ICFP '97 Proceedings of the second ACM SIGPLAN international conference on Functional programming
Proof, language, and interaction
Efficient compilation of ESTEREL for real-time embedded systems
CASES '00 Proceedings of the 2000 international conference on Compilers, architecture, and synthesis for embedded systems
Toward a discipline of real-time programming
Communications of the ACM
Synchronous Programming of Reactive Systems
Synchronous Programming of Reactive Systems
Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications
Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications
Real-Time Systems and Programming Languages: ADA 95, Real-Time Java, and Real-Time POSIX
Real-Time Systems and Programming Languages: ADA 95, Real-Time Java, and Real-Time POSIX
Giotto: A Time-Triggered Language for Embedded Programming
EMSOFT '01 Proceedings of the First International Workshop on Embedded Software
Reliable and Precise WCET Determination for a Real-Life Processor
EMSOFT '01 Proceedings of the First International Workshop on Embedded Software
Ensuring code safety without runtime checks for real-time control systems
CASES '02 Proceedings of the 2002 international conference on Compilers, architecture, and synthesis for embedded systems
A Giotto-Based Helicopter Control System
EMSOFT '02 Proceedings of the Second International Conference on Embedded Software
Time-Safety Checking for Embedded Programs
EMSOFT '02 Proceedings of the Second International Conference on Embedded Software
From Models to Code: The Missing Link in Embedded Software
HSCC '02 Proceedings of the 5th International Workshop on Hybrid Systems: Computation and Control
Principles of Real-Time Programming
EMSOFT '02 Proceedings of the Second International Conference on Embedded Software
Generating embedded software from hierarchical hybrid models
Proceedings of the 2003 ACM SIGPLAN conference on Language, compiler, and tool for embedded systems
A typed assembly language for real-time programs
Proceedings of the 4th ACM international conference on Embedded software
A programmable microkernel for real-time systems
Proceedings of the 1st ACM/USENIX international conference on Virtual execution environments
Composable code generation for distributed giotto
LCTES '05 Proceedings of the 2005 ACM SIGPLAN/SIGBED conference on Languages, compilers, and tools for embedded systems
Transparent distribution of real-time components based on logical execution time
LCTES '05 Proceedings of the 2005 ACM SIGPLAN/SIGBED conference on Languages, compilers, and tools for embedded systems
Real-time component integration based on transparent distribution
SEAS '05 Proceedings of the second international workshop on Software engineering for automotive systems
An overview of embedded system design education at berkeley
ACM Transactions on Embedded Computing Systems (TECS)
Embedded system education: a new paradigm for engineering schools?
ACM SIGBED Review - Special issue: The first workshop on embedded system education (WESE)
Resource virtualization in real-time CORBA middleware
CODES+ISSS '06 Proceedings of the 4th international conference on Hardware/software codesign and system synthesis
A hierarchical coordination language for interacting real-time tasks
EMSOFT '06 Proceedings of the 6th ACM & IEEE International conference on Embedded software
Dispatch sequences for embedded control models
Journal of Computer and System Sciences
Java takes flight: time-portable real-time programming with exotasks
Proceedings of the 2007 ACM SIGPLAN/SIGBED conference on Languages, compilers, and tools for embedded systems
Analyzing the real-time behaviour of deeply embedded event driven systems
Proceedings of the 2007 ACM SIGPLAN/SIGBED conference on Languages, compilers, and tools for embedded systems
A Verifiable Language for Programming Real-Time Communication Schedules
IEEE Transactions on Computers
RTComposer: a framework for real-time components with scheduling interfaces
EMSOFT '08 Proceedings of the 8th ACM international conference on Embedded software
Analyzing Real-Time Event-Driven Programs
FORMATS '09 Proceedings of the 7th International Conference on Formal Modeling and Analysis of Timed Systems
Case Study: Model Transformations for Time-triggered Languages
Electronic Notes in Theoretical Computer Science (ENTCS)
Modeling and simulation of TDL applications
MBEERTS'07 Proceedings of the 2007 International Dagstuhl conference on Model-based engineering of embedded real-time systems
A processor extension for cycle-accurate real-time software
EUC'06 Proceedings of the 2006 international conference on Embedded and Ubiquitous Computing
Simulation of LET models in simulink and ptolemy
Monterey'08 Proceedings of the 15th Monterey conference on Foundations of Computer Software: future Trends and Techniques for Development
Simulating real-time software components based on logical execution time
SCSC '09 Proceedings of the 2009 Summer Computer Simulation Conference
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The Embedded Machine is a virtual machine that mediates in real time the interaction between software processes and physical processes. It separates the compilation of embedded programs into two phases. The first, platform-independent compiler phase generates E code (code executed by the Embedded Machine), which supervises the timing ---not the scheduling--- of application tasks relative to external events, such as clock ticks and sensor interrupts. E~code is portable and exhibits, given an input behavior, predictable (i.e., deterministic) timing and output behavior. The second, platform-dependent compiler phase checks the time safety of the E code, that is, whether platform performance (determined by the hardware) and platform utilization (determined by the scheduler of the operating system) enable its timely execution. We have used the Embedded Machine to compile and execute high-performance control applications written in Giotto, such as the flight control system of an autonomous model helicopter.