Structured Development for Real-Time Systems: Vol. I: Introduction and ToolsReal time and embedded systems are in widespread use in the modern world. From the microprocessor controller in a camera, through "smart" traffic lights and production control systems, to large defense systems, computer technology is increasingly a part of systems that control and respond to their environments in real time. As the technology has improved, we have come to rely on these systems more and more we have even put our lives in their hands.