Fine-Grained Runtime Monitoring of Real-Time Embedded Systems

Dynamically ensuring the correctness of the functional behavior of a real-time embedded system is tedious, especially in the autonomous domain. Even though the current real-time task model provides sufficient information to perform basic schedulability tests, it is inadequate to be used in runtime monitoring to assert and guarantee the correctness of a system under hardware/software malfunctions or malicious cyber attacks. In this article, we present a runtime monitoring approach based on a fine-grained model of real-time tasks.