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Embedded systems, particularly those with temporal constraints known as real-time systems, are increasingly deployed in every day life. Such systems that interact with the physical world are also referred to as Cyber-Physical Systems (CPS). These systems are common in critical infrastructure from transportation to health care. They impact the life and the environment the authors live in. While security in CPS-based real-time embedded systems has been an afterthought, security aspects are becoming critical as these systems are increasingly networked and exhibit distributed interdependencies. The advancement in their functionality has resulted in more conspicuous interfaces, which can be exploited to attack such systems. Hence, security functionality is becoming a necessary component of embedded real-time design, particularly in the CPS realm.
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