W. Kenneth Jenkins Bernard A. Schnaufer A. J. Mansen Combined system-level redundancy and modular arithmetic for fault tolerant digital signal processing. 28-35 1993 IEEE Symposium on Computer Arithmetic http://dx.doi.org/10.1109/ARITH.1993.378112 conf/arith/1993 db/conf/arith/arith1993.html#JenkinsSM93