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A Metric Interval Temporal Logic (MITL) verification algorithm is presented. It verifies continuous-time signals without relying on high frequency sampling. Instead, it is assumed that collections of over- and under-approximating intervals are available for the times at which the individual atomic propositions hold true for a given signal. These are combined inductively to generate corresponding over- and under-approximations for the specified MITL formula. The gap between the over- and under-approximations reflects timing uncertainty with respect to the signal being verified, thereby providing a quantitative measure of the conservativeness of the algorithm. The verification is exact when the over-approximations for the atomic propositions coincide with the under-approximations. Numerical examples are provided to illustrate.