) [pdf].
http://www.inf.pucrs.br/~zorzo/cs/n-versionprogramming.pdf
https://en.wikipedia.org/wiki/N-version_programming
This is an excellent overview http://www.adelard.com/papers/divchap.pdf in regards to https://appsrv.cse.cuhk.edu.hk/~lyu/book/sft/
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http://www.inf.pucrs.br/~zorzo/cs/n-versionprogramming.pdf
https://en.wikipedia.org/wiki/N-version_programming
This is an excellent overview http://www.adelard.com/papers/divchap.pdf in regards to https://appsrv.cse.cuhk.edu.hk/~lyu/book/sft/