---
OA_type: closed access
_id: '4526'
abstract:
- lang: eng
  text: 'We designed and implemented a new programming language called Hierarchical
    Timing Language (HTL) for hard realtime systems. Critical timing constraints are
    specified within the language,and ensured by the compiler. Programs in HTL are
    extensible in two dimensions without changing their timing behavior: new program
    modules can be added, and individual program tasks can be refined. The mechanism
    supporting time invariance under parallel composition is that different program
    modules communicate at specified instances of time. Time invariance under refinement
    is achieved by conservative scheduling of the top level. HTL is a coordination
    language, in that individual tasks can be implemented in "foreign" languages.
    As a case study, we present a distributed HTL implementation of an automotive
    steer-by-wire controller.'
article_processing_charge: No
author:
- first_name: Arkadeb
  full_name: Ghosal, Arkadeb
  last_name: Ghosal
- first_name: Thomas A
  full_name: Henzinger, Thomas A
  id: 40876CD8-F248-11E8-B48F-1D18A9856A87
  last_name: Henzinger
  orcid: 0000−0002−2985−7724
- first_name: Daniel
  full_name: Iercan, Daniel
  last_name: Iercan
- first_name: Christoph
  full_name: Kirsch, Christoph
  last_name: Kirsch
- first_name: Alberto
  full_name: Sangiovanni Vincentelli, Alberto
  last_name: Sangiovanni Vincentelli
citation:
  ama: 'Ghosal A, Henzinger TA, Iercan D, Kirsch C, Sangiovanni Vincentelli A. A hierarchical
    coordination language for interacting real-time tasks. In: <i>Proceedings of the
    6th ACM &#38; IEEE International Conference on Embedded Software</i>. ACM; 2006:132-141.
    doi:<a href="https://doi.org/10.1145/1176887.1176907">10.1145/1176887.1176907</a>'
  apa: 'Ghosal, A., Henzinger, T. A., Iercan, D., Kirsch, C., &#38; Sangiovanni Vincentelli,
    A. (2006). A hierarchical coordination language for interacting real-time tasks.
    In <i>Proceedings of the 6th ACM &#38; IEEE International conference on Embedded
    software</i> (pp. 132–141). Seoul, Korea: ACM. <a href="https://doi.org/10.1145/1176887.1176907">https://doi.org/10.1145/1176887.1176907</a>'
  chicago: Ghosal, Arkadeb, Thomas A Henzinger, Daniel Iercan, Christoph Kirsch, and
    Alberto Sangiovanni Vincentelli. “A Hierarchical Coordination Language for Interacting
    Real-Time Tasks.” In <i>Proceedings of the 6th ACM &#38; IEEE International Conference
    on Embedded Software</i>, 132–41. ACM, 2006. <a href="https://doi.org/10.1145/1176887.1176907">https://doi.org/10.1145/1176887.1176907</a>.
  ieee: A. Ghosal, T. A. Henzinger, D. Iercan, C. Kirsch, and A. Sangiovanni Vincentelli,
    “A hierarchical coordination language for interacting real-time tasks,” in <i>Proceedings
    of the 6th ACM &#38; IEEE International conference on Embedded software</i>, Seoul,
    Korea, 2006, pp. 132–141.
  ista: 'Ghosal A, Henzinger TA, Iercan D, Kirsch C, Sangiovanni Vincentelli A. 2006.
    A hierarchical coordination language for interacting real-time tasks. Proceedings
    of the 6th ACM &#38; IEEE International conference on Embedded software. EMSOFT:
    Embedded Software , 132–141.'
  mla: Ghosal, Arkadeb, et al. “A Hierarchical Coordination Language for Interacting
    Real-Time Tasks.” <i>Proceedings of the 6th ACM &#38; IEEE International Conference
    on Embedded Software</i>, ACM, 2006, pp. 132–41, doi:<a href="https://doi.org/10.1145/1176887.1176907">10.1145/1176887.1176907</a>.
  short: A. Ghosal, T.A. Henzinger, D. Iercan, C. Kirsch, A. Sangiovanni Vincentelli,
    in:, Proceedings of the 6th ACM &#38; IEEE International Conference on Embedded
    Software, ACM, 2006, pp. 132–141.
conference:
  end_date: 2006-10-25
  location: Seoul, Korea
  name: 'EMSOFT: Embedded Software '
  start_date: 2006-10-22
date_created: 2018-12-11T12:09:18Z
date_published: 2006-01-01T00:00:00Z
date_updated: 2026-08-21T10:52:09Z
day: '01'
doi: 10.1145/1176887.1176907
extern: '1'
fulldoi: https://doi.org/10.1145/1176887.1176907
language:
- iso: eng
month: '01'
oa_version: None
page: 132 - 141
publication: Proceedings of the 6th ACM & IEEE International conference on Embedded
  software
publication_identifier:
  isbn:
  - '9781595935427'
publication_status: published
publisher: ACM
publist_id: '201'
status: public
title: A hierarchical coordination language for interacting real-time tasks
type: conference
user_id: 317138e5-6ab7-11ef-aa6d-ffef3953e345
year: '2006'
...