The Validation and Implementation of Real-Time Robotics Systems Using Cleopatra Object-Oriented Physically-Correct Specifications

The specification of a real-time system is often the result of a process, whereby a conceptual control system is fleshed out as a computer program. To be accurate, this process must preserve important causal and structural properties of the control system. For example, if the control system has multiple functional components operating concurrently, then the process of mapping these components into a computer program executing on a single processor, must ensure that these components do not interact in ways that are physically impossible. In this paper we review our work on CLEOPATRA, an object oriented specification and programming language that restricts expressiveness in a way that allows the specification of only reactive, spontaneous, and causal computation. Unrealistic systems---possessing properties such as infinite capacities or perfect timing---cannot even be specified. We argue that this "ounce of prevention" at the specification level is likely to spare a lot of time and energ..