Dependable onboard computer systems with a new method-stepwise negotiating voting. - Nobuyasu Kanekawa; Hideo Maejima; Hatsuhiko Kato; Hirokazu Ihara (FTCS, 1989)

Fault-tolerant computer system with stepwise negotiating voting. - Nobuyasu Kanekawa; Hideo Maejima; Hatsuhiko Kato; Hirokazu Ihara (Syst. Comput. Jpn., 1991)