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Temporal logic has been successfully used for modeling and analyzing the behavior of reactive and concurrent systems. Standard temporal logic is inadequate for real-time applications because it only deals with qualitative timing properties. This is overcome by metric temporal logics which offer a uniform logical framework in which both qualitative and quantitative timing properties can be expressed by making use of a parameterized operator of relative temporal realization. In this paper we dealdoi:10.1016/s0304-3975(96)00324-6 fatcat:jtog442npvft7d773fmcjvjnjy