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===PSDL===
PSDL is a prototype description language to describe real-time software.<ref>{{cite journal|last=Luqi|author2=Berzins, Yeh |title=A Prototyping Language for Real-Time Software|journal=IEEE Transactions on Software Engineering|date=October 1988|volume=14|issue=10|pages=1409–1423|doi=10.1109/32.6186|hdl=10945/39162 |url=https://calhoun.nps.edu/bitstream/10945/39162/1/inc_Luqi_a_prototyping_1988.pdf}}</ref>
The associated tool set is CAPS (Computer Aided Prototyping System).<ref>{{cite journal|last=Luqi|author2=Ketabchi |title=A Computer-Aided Prototyping System|journal=IEEE Software|date=March 1988|volume=5|issue=2|pages=66–72|doi=10.1109/52.2013|hdl=10945/43616 }}</ref>
Prototyping software systems with hard real-time requirements is challenging because timing constraints introduce implementation and hardware dependencies.
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