TURTLE: A Real-Time UML Profile Supported by a Formal Validation Toolkit

Ludovic Apvrille, Jean-Pierre Courtiat, Christophe Lohr, Pierre de Saqui-Sannes. TURTLE: A Real-Time UML Profile Supported by a Formal Validation Toolkit. IEEE Trans. Software Eng., 30(7):473-487, 2004. [doi]

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