H: A component-based specification language for heterogeneous applications

This paper presents H, a minimalistic specification language for designing heterogeneous software applications, particularly in the realms of robotics and industria, which takes advantage of a Component-Based Software Engineering (CBSE) approach. H copes with some of the most outstanding characteristics of these systems, like diversity at different levels (hardware platforms, programming languages, programmer skills), network distribution, real time and fault-tolerance. The H specification covers the life-cycle of any heterogeneous application. Its development system offers to the designer and/or builder a set of tools for specifying modules, generating code semiautomatically, debugging, maintenance, and a real time analysis of the system.