Resources

The Temporal Logic of Reactive and Concurrent Systems: Specification by Zohar Manna and Amir Pnueli. Springer-Verlag, 1992.

Real-Time Object-Oriented Modeling by Bran Selic, Garth Gullekson, Paul T. Ward et. al. John Wiley & Sons, 1994.

Doing Hard Time: Developing Real-Time Systems with UML, Objects, Frameworks and Patterns by Bruce Powel Douglass. Addison-Wesley, 1999.