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A real-time system must be monitored in a fashion that does not a ect its deadlines. Current software monitors are intrusive on the observed process. The intrusive e ects of software monitoring can be minimized by the use of idle time that can be identi ed by static analysis methods. A slightly intrusive software monitor that does not violate real-time deadlines can be e ective at observing real-time software without modifying observed behavior.doi:10.1016/s1474-6670(17)39964-0 fatcat:pl3zlpyaxfdp5l3kwrgfdijkh4