Real-time Euclid: a language for reliable real-time systems
IEEE Transactions on Software Engineering - Special issue on reliability and safety in real-time process control
The Spring kernel: a new paradigm for real-time operating systems
ACM SIGOPS Operating Systems Review
Scheduling Periodic Jobs that Allow Imprecise Results
IEEE Transactions on Computers
Time-constrained reactive automata: a novel development methodology for embedded real-time systems
Time-constrained reactive automata: a novel development methodology for embedded real-time systems
The operational versus the conventional approach to software development
Communications of the ACM
Toward a discipline of real-time programming
Communications of the ACM
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The specification of a real-time system is often the result of a process, whereby a conceptual control system is fleshed out as a computer program. To be accurate, this process must preserve important causal and structural properties of the control system. For example, if the control system has multiple functional components operating concurrently, then the process of mapping these components into a computer program executing on a single processor, must ensure that these components do not interact in ways that are physically impossible. In this paper we review our work on CLEOPATRA, an object oriented specification and programming language that restricts expressiveness in a way that allows the specification of only reactive, spontaneous, and causal computation. Unrealistic systems---possessing properties such as infinite capacities or perfect timing---cannot even be specified. We argue that this "ounce of prevention" at the specification level is likely to spare a lot of time and energy in the development cycle---not to mention the elimination of potential hazards that would have gone unnoticed.