A method to detect hardware and software errors in an embedded system is disclosed. The method includes: detecting or measuring, by a plurality of sensors, an operating state of the embedded system; operating a plurality of replicated computation engines in group synchrony, wherein the plurality of replicated computation engines are replicated instances of a single computation engine and wherein the plurality of replicated computation engines are grouped into one or more groups such that, for each group, each member of the group starts in a same processing logic state and processes same events in the same order; intercepting output of the plurality of sensors and transmitting the output to each replicated computation engine of a group in a defined order; and actuating selected computation engines of the plurality of replicated computation engines and arbitrating between outputs of the selected computation engines.