Security is an increasing concern for real-time systems (RTS). Over the last decade or so, researchers have demonstrated attacks and defenses aimed at such systems. In this article, we identify, classify and measure the effectiveness of the security research in this domain. We provide a high-level summary [identification] and a taxonomy [classification] of this existing body of work. Furthermore, we carry out an in-depth analysis [measurement] of scheduler-based security techniques — the most common class of real-time security mechanisms. For this purpose, we developed a common metric, “attacker’s burden” , used to measure the effectiveness of (existing as well as future) scheduler-based real-time security measures. This metric, built on the concept of “work factor” [1], is adapted for, and normalized across, various scheduler-based real-time security techniques.

安全性日益成为实时系统 (RTS) 的关注点。在过去十年左右的时间里，研究人员已经展示了针对此类系统的攻击和防御。在本文中，我们识别、分类和衡量该领域安全研究的有效性。我们提供了现有工作的高级摘要[识别]和分类[分类]。此外，我们对基于调度程序的安全技术（最常见的实时安全机制）进行了深入分析[测量]。为此，我们开发了一个通用指标“攻击者负担”，用于衡量（现有以及未来）基于调度程序的实时安全措施的有效性。该指标建立在“工作因素”[1] 概念的基础上，适用于各种基于调度程序的实时安全技术，并对其进行标准化。