Skip to main content
Log in

Tools for specifying real-time systems

  • Published:
Real-Time Systems Aims and scope Submit manuscript

Abstract

Tools for formally specifying software for real-time systems have strongly improved their capabilities in recent years. At present, tools have the potential for improving software quality as well as engineers' productivity. Many tools have grown out of languages and methodologies proposed in the early 1970s. In this paper, the evolution and the state of the art of tools for real-time software specification is reported, by analyzing their development over the last 20 years. Specification techniques are classified as operational, descriptive or dual if they have both operational and descriptive capabilities. For each technique reviewed three different aspects are analyzed, that is, power of formalism, tool completeness, and low-level characteristics. The analysis is carried out in a comparative manner; a synthetic comparison is presented in the final discussion where the trend of technology improvement is also analyzed.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Similar content being viewed by others

References

  • Jean-Raymond Abrial. The Specification Language Z: Basic Library. Technical report, Programming Research Group, Oxford University, UK, 1982.

    Google Scholar 

  • G. A. Agha.ACTORS: A Model of Concurrent Computation in Distributed Systems. The MIT Press, Cambridge, Massachusetts, London, 1986.

    Google Scholar 

  • A. J. Alencar and J. A. Goguen. OOZE: An Object Oriented Z Environment. InProc. of European Conference on Object Oriented Programming, ECOOP'91, pages 180–199. Springer Verlag, Lecture Notes in Computer Sciences, LNCS n.512, 1991.

  • M. Alford. A Requirements Engineering Methodology for Real-Time Processing Requirements.IEEE Transactions on Software Engineering, 3(1), Jan. 1977.

  • M. Alford. SREM at the Age of Eight; The Distributed Computing Design System.Computer, April 1985.

  • R. Alur, C. Coucorbertis, and D. Dill. Model-Checking for Real-Time Systems. InProc. of 5th IEEE LICS 90, pages 414–425. IEEE, 1990.

  • R. Alur and T. A. Henzinger. Real Time Logics: complexity and Expressiveness. InProc. of 5th IEEE LICS 90. IEEE, 1990.

  • D. Andrews. VDM Specification Language, Proto-Standard. Technical report, BSI IST/5/50, Leicester University, 1992.

  • ARTIFEX. ARTIFEX User's Manual, ver.3.0. Technical report, ARTIS, Turin, Italy, 1993.

  • B. Auernheimer and R. A. Kemmerer. RT-ASLAN: A Specification Language for Real-Time Systems.IEEE Transactions on Software Engineering, 12(9):879–889, Sept. 1986.

    Google Scholar 

  • M. Baldassari and G. Bruno. PROTOB: an Object Oriented Methodology for Developing Discrete Event Dynamic Systems.Computer Languages, 16(1):39–63, 1991.

    Google Scholar 

  • H. Barringer.A Survey of Verification Techniques for Parallel Programs. Lecture Notes in Computer Science 191, Springer Verlag, New York, 1985.

    Google Scholar 

  • Z. Bavel.Introduction to the Theory of Automata. Reston Publishing Company, Prentice-Hall, Reston, Virginia, 1983.

    Google Scholar 

  • G. Berry and L. Cosserat.The ESTEREL Synchronous Programming Language and Its Mathematical Semantics. Springer Verlag, Lecture Notes in Computer Science, LNCS n.197, 1985.

  • B. Berthomieu and M. Diaz. Modeling and Verification of Time Dependent Systems Using Time Petri Nets.IEEE Transactions on Software Engineering, 17(3):259–273, March 1991.

    Google Scholar 

  • T. E. Bihari and P. Gopinath. Object-Oriented Real-Time Systems: Concepts and Examples.Computer, pages 25–32, Dec. 1992.

  • N. D. Birrel and M. A. Ould.A practical handbook for software development. Cambridge University Press, Cambridge U.K., 1985.

    Google Scholar 

  • G. V. Bochmann, E. Cerny, M. Cagne, C. Jard, A. Leveille, C. Lacaille, M. Maksud, K. S. Raghunathan, and B. Sarikaya. Experience with Formal Specification Using an Extended State Transition Model.IEEE Transactions on Communications, 30(12):2505–2513, Dec. 1982.

    Google Scholar 

  • T. Bolognesi and E. Brinksma. Introduction to the ISO Specification Language LOTOS. In P. H. J. van Eijk and C. A. Vissers, editors,The Formal Description Technique LOTOS, pages 23–71. Elsevier Science Publisher, North-Holland, 1989.

    Google Scholar 

  • T. Bolognesi and E. Brinksma. Introduction to the ISO specification language LOTOS.Computer Networks and ISDN Systems, 14(1):25–29, 1987.

    Google Scholar 

  • T. Bolognesi, E. Najm, and P. A. J. Tilanus. G-LOTOS: a Graphical Language for Concurrent Systems. Technical report, CNR Istituto CNUCE, PISA, Italy, March 15 1993.

    Google Scholar 

  • G. Booch. Object-Oriented Development.IEEE Transactions on Software Engineering, 12(2):211–221, Feb. 1986.

    Google Scholar 

  • G. Booch.Object-Oriented Design with Application. The Benjamin/Cummings Publishing Company, California, USA, 1991.

    Google Scholar 

  • T. L. Booth.Sequential Machines and Automata Theory. John Wiley and Sons, New York, USA, 1967.

    Google Scholar 

  • R. Braek and O. Haugen.Engineering Real Time Systems: An object-oriented methodology using SDL. Prentice hall, New York, London, 1993.

    Google Scholar 

  • P. Brinch-Hansen. The programming language concurrent Pascal.IEEE Transactions on Software Engineering, 1(2):199–207, June 1975.

    Google Scholar 

  • S. D. Brookes. On The Relationship of CCS and CSP. In J. Diaz, editor,Automata, Language and Programming, Proc. of 10th Colloquium, pages 83–96, Barcelona, Spain, July 1983. Springer Verlag, Lecture Notes in Computer Science, LNCS 154.

  • G. Bruno and G. Marchetto. Process-translatable Petri nets for the rapid Prototyping of process control systems.IEEE Transactions on Software Engineering, 12(2):346–357, Feb. 1986.

    Google Scholar 

  • G. Bucci, M. Campanai, P. Nesi, and M. Traversi. An Object-Oriented CASE Tool for Reactive System Specification. InProc. of 6th International Conference on Software Engineering and Its Applications (sponsored by: EC2, CXP, CIGREF, and SEE), Le CNIT, Paris la Defense, France, 15–19 Nov. 1993.

    Google Scholar 

  • G. Bucci, M. Campanai, P. Nesi, and M. Traversi. An Object-Oriented Dual Language for Specifying Reactive Systems. InProc. of IEEE International Conference on Requirements Engineering, ICRE'94, Colorado Spring, Colorado, USA, 18–22 April 1994.

    Google Scholar 

  • G. Bucci, R. Mattolini, and E. Vicario. A Framework for the Development of Distributed Object-Oriented Systems. InProc. of the International Symposium on Automated and Decentralized Systems, ISADS'93, pages 44–51. IEEE Press, Kawasaky, Japan, March 1993.

    Google Scholar 

  • S. Budkowski and P. Dembinski. An Introduction to Estelle: A Specification Language for Distributed Systems.Computer Networks and ISDN Systems, 14(1):3–23, 1987.

    Google Scholar 

  • J.R. Cameron. An Overview of JSD.IEEE Transactions on Software Engineering, 12(2):222–240, Feb. 1986.

    Google Scholar 

  • M. Campanai and P. Nesi. Supporting Object-Oriented Design with Metrics. InProc. of the International Conference on Technology of Object-Oriented languages and Systems, TOOLS Europe '94, Versailles, France, 7–11 March 1994.

  • D. Carrington, D. Duke, R. Duke, P. King, G. Rose, and G. Smith. Object-Z: An Object-Oriented Extension to Z. In S. T. Voung, editor,Formal Description Techniques. Elsevier Science, 1990.

  • P. P. Chen. The Entity Relationship Model — Toward a Unified View of Data.ACM Transactions on Database Systems, 1(1):9, March 1976.

    Google Scholar 

  • Y. Cheon and G. T. Leveson. A Quick Overview of Larch/C++. Technical report, Dept. of Computer Science, Atanasoff Hall Iowa State University, Ames, Iowa 50011-1040, USA, March 1993.

    Google Scholar 

  • P. Coad and E. Yourdon.Object-Oriented Analysis. Yourdon Press, New Jersey, USA, 1991.

    Google Scholar 

  • D. Coleman, F. Hayes, and S. Bear. Introducing Objectcharts or How to Use Statecharts in Object-Oriented Design.IEEE Transactions on Software Engineering, 18(1):9–18, Jan. 1992.

    Google Scholar 

  • B. Cox. Message/Object Programming: an Evolutionary Change in Programming Technology.IEEE Software, 1(1):50–61, 1984.

    Google Scholar 

  • B. Dasarathy. Timing Constraints of Real-Time Systems: Constructs for Expressing Them, Methods of Validating Them.IEEE Transactions on Software Engineering, 11(1):80–86, Jan. 1985.

    Google Scholar 

  • T. DeMarco.Structured Analysis and System Specification. Yourdon Press, Prentice Hall, 1979.

    Google Scholar 

  • J. Dick and J. Loubersac. Integrating Structured and Formal Methods: A Visual Approach to VDM. In A. vanLamsweerde and A. Fuggetta, editors,Proc. of 3rd European Software Engineering Conference, ESEC91, pages 37–59, Milan, Italy, Oct. 1991. Springer Verlag, Lecture Notes in Computer Sciences, LNCS 550.

  • J. Diederich and J. Milton. Object, Message, and Rules in Database Design. In W. Kim and F. H. Lochovsky, editors,Object-Oriented Concepts Databases and Applications, pages 177–198. Addison-Wesley Publishing Company, ACM Press, New York, USA, 1989.

    Google Scholar 

  • E. W. Dijkstra. Co-operating sequential processes. In F. Genuys, editor,Programming Languages, pages 43–112. Academic Press, NY, USA, 1968.

    Google Scholar 

  • M. Dorfman. System and Software Requirements Engineering. In H. Thayer and M. Dorfman, editors,System and Software Requirements Engineering, pages 4–16. IEEE Compute Society Press, Los Alamitos CA, 1990.

    Google Scholar 

  • E. H. H. Dürr and J. vanKatwijk. VDM++: A Formal Specification Language for Object-Oriented Designs. In G. Heeg, B. Mugnusson, and B. Meyer, editors,Proc. of the International Conference on Technology of Object-Oriented Languages and Systems, TOOLS 7, pages 63–78. Prentice-Hall, 1992.

  • H. Ehrig and B. Mahr.Fundamentals of Algebraic Specification - 1. Springer Verlag, Berlin, 1985.

    Google Scholar 

  • C. A. Ellis and S. J. Gibbs. Active Objects: Realities and Possibilities. In W. Kim and F. H. Lochovsky, editors,Object-Oriented Concepts Databases and Applications, pages 561–572. Addison-Wesley Publishing Company, ACM Press, New York, USA, 1989.

    Google Scholar 

  • E. A. Emerson and J. Y. Halpern. Sometimes and not never revisited: on branching versus linear time temporal logic.Journal of the ACM, 33(1), Jan. 1986.

  • V. Encontre, E. Delboulbe, P. Gabaud, P. Leblanc, and A. Baussalem. Combining Services, Message Sequence Charts and SDL: Formalism Methods and Tools. Technical report, Verilog, 1990.

  • Excelerator. User Manual, Ver.1.2. Technical report, Index Technology Corporation, Cambridge Massachusetts, USA, 1986.

    Google Scholar 

  • M. Felder, D. Mandrioli, and A. Morzenti. Proving Properties of Real-Time Systems Through Logical Specifications and Petri Net Models. Technical report, Politecnico di Milano, Dipartimento di Elettronica e Informazione, 91-072, Piazza Leonardo da Vinci 32, Milano, Italy, 1991.

  • B. Fields and M. Elvang-Goransson. A VDM Case Study in mural.IEEE Transactions on Software Engineering, 18(4):279–295, April 1992.

    Google Scholar 

  • A. Forin. Real-Time, UNIX and Mach. Technical report, School of Computer Science, Carnegie Mellon University, Pittsburg, Pa 15213, USA, 1992.

    Google Scholar 

  • A. Gabrielian and M. K. Franklin. Multilevel Specification of Real-Time Systems.Communications of the ACM, 34(5):50–60, May 1991.

    Google Scholar 

  • S. J. Garland, J. V. Guttag, and J. J. Horning. Debugging Larch Shared Language Specifications.IEEE Transactions on Software Engineering, 16(9):1044–1057, Sept. 1990.

    Google Scholar 

  • GEODE. AGE/GEODE Editor, User's Manual, ver.1.4. Technical report, Verilog, avenue Artistide Briand, 52, 92220 Bagneaux, France, 1992.

  • R. Gerber and I. Lee. Communicating Shared Resources: A Model for Distributed Real-Time Systems. InProc. of the IEEE Real-Time Systems Symposium, pages 68–78. IEEE Computer Society Press, Dec. 1989.

  • C. Ghezzi, D. Mandrioli, S. Morasca, and M. Pezze. A Unified High-Level Petri Net Formalism for Time-Critical Systems.IEEE Transactions on Software Engineering, 17(2):160–172, Feb. 1991.

    Google Scholar 

  • C. Ghezzi, D. Mandrioli, and A. Morzenti. TRIO, a logic language for executable specifications of real-time systems.Journal of Systems and Software, 12(2):107–123, May 1990.

    Google Scholar 

  • H. Gomaa. A Software Design Method for Real-Time Systems.Communications of the ACM, 27(9):938–949, Sept. 1984.

    Google Scholar 

  • H. Gomaa. Software Development of Real-Time System.Communications of the ACM, 29(7):657–668, July 1986.

    Google Scholar 

  • H. Gomaa. A Behavioral Analysis and Modeling Method for Real-Time Systems. InInternational Workshop on Real-Time Programming WRTP'92, pages 43–48, Bruges, Belgium, 23–26 June 1992. International Federation of Automatic Control, IFAC International Federation for Information Processing, IFIP Belgian Federation of Automatic Control, IBRA-BIRA.

  • R. Gotzhein. Temporal logic and applications — a tutorial.Computer Networks and ISDN Systems, North-Holland, 24:203–218, 1992.

    Google Scholar 

  • D. Guaspari, C. Marceau, and W. Polak. Formal Verification of ADA Programs.IEEE Transactions on Software Engineering, 16(9):1058–1075, Sept. 1990.

    Google Scholar 

  • J. Guttag. Abstract Data Types and Development of Data Structures.Communications of the ACM, 20(6):396–404, June 1977.

    Google Scholar 

  • J. V. Guttag and J. J. Horning. The Algebraic Specification of Abstract Data Types.ACTA Informatica, 10, 1978.

  • J. V. Guttag, J. J. Horning, and J. M. Wing. The Larch Family of Specification Languages.IEEE Software, pages 24–36, Sept. 1985.

  • A. Hall. Seven Myths of Formal Methods.IEEE Software, 7(5):11–19, Sept. 1990.

    Google Scholar 

  • D. Harel. On Visual Formalism.Communications of the ACM, 31(5):514–530, May 1988.

    Google Scholar 

  • D. Harel, H. Lachover, A. Naamad, A. Pnueli, M. Politi, R. Sherman, A. S. -Trauring, and M. Trakhtenbrot. STATEMATE: A Working Environment for the Development of Complex Reactive Systems.IEEE Transactions on Software Engineering, 16(4):403–414, April 1990.

    Google Scholar 

  • D. Harel, A. Pnueli, J. P. Schmidt, and R. Sherman. On the Formal Semantics of Statecharts. InProc. 2nd IEEE Symposium on Logic in Computer Science, Ithaca, NY, USA, pages 54–64, 22–24 June 1987.

  • D. J. Hatley and I. A. Pirbhai.Strategies for Real Time System Specification. Dorset House Publishing, New York, 1987.

    Google Scholar 

  • C. A. R. Hoare. Towards a Theory of Parallel Programming,. InOperating Systems Techniques, pages 61–71. Academic Press, NY, USA, 1972.

    Google Scholar 

  • C. A. R. Hoare. Communicating Sequential Processes.Communications of the ACM, 21(8):666–677, Aug. 1978.

    Google Scholar 

  • C. A. R. Hoare. A Calculus of Total Correctness for Communicating Processes.Sci. Comput. Program., 1:49–72, 1981.

    Google Scholar 

  • C. A. R. Hoare.Communicating Sequential Processes. Prentice Hall International, NY, USA, 1985.

    Google Scholar 

  • HOOD. An Overview of the HOOD Toolset. Technical report, Software Sciences, 1988.

  • Y. Ishikawa, H. Tokuda, and C. W. Mercer. An Object-Oriented Real-Time Programming Language.Computer, pages 66–73, Oct. 1992.

  • M. A. Jackson.Principle of Program Design. Academic Press, Inc., New York, USA, 1975.

    Google Scholar 

  • M. A. Jackson.System Development. Prentice Hall International, C. A. R. Hoare Series, New York, USA, 1983.

    Google Scholar 

  • R. J. K. Jacob. A State Transition Diagram Language for Visual Programming.Computer, pages 51–59, Aug. 1985.

  • M. S. Jaffe, N. G. Leveson, M. P. E. Heimdhal, and B. E. Melhart. Software Requirements Analysis for Real-Time Process-Control Systems.IEEE Transactions on Software Engineering, 17(3):241–258, March 1991.

    Google Scholar 

  • F. Jahanian and A. K.-L. Mok. Safety Analysis of Timing Properties in Real-Time Systems.IEEE Transactions on Software Engineering, 12(9):890–904, Sept. 1986.

    Google Scholar 

  • S. Jahanian and D. A. Stuart. A Method for Verifying Properties of Modechart Specifications. InProc. of 9th IEEE Real-Time Systems Symposium, pages 12–21, Huntsville, Ala., USA, 1988. IEEE Press.

    Google Scholar 

  • K. Jensen. Coloured Petri nets and the Invariant-Method.Theoret. Comput. Sci., 14:317–336, 1981.

    Google Scholar 

  • K. Jensen. Coulored Petri nets. In W. Brauer, W. Resig, and G. Rozenberg, editors,Advanced in Petri Nets 1986. Springer Verlag, New York, USA, 1987.

    Google Scholar 

  • C. B. Jones.Systematic Software Development Using VDM. Prentice Hall, 1986.

  • R. Koymans, R. K. Shyamasundar, W. P. deRoever, R. Gerth, and A. Arun-Kumar. Compositional Semantics for Real-Time Distributed Computing. InProc. of Logics of Programs Lecture Notes in Computer Sciences, LNCS 193, New York, 1985. Springer Verlag.

    Google Scholar 

  • L. Lamport. A Simple Approach to Specifying Concurrent Systems.Communications of the ACM, 32(1):32–45, Jan. 1989.

    Google Scholar 

  • L. Lamport. Specifying concurrent program modules.ACM Transactions on Programming Languages and Systems, 5(2):190–222, April 1993.

    Google Scholar 

  • K. Lano. Z++, An Object-Oriented Extension to Z. In J. E. Nicholls, editor,Proc. of the 4th Annual Z User Meeting, pages 151–172, Oxford, UK, 1991. Workshop in Computing, Springer Verlag.

  • G. T. Leavens and Y. Cheon. Preliminary Design of Larch/C++. In U. Martin and J. Wing, editors,Proc. of First International Workshop on Larch. Springer Verlag, Workshop in Computer Science Series, 1992.

  • N. Leveson and J. L. Stolzy. Safety Analysis Using Petri Nets.IEEE Transactions on Software Engineering, 13(3):386–397, March 1987.

    Google Scholar 

  • S.-T. Levi and A. K. Agrawala.Real-Time System Design. McGraw-Hill Publishing Company, New York, USA, 1990.

    Google Scholar 

  • B. Liskov and J. Guttag.Abstraction Specification in Program Development. The MIT Press, Cambridge, MS, USA, 1986.

    Google Scholar 

  • B. Liskov, A. Snyder, R. Atkinson, and G. Schaffert. Abstraction Mechanisms in CLU.Communications of the ACM, 20(8):564–576, Aug. 1977.

    Google Scholar 

  • C. L. Liu and J. W. Layland. Scheduling Algorithms for Multiprogramming in a Hard Real-Time Environment.Journal of the ACM, 20(1):46–61, 1973.

    Google Scholar 

  • LOTOSPHERE. User Manual, ESPRIT Project n.2304. Technical report, consortium LOTOSPHERE, 1992.

  • D. Maier and D. S. Warren.Computing with Logic. The Benjamin/Cummings, Inc., Menlo Park, CA, USA, 1988.

    Google Scholar 

  • D. Mandrioli. The Specification of Real-Time Systems: a Logical Object-Oriented Approach. InProc. of the International Conference on Technology of Object-Oriented Languages and Systems, TOOLS'92, 1992.

  • D. Mandrioli. The Object-Oriented Specification of Real-Time Systems. InTutorial Note of the International Conference on Technology of Object-Oriented Languages and Systems, TOOLS Europe '93, Versailles, France, 8–11 March 1993.

  • D. Mandrioli, S. Morasca, and A. Morzenti. Functional test case generation for real-time systems. Technical report, Politecnico di Milano, Dipartimento di Elettronica e Informazione, 91-072, Piazza Leonardo da Vinci 32, Milano, Italy, 1992.

    Google Scholar 

  • M. A. Marsan, G. Balbo, and G. Conte. A class of generalized stochastic Petri nets. InProc. of Performance 83, ACM Sigmetrics, Oct. 1983.

  • J. Martin and J. Odell.Object Oriented Analysis and Design. Prentice-Hall, Englewood Cliffs, New Jersey, USA, 1991.

    Google Scholar 

  • G. H. Mealy. A Method for Sinthesizing Sequential Circuits.BST Journal, 34:1045–1079, 1955.

    Google Scholar 

  • S. R. L. Meira and A. L. C. Cavalcanti. Modular Object Oriented Z Specifications. In J. E. Nicholls, editor,Proc. of the 4th Annual Z User Meeting, pages 173–192, Oxford, UK, 1991. Workshop in Computing, Springer Verlag.

  • P. M. Merlin and D. J. Faber. Recoverability of Communication Protocols Applications of a Theoretical Study.IEEE Transactions on Communications, 24, Sept. 1976.

  • B. Meyer. On Formalism in Specifications.IEEE Software, pages 6–26, Jan. 1985.

  • B. Meyer,Object-Oriented Software Construction. Prentice Hall, C. A. R. Hoare Series, New York, USA, 1988.

    Google Scholar 

  • R. Milner.A Calculus of Communicating Systems. Lecture Notes in Computer Science 92, Springer Verlag, New York, 1980.

    Google Scholar 

  • J. Misra and K. M. Chandy. Proofs of Networks of Processes.IEEE Transactions on Software Engineering, 7:417–426, 1981.

    Google Scholar 

  • M. K. Molloy. Discrete Time Stochastic Petri Nets.IEEE Transactions on Software Engineering, 11(4):417–423, April 1985.

    Google Scholar 

  • D. E. Monarchi and G. I. Puhr. A Research Typology for Object Oriented Analysis and Design.Communications of the ACM, 35(9):35–47, Sept. 1992.

    Google Scholar 

  • A. P. Moore. The Specification and Verified Decomposition of System Requirements Using CSP.IEEE Transactions on Software Engineering, 16(9):932–948, Sept. 1990.

    Google Scholar 

  • E. F. Moore. Gedanken-Experiments on Sequential Machines. InAutomata Studies, Annals of Mathematical Studies, pages 129–153, Preston NJ, USA, 1956. Princeton University Press.

    Google Scholar 

  • T. Murata. Petri Nets: Properties, Analysis and Applications.Proceedings of the IEEE, 77(4):541–580, April 1989.

    Google Scholar 

  • D. R. Musser. Abstract data type specification in the AFFIRM system.IEEE Transactions on Software Engineering, 6(1):24–32, Jan 1980.

    Google Scholar 

  • O. Nierstrasz. A Survey of Object-Oriented Concepts. In W. Kim and F. H. Lochovsky, editors,Object-Oriented Concepts Databases and Applications, pages 3–22. Addison-Wesley Publishing Company, ACM Press, New York, USA, 1989.

    Google Scholar 

  • NorthernTelecom. ObjecTime: Object-Oriented CASE for Real-Time Systems. Technical report, Bell-Northern Telecom, 1993.

  • E.-R. Olderog and C. A. R. Hoare. Specification-Oriented Semantics for Communicating Processes. In J. Diaz, editor,Automata, Language and Programming, Proc. of 10th Colloquium, pages 561–572, Barcelona, Spain, July 1983. Springer Verlag, Lecture Notes in Computer Science, LNCS 154.

    Google Scholar 

  • E. R. Olderog and C. A. R. Hoare. Specification Oriented Semantics for Communicating Sequential Process.ACTA Informatica, 23:9–66, 1986.

    Google Scholar 

  • J. S. Ostroff.Temporal Logic for Real-Time Systems. Research Studies Press LTD., Advanced Software Development Series, 1, Taunton, Somerset, England, 1989.

    Google Scholar 

  • J. S. Ostroff and W. Wonham. Modeling and Verifying Real-Time Embedded Computer Systems. InProc. IEEE Real-Time Systems Symp., pages 124–132. IEEE Computer Society Press, Dec. 1987.

  • J. L. Peterson.Petri Net Theory and the Modeling of Systems. Engelwood Cliffs, Prentice-Hall, NJ, 1981.

    Google Scholar 

  • C. Petri. Kommunikation mit atomation. Technical report, Ph.D. Thesis, Schriften des Reinsh-Westfalischen Inst. Fur Instrumentelle Mathematik an der Universitat Bonn, Bonn, West Germany, 1962.

    Google Scholar 

  • P. Pulli, R. Elmstrom, G. Leon, and J. A. delaPuente. IPTES — Incremental Prototyping Technology for Embedded real-time Systems. InProc. of 1991 ESPRIT Conference, 1991.

  • C. Ramachandani. Analysis of asynchronous concurrent systems by timed Petri nets. Technical report, Massachusetts Inst. Technol. Project MAC, TR. 120, USA, Feb. 1974.

  • C. V. Ramamoorthy and G. S. Ho. Performance evaluation of asynchronous concurrent systems using Petri nets.IEEE Transactions on Software Engineering, 6(5), Sept. 1980.

  • R. R. Razouk and M. M. Gorlick. A Real-Time Interval Logic for Reasoning About Execution of Real-Time Programs. InProc. of ACM/SIGSOFT'89 (TAV3). ACM Press, Dec. 1989.

  • G. Reed and A. Roscoe. A Timed Model for Communicating Sequential Processes. InProc. ICALP'86, pages 314–323. Springer Verlag, Lecture Notes in Computer Sciences, LNCS 226, 1986.

  • W. Reisig.Petri Nets. An introduction. EATCS Monographs on Theoretical Computer Science, Springer Verlag, New York, 1985.

    Google Scholar 

  • D. Richardson, S. L. Aha, and T. O. O'Malley. Specification-based Test Oracles for Reactive Systems. InProc. of 14th International Conference on Software Engineering, pages 105–118, Melbourne, Australia, 11–15 May 1992. IEEE press, ACM.

  • A. Rockstrom and R. Saracco. SDL — CCITT Specification and Description language.IEEE Transactions on Communications, 30(6):1310–1318, June 1982.

    Google Scholar 

  • D. T. Ross and K. E. Schoman. Structured Analysis for Requirements Definition.IEEE Transactions on Software Engineering, 3(1):6–15, Jan. 1977.

    Google Scholar 

  • J. Rumbaugh, M. Blaha, W. Premerlani, F. Eddy, and W. Lorensen.Object-Oriented Modeling and Design. Prentice Hall International, Englewood Cliffs, New Jersey, 1991.

    Google Scholar 

  • B. Sanden. The Case for Eclectic Design of Real-Time Software.IEEE Transaction on Software Engineering, 35(3):360–363, March 1989a.

    Google Scholar 

  • B. Sanden. Entity-Life Modeling and Structured Analysis in Real-Time Software Design — A Comparison.Communications of the ACM, 32(12):1458–1466, Dec. 1989b.

    Google Scholar 

  • B. Sanden. An Entity-Life Modeling Approach to the Design of Concurrent Software.Communications of the ACM, 32(3):330–343, March 1989c.

    Google Scholar 

  • R. Sarraco and P. A. J. Tilanus. CCITT SDL: Overview of the Language and its Applications.Computer Networks and ISDN Systems, 13(2):65–74, 1987.

    Google Scholar 

  • P. A. Scheffer, A. H. StoneIII, and W. E. Rzepka. A Case Study of SREM.Computer, pages 47–54, April 1985.

  • R. L. Schwartz and P. M. Melliar-Smith. From State Machines to Temporal Logic: Specification Methods for Protocol Standards.IEEE Transactions on Communications, 30(12):2486–2496, Dec. 1982.

    Google Scholar 

  • B. Selic. An Efficient Object-Oriented Variation of Statecharts Formalism for Distributed Real-Time Systems. InSubmitted to CHDL'93: IFIP Conference on Hardware Description language and Their Applications, Ottawa, Canada, 26–28 April 1993.

  • B. Selic, G. Gullekson J. McGee, and I. Engelberg. ROOM: An Object-Oriented Methodology for Developing Real-Time Systems. InProc. of 5th International Workshop on Computer-Aided Software Engineering, CASE'92, Montreal, Quebec, Canada, 6–10 July 1992.

  • L. Sha and J. B. Goodenough. Real time Scheduling Theory and Ada.Computer, pages 53–62, April 1990.

  • A. C. Shaw. Communicating Real-Time State Machines.IEEE Transactions on Software Engineering, 18(9):805–816, Sept. 1992.

    Google Scholar 

  • S. Shlaer and S. J. Mellor.Object Oriented Analysis: Modeling the World in Data. Prentice Hall, Englewood Cliffs, New Jersey, USA, 1988.

    Google Scholar 

  • S. Shlaer and S. J. Mellor.Object Life Cycles: Modeling the World in States. Prentice Hall, Englewood Cliffs, New Jersey, USA, 1991.

    Google Scholar 

  • J. Sifakis.Automatic Verification Methods for Finite State Systems, Proc. of the International Workshop Grenoble, France, June 12–14. Springer Verlag, Lecture Notes in Computer Science, LNCS n.407, 1989.

  • J. M. Spivey.The Z Notation — a Reference manual. Prentice-Hall, New York, 1988.

    Google Scholar 

  • J. A. Stankovic. Misconceptions About Real-Time Computing: A Serious Problem for Next-Generation Systems.IEEE Computer, pages 10–19, Oct. 1988.

  • J. A. Stankovic and K. Ramamritham.Advances in Real-Time Systems. IEEE Computer Society Press, Washington, 1992.

    Google Scholar 

  • Statemate. Statemate: The Languages of Statemate. Technical report, i-Logic, Inc., 22 Third Avenue, Burlington, Mass. 01803, USA, 1987.

    Google Scholar 

  • A. D. Stoyenko. The Evolution and State-of-the-Art of Real-Time Languages.Journal of Systems and Software, pages 61–84, April 1992.

  • StP. Software through Pictures: Products and Services Overview. Technical report, Interactive Development Environment, 1991.

  • Bernard A. Sufrin. Formal Methods and the Design of Effective User Interfaces. In M.D. Harrison and A.F. Monk, editors,People and Computers: Designing for Usability. Cambridge University Press, UK, 1986.

    Google Scholar 

  • C. A. Sunshine, D. H. Thompson, R. W. Erickson, S. L. Gerhart, and D. Schwabe. Specification and Verification of Communication Protocols in AFFIRM Using State Transition Models.IEEE Transactions on Software Engineering, 8(5):460–489, Sept. 1982.

    Google Scholar 

  • C. P. Svoboda. Structured Analysis. In H. Thayer and M. Dorfman, editors,System and Software Requirements Engineering, pages 218–237. IEEE Compute Society Press, Los Alamitos CA, 1990.

    Google Scholar 

  • B. Taylor. A Method for Expressing the Functional Requirements of Real-Time Systems. InProc. of 9th IFAC/IFIP Conference of Real-Time Programming, pages 111–120. New York: Pergamon, 1980.

    Google Scholar 

  • Teamwork, User Manuals, Ver. 4.0. Technical report, Teamwork Division of CADRE, Providence, R.I., USA, 1992.

    Google Scholar 

  • H. Thayer and M. Dorfman.System and Software Requirements Engineering. IEEE Compute Society Press, Los Alamitos CA, 1990.

    Google Scholar 

  • H. Tokuda, T. Nakajima, and P. Rao. Real-Time Mach: Towards a Predictable Real-Time System. InProc. Usenix Mach Workshop, pages 1–10, Oct. 1990.

  • I. J. Walker. Requirements of an Object-Oriented Design Method.Software Engineering Journal, pages 102–113, March 1992.

  • P. T. Ward. The Transformation Schema: An Extension of the Data Flow Diagram to Represent Control and Timing.IEEE Transactions on Software Engineering, 12(2):198–210, Feb. 1986.

    Google Scholar 

  • P. T. Ward and S. J. Mellor.Structured Development for Real-time Systems. Prentice Hall, Englewood Cliffs, NJ, USA, 1985.

    Google Scholar 

  • R. R. Willson and B. H. Krogh. Petri Net Tool for the Specification and Analysis of Discrete Controllers.IEEE Transactions on Software Engineering, 16(1):39–50, Jan. 1990.

    Google Scholar 

  • J. M. Wing. Writing Larch Interface language Specifications.ACM Transactions on Programming Languages and Systems, 9(1):1–24, Jan. 1987.

    Google Scholar 

  • J. M. Wing. A Specifier's Introduction for Formal Methods.Computer, pages 8–24, Sept. 1990a.

  • J. M. Wing. Using Larch to Specify Avalon/C++ Objects.IEEE Transactions on Software Engineering, 16(9):1076–1088, Sept. 1990b.

    Google Scholar 

  • R. J. Wirfs-Brock, B. Wilkerson, and L. Winer.Designing Object Oriented Software. Prentice Hall, Englewood Cliffs, N.J., USA, 1990.

    Google Scholar 

  • R. Wirsf-Brock and B. Wilkerson. Object-Oriented Design: a responsibility-driven approach. InProc. OOPSLA'89, pages 71–75, New Orleans, Louisiana., Oct. 1989. SIGPLAN NOT, ACM Press.

  • E. Yourdon and L. L. Constantine.Structured Design: Fundamentals of a Discipline of Computer Program and Systems Design. Prentice-Hall, Englewood Cliffs, New Jersey, USA, 1979.

    Google Scholar 

  • P. Zave. An Operational Approach to Requirements Specification for Embedded Systems.IEEE Transactions on Software Engineering, 8(3):250–269, May 1982.

    Google Scholar 

  • P. Zave. The Operational Versus the Conventional Approach to Software Development.Communications of the ACM, 27(2):104–118, Feb. 1984.

    Google Scholar 

  • P. Zave. A Comparison of the Mayor Approaches to Software Specification and Design. In H. Thayer and M. Dorfman, editors,System and Software Requirements Engineering, pages 197–199. IEEE Compute Society Press, Los Alamitos CA, 1990.

    Google Scholar 

  • P. Zave and W. Schell. Salient Features of an Executable Specification Language and Its Environment.IEEE Transactions on Software Engineering, 12(2):312–325, Feb. 1986.

    Google Scholar 

Download references

Author information

Authors and Affiliations

Authors

Additional information

This work was partially supported by the Italian Research Council, CNR (Consiglio Nazionale delle Ricerche), n. 93.01865.CT12.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Bucci, G., Campanai, M. & Nesi, P. Tools for specifying real-time systems. Real-Time Syst 8, 117–172 (1995). https://doi.org/10.1007/BF01094341

Download citation

  • Issue Date:

  • DOI: https://doi.org/10.1007/BF01094341

Keywords

Navigation