“…For instance, two-time-redundancy, which is similar to DMR, allows the failure detection in one of two execution times and three-timeredundancy, which is similar to TMR allows the correction of an incorrect output according to majority voting. Unlike hardware redundancy [28][29][30], time redundancy [31,32] involves an affordable hardware overhead but incurs a performance penalty. Examples of hardware [28][29][30] and time [31,32] redundancy methods to detect undesirable faults are shown in Figures 2 and 3, respectively.…”