This paper presents experiences from five industry collaboration projects performed between 2004 - 2009 where solutions for embedded systems trace recording have been developed and evaluated; in four cases for specific industrial systems and in the last case as a generic solution for a commercial real-time operating system, in collaboration with the RTOS company. The experiences includes technical solutions regarding efficient instrumentation and logging, technology transfer issues and evaluation results regarding CPU and RAM overhead. A brief overview of the Tracealyzer tool is also presented, a result of the first project (2004) which still is used by ABB Robotics and now in commercialization.
2010 Runtime Verification Conference, RV 2010; St. Julians; 1 November 2010 through 4 November 2010