We present R2U2, a novel framework for runtime monitoring of security properties and diagnosing of security threats on-board Unmanned Aerial Systems (UAS). R2U2, implemented in FPGA hardware, is a realtime, Realizable, Responsive, Unobtrusive Unit for runtime system analysis, now including security threat detection. R2U2 is designed to continuously monitor inputs from on-board components such as the GPS, the ground control station, other sensor readings, actuator outputs, and flight software status. By simultaneously monitoring and performing statistical reasoning, attack patterns and post-attack discrepancies in the UAS behavior can be detected. R2U2 uses runtime observer pairs for Linear and Metric Temporal Logics for property monitoring and Bayesian networks for diagnosis of system health during runtime. We discuss the design and implementation that now enables R2U2 to handle security threats and present simulation results of several attack scenarios on the NASA DragonEye UAS.

We present R2U2, a novel framework for runtime monitoring of security properties and diagnosing of security threats on-board Unmanned Aerial Systems (UAS). R2U2, implemented in FPGA hardware, is a real-time, Realizable, Responsive, Unobtrusive Unit for runtime system analysis, now including security threat detection. R2U2 is designed to continuously monitor inputs from on-board components such as the GPS, the ground control station, other sensor readings, actuator outputs, and flight software status. By simultaneously monitoring and performing statistical reasoning, attack patterns and post-attack discrepancies in the UAS behavior can be detected. R2U2 uses runtime observer pairs for Linear and Metric Temporal Logics for property monitoring and Bayesian networks for diagnosis of system health during runtime. We discuss the design and implementation that now enables R2U2 to handle security threats and present simulation results of several attack scenarios on the NASA DragonEye UAS.

We present R2U2 (Realizable, Responsive, Unobtrusive Unit), a hardware-supported tool and framework for the continuous monitoring of safety-critical and embedded cyber-physical systems. With the widespread advent of autonomous systems such as Unmanned Aerial Systems (UAS), satellites, rovers, and cars, real-time, on-board decision making requires unobtrusive monitoring of properties for safety, performance, security, and system health. R2U2 models combine past-time and future-time Metric Temporal Logic, "mission time" Linear Temporal Logic, probabilistic reasoning with Bayesian Networks, and model-based prognostics.The R2U2 monitoring engine can be instantiated as a hardware solution, running on an FPGA, or as a software component. The FPGA realization enables R2U2 to monitor complex cyber-physical systems without any overhead or instrumentation of the flight software. In this tool exhibition report, we present R2U2 and demonstrate applications on system runtime monitoring, diagnostics, software health management, and security monitoring for a UAS. Our tool demonstration uses a hardwarebased processor-in-the-loop "iron-bird" configuration.

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