@inproceedings{kkm2004,
  title = "Fault Tolerance Tradeoffs in Moving from Decentralized to Centralized Embedded System Architectures",
  author = "Morris, Jennifer and Kroening, Daniel and Koopman, Philip",
  year = "2004",
  booktitle = "Proceedings of the 2004 International Conference on Dependable Systems and Networks (DSN 2004)",
  pages = "349--358",
  publisher = "IEEE",
}