... pp. 3 24 . [22 ] Randell, B., System Structure for Software Fault Tolerance, IEEE Transactions on Software Engineering, Vol. SE-1, No. 2, 1975, pp. 22 0 23 2. [23 ] Avizienis, A., On the Implementation ... 2 2 [19]NASA, First Generation 3 1 18 [20 ]KFK, Reactor Trip 1 3 3 [21 ]NASA/RTI, Lau nch Interceptor 1 3 3 [22 ]UCI/UVA, Laun ch Interceptor 1 1 27 [23 ]Halden (PODS), Reactor Trip 2 2 3 [24 ]UCLA, ... of the techniques. 2. 1 Robust Software Although most of the techniques and approaches to software fault tolerance use some form of redundancy, the robust software approach does not. Thesoftware...