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Re:Toyota's firmware: Bad design and its consequences by WalterBright on Tuesday October 29, 2013 @08:12PM (#6638512)
A couple articles I wrote on the topic:

"Safe Systems from Unreliable Parts"

http://www.drdobbs.com/architecture-and-design/safe-systems-...

"Designing Safe Software Systems"

http://www.drdobbs.com/architecture-and-design/designing-saf...

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