The correct behavior of real-time applications depends not only on the correctness of the results of computations but also on the times at which these results are produced. As a matter of fact, violations of real-time constraints in embedded systems are the most difficult errors to detect, because they are extremely sensitive both to the patterns of external events stimulating the system and to the timing behavior of the system itself. Clearly, the development of real-time systems requires rigorous methods and tools to reduce development costs and “time-to-market” while guaranteeing the quality of the produced code (in particular, respect of the temporal constraints).