Stepwise design of real-time systems

The joint action approach to modeling of reactive systems is presented and augmented with real time. This leads to a stepwise design method where temporal logic of actions can be used for formal reasoning, superposition is the key mechanism for transformations, the advantages of closed-system modularity are utilized, logical properties are addressed before real-time properties, and real-time properties are enforced without any specific assumptions on scheduling. As a result, real-time modeling is made possible already at early stages of specification, and increased insensitivity is achieved with respect to properties imposed by implementation environments