This paper presents a fault tolerant extension to our CAN-CORBA design. The CAN-CORBA is an environment specific CORBA we designed for distributed embedded control systems built on the CAN bus. We extend it for fault tolerance by adopting passive and active replication strategies mandated by the OMG fault tolerant CORBA draft standard. To reduce resource demands of these fault tolerance features, we adopt a state-less passive replication policy and show that it is sufficient for embedded real-time control applications. We give an example CORBA program with its IDL definition to demonstrate the utility of our fault tolerant CAN-CORBA. The newly extended CAN-CORBA clearly reveals that it is feasible to use fault tolerant CORBA in developing distributed embedded systems on real-time networks with severe resource limitations.
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