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10 The state-space (reachability graph) of the models from Figs. 6 • when “AC2” message arrives to the target sub-model (in the behaviorally equivalent model, this is specified by the occurrence of event “IEAC2”), the transition “T2” fires (if enabled); • when transition “T3” fires, one message is sent through the asynchronouschannel “AC3”; 36 3 Development of Distributed Embedded Controllers • when the “AC3” message arrives to the target component (in the behaviorally equivalent model, the event “IEAC3” occurs), one message is sent through the asynchronous-channel “AC4” (in the behaviorally equivalent model one token is inserted in place “PAC4”) because transition “T8” is disabled; • however, if transition “T8” was enabled, then a message would be sent through the asynchronous-channel “AC5” instead of “AC4”.

This provides high flexibility in the implementation phase, enabling the creation of several heterogeneous prototypes (using a single global model), test them, and select the most suited one (for instance, the one that provides the desired performance with lower power consumption). Each asynchronous-channel is listening one transition of one sub-model (with a specific time-domain) and based on that sends messages to a set of transitions of another sub-model (with another time-domain). The SimpleAC, which is an improved version of the channel introduced in Moutinho and Gomes (2012a), sends a message to the target sub-model whenever the listened transition (the source transition) fires.

Each zone has three presence detectors (“A”, “B”, and “C”) spaced close together, as illustrated in Fig. 2. Each detector provides a Boolean signal, where the value is one when detecting a vehicle and is zero otherwise. When a vehicle passes in the right direction the following sequence will be generated: 1. 2. 3. 4. 2 The Detection Zone 45 Fig. 2 The detection zone 5. A D 0 and B D 1 and C D 1 6. A D 0 and B D 0 and C D 1 7. A D 0 and B D 0 and C D 0 When a vehicle passes in the wrong direction the generated sequence is the reverse.

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