The spring system: Integrated support for complex real-time systems

The Spring system is a highly integrated collection of software and hardwar e that synergistically operates to provide end-to-end support in building c omplex real-time applications. In this paper, we show how Spring's specific ation language, programming language, software generation system, and opera ting system kernel are applied to build a flexible manufacturing testbed. T he same ingredients have also been used to realize a predictable version of a robot pick and place application used in industry. These applications ar e good examples of complex real-time systems that require flexibility. The goal of this paper is to demonstrate the integrated nature of the system an d the benefits of integration; in particular, the use of reflective informa tion and the value of function and time composition. The lessons learned fr om these applications and the project as a whole are also presented.