%T A Systems Re\-engineering Case Study: Programming Robots with occam and Handel\-C
%A Dan Slipper, Alistair A. McEwan
%E Peter H. Welch, Adam T. Sampson, Jan Bækgaard Pedersen, Jon Kerridge, Jan F. Broenink, Frederick R. M. Barnes
%B Communicating Process Architectures 2011
%X This paper introduces a case study exploring some of the
legacy issues that may be faced when redeveloping a system.
The case study is a robotics system programmed in occam and
Handel\-C, allowing us to draw comparisons between software
and hardware implementations in terms of program
architecture, ease of program code verification, and
differences in the behaviour of the robot. The two languages
used have been selected because of their model of
concurrency and their relation to CSP. The case study
contributes evidence that re\-implementing a system from
an abstract model may present implementation specific issues
despite maintaining the same underlying program control
structure. The paper identifies these problems and suggests
a number of steps that could be taken to help mitigate some
of the issues.
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