Analysis of real-time distributed systems: a case study [of robot juggling system]

Petri nets as a formalized analytic model for real-time specifications are used in a case study of a robot juggling system. The analysis reveals that it is hard to detect delays due to synchronization and resource contention. The analysis of the system as a whole can be obtained through the analysis of subsystems in a hierarchical manner. The case study shows how a complex system can be efficiently analyzed using existing Petri net analysis software packages