Fault tolerance is a means of achieving high dependability for critical and high-availability systems. One of the difficulties in the application of fault tolerance is the lack of support from operating systems and middleware. In particular, for small-scale embedded systems, the introduction of fault tolerance techniques may also have impact on their restricted resources. This book presents an approach to provide fault tolerance support for real-time applications in small-scale embedded systems. The main idea is to integrate a customizable and extendable fault tolerance framework into a real-time operating system, in order to fulfill the needs of a large range of dependable applications. In addition, this book also covers the application of Aspect-Oriented Programming (AOP) to the development of real-time embedded fault-tolerant software.