Modelling the real-time behaviour of machine controls using UML statecharts

Stephan Seidel, Thomas Klotz, Ulrich Donath, Jürgen Haufe. Modelling the real-time behaviour of machine controls using UML statecharts. In Proceedings of 15th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2010, September 13-16, 2010, Bilbao, Spain. pages 1-8, IEEE, 2010. [doi]

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