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Tools for formally specifying software for real-time systems have strongly improved their capabilities in recent years. At present, tools have the potential for improving software quality as well as engineers' productivity. Many tools have grown out of languages and methodologies proposed in the early 1970s. In this paper, the evolution and the state of the art of tools for real-time software specification is reported, by analyzing their development over the last 20 years. Specificationdoi:10.1007/bf01094341 fatcat:wmjlzjkegbb2bgi7twtlxffqnq