@TechReport{	  it:2002-020,
  author	= {Tobias Amnell and Elena Fersman and Paul Pettersson and
		  Hongyan Sun and Wang Yi},
  title		= {Code Synthesis for Timed Automata},
  institution	= {Department of Information Technology, Uppsala University},
  department	= {Division of Computer Systems},
  year		= {2002},
  number	= {2002-020},
  month		= may,
  abstract	= {We present a framework for development of real-time
		  embedded systems based on the recently presented model of
		  timed automata extended with real-time tasks. It has been
		  shown previously that design problems such as reachability
		  and schedulability are decidable for the model of timed
		  automata with tasks. In this paper we describe how to
		  automatically synthesise executable code with predictable
		  timing behaviour, which is guaranteed to meet constraints
		  (timing and other) imposed on the design model. To
		  demonstrate the applicability of the framework, implemented
		  in the Times tool, we present a case-study of a well known
		  production cell, built in LEGO and controlled by a Hitachi
		  H8 based LEGO Mindstorm control brick. }
}