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Composing DisCo Specifications Using Generic Real-Time Events --
A Mobile Robot Case Study
Introduction
Methods used to specify real-time control software should enable
the expression of functional, control and real-time requirements. They
should enable multi-disciplinary system development and promote reuse
of specifications. This paper describes a specification of a real-time
control software developed using the DisCo method. DisCo is an
object-oriented action-based method with precise semantics in
logic. The specification is layered and partly reusable. It consists
of functional, control and real-time parts. The real-time part
includes layers which specify generic periodic and aperiodic
events. The control part specifies the control algorithms, and the
functional part the rest of the system. The three parts are specified
using stepwise refinements and combined in a simple way. Although the
specification presented is quite small, the techniques used are
applicable when specifying larger systems with complex real-time
behavior.
For full paper see:
Mika Katara.
Composing DisCo
Specifications Using Generic Real-Time Events - A Mobile Robot Case
Study.
In Jaan Penjam, editor, Software Technology,
Proceedings of the Fenno-Ugric Symposium FUSST'99, pages 75-86,
Sagadi, Estonia, August 1999. Institute of Cybernetics at Tallinn
Technical University (Technical Report CS 104/99).
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