The port-based object is a new software abstraction for designing and implementing
dynamically reconfigurable real-time software. It forms the basis of a programming model …

This paper presents a model and language constructs for expressing timing and
concurrency requirements in distributed real-time programs. Our approach combines an …

We describe our experiences with a real-time multiprocessor operating system, called GEM
(Generalized Executive for Multiprocessor applications) and with an extension to GEM …

This tutorial surveys the state of the art in software design methods for concurrent and real-
time systems. The important concepts of concurrent tasking, fundamental to the design of …

The CHIMERA II programming environment and operating system, which was developed for
implementing real-time robotic systems, is described. The CHIMERA II environment is …

We propose an open architecture for autonomous robot systems, which are aimed at
entertainment applications. In order to achieve system extension and reconfiguration …

Ideally, according to the author, a real-time distributed programming method should be
based on a general high-level style that could be easily accommodated by application …

We describe a new high-level compiler called Integral for designing system interface
modules. The input is a high-level concurrent algorithmic specification that can model …

We seek to make robot programming more efficient by developing a standard abstract
interface for robot hardware, based on familiar techniques from operating systems and …

This paper describes a timed, multithreaded object modeling notation for specifying real-
time, concurrent, and reactive systems. The notation Timed Communicating Object Z (TCOZ) …