AUTONOMOUS SYSTEMS ARE ONLY CAPABLE OF EFFECTIVE SELF GOVERNING IF THEY CAN RELIABLY SENSE THEIR OWN FAULTS AND RESPOND TO FAILURES AND UNCERTAIN ENVIRONMENTAL CONDITIONS. WE PROPOSE TO DESIGN A REAL TIME ONBOARD RUNTIME VERIFICATION AND SYSTEM HEALTH MANAGEMENT SHM FRAMEWORK CALLED R2U2 TO CONTINUOUSLY MONITOR ESSENTIAL SYSTEM COMPONENTS SUCH AS SENSORS SOFTWARE AND HARDWARE FOR DETECTION AND DIAGNOSIS OF FAILURES AND VIOLATIONS OF SAFETY OR PERFORMANCE RULES DURING THE MISSION OF AUTONOMOUS SPACE SYSTEMS SUCH AS ROVERS SMALL SATELLITES OR UNMANNED AERIAL SYSTEMS UAS FLYING IN THE SKIES OF OTHER PLANETS. OUR APPROACH TO SHM IS THREE PRONGED PROVIDING: 1. REAL TIME MONITORING OF SOFTWARE AND SIGNALS; 2. SIGNAL ANALYSIS PREPROCESSING AND ADVANCED ON THE FLY TEMPORAL AND BAYESIAN PROBABILISTIC FAULT DIAGNOSIS; 3. AN UNOBTRUSIVE LIGHTWEIGHT LOW POWER REALIZATION THAT IS ADAPTABLE TO THE MULTIPLE PLATFORMS AND ARCHITECTURES OF MODERN SPACE SYSTEMS. OUR HARDWARE IMPLEMENTATION USING FIELD PROGRAMMABLE GATE ARRAYS FPGAS AVOIDS OVERBURDENING LIMITED COMPUTING RESOURCES OR OVERHEAD SOFTWARE INSTRUMENTATION WHILE PROVIDING ABSOLUTE TIMING GUARANTEES. OUR SOFTWARE IMPLEMENTATIONS PROVIDE ALTERNATIVES FOR NATIVE MONITORING AVOIDING BANDWIDTH AND DATA TRANSMISSION CHALLENGES OF HARDWARE. WE COMBINE SOFTWARE AND SENSOR ANALYSIS FOR AUTONOMOUS REASONING AT THE SYSTEM LEVEL. WE PROPOSE A NOVEL APPROACH OF CREATING NO OVERHEAD HARDWARE AND LOW OVERHEAD SOFTWARE IMPLEMENTATIONS OF RESPONSIVE RUNTIME TEMPORAL LOGIC OBSERVERS. TEMPORAL LOGIC OBSERVERS CAN INTUITIVELY AND EFFICIENTLY REASON ABOUT COMPLEX PATTERNS SUCH AS FAULTS THAT OCCUR GRADUALLY OVER TIME. THESE OBSERVERS CAN SERVE AS STAND ALONE SYSTEM MONITORS SENDING OUT AN ALERT WHEN A VIOLATION OF A SAFETY PROPERTY OCCURS OR THEY CAN SERVE IN COMBINATION WITH BAYESIAN NETWORK BASED PROBABILISTIC ANALYSIS FOR ADVANCED SYSTEM HEALTH MANAGEMENT AND REAL TIME DIAGNOSIS. OUR PROPOSED RESEARCH PROGRAM INCLUDES BOTH DEVELOPING THIS NOVEL APPROACH AND DEMONSTRATING ITS CAPABILITIES ON A REPRESENTATIVE SET OF DEMONSTRATION PLATFORMS. R2U2 STANDS FOR RESPONSIVE REALIZABLE UNOBTRUSIVE UNIT; IT IS NAMED AFTER ITS THREE CRUCIAL PROPERTIES THAT ARE CURRENTLY ABSENT FROM STATE OF THE ART SHM CAPABILITIES. RESPONSIVENESS MEANS EVALUATING SYSTEM HEALTH IN REAL TIME WITH PROVABLE TIMING AND PERFORMANCE GUARANTEES. REALIZABILITY INVOLVES BEING ADAPTABLE EXTENSIBLE AND SCALABLE TO MULTIPLE PLATFORMS AND ARCHITECTURES. UNOBTRUSIVENESS REQUIRES R2U2 TO OPERATE WITHOUT ALTERING CRUCIAL PROPERTIES OF THE SYSTEM: FUNCTIONALITY CERTIFIABILITY TIMING OR TOLERANCES FOR SIZE WEIGHT POWER TELEMETRY BANDWIDTH SOFTWARE OVERHEAD. R2U2 IS AN INNOVATIVE LOW TRL FRAMEWORK FOR RUNTIME VERIFICATION AND SYSTEM HEALTH MANAGEMENT OF ADVANCED SPACE SYSTEMS AND SPACE TECHNOLOGIES THAT SPECIFICALLY ADDRESSES THE NEED TO BE ABLE TO DETECT FAULTS DUE TO HARSH ENVIRONMENTS OR OFF NOMINAL CONDITIONS TO ENABLE SELF GOVERNING AND PERFORMING TASKS AUTONOMOUSLY WITHOUT HUMAN INTERVENTION. OUR NEW DESIGN FOR RUNTIME OBSERVERS IS MULTI PLATFORM AND MULTI-ARCHITECTURE TO ADDRESS THE REQUIREMENTS AND CAPABILITIES OF THESE EMBEDDED SYSTEMS. R2U2 USES EXTERNAL SENSOR VALUES FOR GROUND-TRUTH OF SOFTWARE ANALYSIS. THE COMBINATION OF TEMPORAL LOGIC OBSERVERS AND BAYESIAN REASONING OVER BOTH SOFTWARE AND SENSORS ENABLES INTELLIGENT REAL-TIME DIAGNOSIS. IN PRELIMINARY STUDIES WE HAVE SHOWN THAT OUR CONCEPT FOR R2U2 CAN DETECT COMPLEX FAULTS THAT ELUDED TEST ENGINEERS DURING NASA FLIGHT TESTS WHILE OBEYING OUR REQUIREMENTS TO BE RESPONSIVE REALIZABLE AND UNOBTRUSIVE. A FULL SCALE VERSION OF R2U2 WITH OPTIONS FOR HARDWARE- AND SOFTWARE BASED IMPLEMENTATIONS WOULD HAVE TREMENDOUS IMPACT ON THE ABILITY OF AUTONOMOUS SPACE SYSTEMS TO PERFORM REAL TIME SYSTEM-LEVEL REASONING ABOUT THEIR HEALTH.