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We propose a practical methodology based on modular refinement to design complex systems. The methodology relies on modules with latency-insensitive interfaces so that the refinements can change the timing contract of a module without affecting the overall functional correctness of the system. Such refinements can exacerbate the unit testing problem for modules whose specifications admit a set of output behaviors for the same input (non-determinism), or modules whose input behavior may bedoi:10.1109/memcod.2010.5558626 dblp:conf/memocode/DaveNPA10 fatcat:gnzirgefgjad5dnv5r7beobale