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This paper presents a formal model for specification, verification, and composition of component based embedded software. The authors describe how components are specified from the syntactical view, functional view, QoS view and synchronization view. The refinement rules for functionality, QoS, and synchronous behavior are defined for the verification purpose. And a lightweight composition method is provided for the purpose of composition. Embedded software is becoming more and more complex, costly and error-prone. All these trends pose an urgent need for advanced embedded software development techniques.
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