<?xml version='1.0' encoding='utf-8'?><!DOCTYPE nta PUBLIC '-//Uppaal Team//DTD Flat System 1.0//EN' 'http://www.docs.uu.se/docs/rtmv/uppaal/xml/flat-1_0.dtd'><nta><declaration>//Insert declarations of global clocks, variables, constants and channels.


const int eps=10;         // must be &lt;= rhoBar/2
const int kappa=80;      // must be &gt;= xi2-rhoBar

const int xi1=50,xi2=100;

const int rhoPrime = 130; // must be less than xi1+xi2
const int rhoBar=20;      // must be &gt;0 and &lt;xi2 and &lt; xi1+xi2-rhoPrime

const int E=0;
const int A=1;
const int Cr=2;

int[0,2] Track=E, T_P;

const int O:=90;
const int Cl:=0;

int[0,90] g=O;

clock x,y,z,c1,c2;

chan step;</declaration><template><name x="5" y="5">A_IN</name><declaration>//Insert local declarations of clocks, variables and constants.
</declaration><location id="id0" x="24" y="-152"></location><location id="id1" x="-216" y="-152"><committed/></location><init ref="id1"/><transition><source ref="id0"/><target ref="id1"/><label kind="assignment" x="-168" y="-16">Track:=Cr, x:=0</label><nail x="-64" y="-16"/><nail x="-128" y="-16"/><nail x="-168" y="-16"/></transition><transition><source ref="id0"/><target ref="id1"/><label kind="assignment" x="-168" y="-64">Track:=A, x:=0</label><nail x="-64" y="-72"/><nail x="-168" y="-72"/></transition><transition><source ref="id0"/><target ref="id1"/><label kind="assignment" x="-168" y="-120">Track:=E, x:=0</label><nail x="-64" y="-120"/><nail x="-176" y="-120"/></transition><transition><source ref="id1"/><target ref="id0"/><label kind="synchronisation" x="-152" y="-176">step!</label></transition></template><template><name>A_OUT</name><location id="id2" x="-200" y="128"><label kind="invariant" x="-210" y="143">z&lt;=eps</label></location><location id="id3" x="-368" y="128"><label kind="invariant" x="-378" y="143">z&lt;=eps</label></location><location id="id4" x="-424" y="64"><committed/></location><location id="id5" x="-424" y="-80"><label kind="invariant" x="-488" y="-72">z&lt;=eps</label></location><location id="id6" x="-200" y="-32"><label kind="invariant" x="-192" y="-16">z&lt;=eps</label></location><location id="id7" x="-312" y="-80"><label kind="invariant" x="-296" y="-96">z&lt;=eps</label></location><location id="id8" x="-256" y="-136"><label kind="invariant" x="-266" y="-121">z&lt;=eps</label></location><location id="id9" x="-200" y="-192"><committed/></location><location id="id10" x="-200" y="-320"><label kind="invariant" x="-192" y="-304">z&lt;=eps</label></location><location id="id11" x="-368" y="-320"><label kind="invariant" x="-400" y="-304">z&lt;=eps</label></location><location id="id12" x="-424" y="-384"><committed/></location><init ref="id12"/><transition><source ref="id2"/><target ref="id12"/><label kind="guard" x="-56" y="-112">T_P==E</label><label kind="assignment" x="-56" y="-88">y:=0,z:=0,g:=O</label><nail x="-64" y="128"/><nail x="-64" y="-416"/><nail x="-400" y="-416"/></transition><transition><source ref="id2"/><target ref="id4"/><label kind="guard" x="-320" y="48">T_P!=E</label><label kind="assignment" x="-320" y="64">z:=0</label><nail x="-256" y="64"/></transition><transition><source ref="id3"/><target ref="id2"/><label kind="guard" x="-328" y="104">x&gt;0 &amp;&amp; z&gt;0</label><label kind="assignment" x="-328" y="128">T_P:=Track</label></transition><transition><source ref="id4"/><target ref="id3"/><label kind="synchronisation" x="-392" y="80">step!</label></transition><transition><source ref="id5"/><target ref="id4"/><label kind="guard" x="-480" y="-32">T_P!=E</label><label kind="assignment" x="-536" y="-8">y:=0,z:=0,g:=Cl</label></transition><transition><source ref="id7"/><target ref="id5"/><label kind="guard" x="-392" y="-72">T_P==E</label><nail x="-368" y="-72"/></transition><transition><source ref="id5"/><target ref="id12"/><label kind="guard" x="-484" y="-262">T_P==E</label><label kind="assignment" x="-536" y="-232">y:=0,z:=0,g:=O</label></transition><transition><source ref="id7"/><target ref="id5"/><label kind="guard" x="-392" y="-112">y&gt;kappa</label><nail x="-368" y="-88"/></transition><transition><source ref="id6"/><target ref="id9"/><label kind="assignment" x="-192" y="-112">z:=0</label></transition><transition><source ref="id7"/><target ref="id6"/><label kind="guard" x="-312" y="-56">y&lt;=kappa 
&amp;&amp; T_P!=E</label></transition><transition><source ref="id8"/><target ref="id7"/><label kind="guard" x="-360" y="-144">x&gt;0 &amp;&amp; z&gt;0</label><label kind="assignment" x="-360" y="-128">T_P:=Track</label></transition><transition><source ref="id9"/><target ref="id8"/><label kind="synchronisation" x="-264" y="-184">step!</label></transition><transition><source ref="id10"/><target ref="id9"/><label kind="guard" x="-260" y="-286">T_P!=E</label><label kind="assignment" x="-192" y="-256">y:=0,z:=0,g:=O</label></transition><transition><source ref="id10"/><target ref="id12"/><label kind="guard" x="-320" y="-400">T_P==E</label><label kind="assignment" x="-320" y="-384">z:=0</label><nail x="-256" y="-384"/><nail x="-408" y="-384"/></transition><transition><source ref="id11"/><target ref="id10"/><label kind="guard" x="-344" y="-344">x&gt;0 &amp;&amp; z&gt;0</label><label kind="assignment" x="-344" y="-320">T_P:=Track</label></transition><transition><source ref="id12"/><target ref="id11"/><label kind="synchronisation" x="-392" y="-368">step!</label></transition></template><template><name>CD_U</name><location id="id13" x="-512" y="-128"><label kind="invariant" x="-496" y="-120">c2&lt;=0</label></location><location id="id14" x="-320" y="-256"><label kind="invariant" x="-360" y="-240">c2&lt;=0</label></location><location id="id15" x="-512" y="-256"></location><location id="id16" x="-512" y="384"><name x="-528" y="400">q_bad</name></location><location id="id17" x="-320" y="256"><label kind="invariant" x="-352" y="272">c2&lt;=0</label></location><location id="id18" x="-512" y="256"></location><location id="id19" x="-512" y="128"><label kind="invariant" x="-496" y="144">c2&lt;=0</label></location><location id="id20" x="-320" y="0"><label kind="invariant" x="-352" y="16">c2&lt;=0</label></location><location id="id21" x="-512" y="0"></location><location id="id22" x="-512" y="-384"><label kind="invariant" x="-496" y="-368">c2&lt;=0</label></location><location id="id23" x="-192" y="-384"></location><location id="id24" x="-320" y="-512"><label kind="invariant" x="-352" y="-496">c2&lt;=0</label></location><location id="id25" x="-512" y="-512"></location><location id="id26" x="-512" y="-640"></location><init ref="id26"/><transition><source ref="id22"/><target ref="id15"/><label kind="guard" x="-504" y="-336">Track!=Cr</label><label kind="assignment" x="-504" y="-320">c1:=0</label></transition><transition><source ref="id14"/><target ref="id23"/><nail x="-192" y="-128"/></transition><transition><source ref="id15"/><target ref="id23"/><nail x="-384" y="-128"/><nail x="-192" y="-128"/></transition><transition><source ref="id13"/><target ref="id23"/><nail x="-192" y="-128"/></transition><transition><source ref="id13"/><target ref="id21"/><label kind="guard" x="-504" y="-88">Track!=Cr &amp;&amp; g!=O</label><label kind="assignment" x="-504" y="-72">c1:=0</label></transition><transition><source ref="id15"/><target ref="id13"/><label kind="guard" x="-576" y="-208">c1==xi2-rhoBar</label><label kind="assignment" x="-572" y="-192">c2:=0</label></transition><transition><source ref="id14"/><target ref="id15"/><label kind="guard" x="-440" y="-232">Track!=Cr</label><label kind="synchronisation" x="-424" y="-216">step?</label><nail x="-416" y="-232"/></transition><transition><source ref="id15"/><target ref="id14"/><label kind="guard" x="-488" y="-288">Track==Cr</label><label kind="synchronisation" x="-416" y="-304">step?</label><label kind="assignment" x="-408" y="-288">c2:=0</label><nail x="-416" y="-272"/></transition><transition><source ref="id14"/><target ref="id14"/><label kind="guard" x="-304" y="-312">Track==Cr</label><label kind="synchronisation" x="-248" y="-272">step?</label><nail x="-256" y="-288"/><nail x="-256" y="-224"/></transition><transition><source ref="id13"/><target ref="id13"/><label kind="synchronisation" x="-616" y="-136">step?</label><nail x="-576" y="-160"/><nail x="-576" y="-96"/></transition><transition><source ref="id15"/><target ref="id15"/><label kind="guard" x="-616" y="-304">Track!=Cr</label><label kind="synchronisation" x="-616" y="-264">step?</label><nail x="-576" y="-288"/><nail x="-576" y="-224"/></transition><transition><source ref="id20"/><target ref="id20"/><label kind="guard" x="-256" y="-64">g==O</label><label kind="synchronisation" x="-240" y="-16">step?</label><nail x="-240" y="-48"/><nail x="-240" y="48"/></transition><transition><source ref="id21"/><target ref="id20"/><label kind="guard" x="-480" y="-32">g==O</label><label kind="synchronisation" x="-400" y="-48">step?</label><label kind="assignment" x="-400" y="-32">c2:=0</label><nail x="-416" y="-32"/></transition><transition><source ref="id18"/><target ref="id23"/><nail x="-384" y="384"/><nail x="-192" y="384"/></transition><transition><source ref="id17"/><target ref="id23"/><nail x="-192" y="384"/></transition><transition><source ref="id19"/><target ref="id23"/><nail x="-192" y="128"/></transition><transition><source ref="id21"/><target ref="id23"/><nail x="-384" y="128"/><nail x="-192" y="128"/></transition><transition><source ref="id20"/><target ref="id23"/><nail x="-192" y="128"/></transition><transition><source ref="id18"/><target ref="id16"/><label kind="guard" x="-576" y="304">c1==xi1</label></transition><transition><source ref="id17"/><target ref="id17"/><label kind="guard" x="-304" y="208">Track==Cr</label><label kind="synchronisation" x="-240" y="240">step?</label><nail x="-256" y="224"/><nail x="-256" y="288"/></transition><transition><source ref="id17"/><target ref="id18"/><label kind="guard" x="-448" y="272">Track!=Cr</label><label kind="synchronisation" x="-448" y="288">step?</label><nail x="-416" y="272"/></transition><transition><source ref="id18"/><target ref="id17"/><label kind="guard" x="-480" y="224">Track==Cr</label><label kind="synchronisation" x="-400" y="208">step?</label><label kind="assignment" x="-400" y="224">c2:=0</label><nail x="-416" y="240"/></transition><transition><source ref="id18"/><target ref="id18"/><label kind="guard" x="-624" y="208">Track!=Cr</label><label kind="synchronisation" x="-624" y="240">step?</label><nail x="-576" y="224"/><nail x="-576" y="288"/></transition><transition><source ref="id19"/><target ref="id18"/><label kind="guard" x="-512" y="176">Track!=Cr</label><label kind="assignment" x="-512" y="192">c1:=0</label></transition><transition><source ref="id19"/><target ref="id19"/><nail x="-576" y="96"/><nail x="-576" y="160"/></transition><transition><source ref="id20"/><target ref="id20"/><label kind="guard" x="-336" y="-48">Track==Cr</label><label kind="synchronisation" x="-240" y="-16">step?</label><nail x="-256" y="-32"/><nail x="-256" y="32"/></transition><transition><source ref="id20"/><target ref="id21"/><label kind="guard" x="-448" y="16">Track!=Cr
&amp;&amp; g!=O</label><label kind="synchronisation" x="-416" y="48">step?</label><nail x="-416" y="16"/></transition><transition><source ref="id21"/><target ref="id20"/><label kind="guard" x="-480" y="-48">Track==Cr</label><label kind="synchronisation" x="-400" y="-48">step?</label><label kind="assignment" x="-400" y="-32">c2:=0</label><nail x="-416" y="-16"/></transition><transition><source ref="id21"/><target ref="id19"/><label kind="guard" x="-560" y="48">c1&gt;0</label><label kind="assignment" x="-560" y="64">c2:=0</label></transition><transition><source ref="id21"/><target ref="id21"/><label kind="guard" x="-608" y="-64">Track!=Cr 
&amp;&amp; g!=0</label><label kind="synchronisation" x="-624" y="-16">step?</label><nail x="-576" y="-32"/><nail x="-576" y="32"/></transition><transition><source ref="id22"/><target ref="id22"/><label kind="synchronisation" x="-624" y="-400">step?</label><nail x="-576" y="-416"/><nail x="-576" y="-352"/></transition><transition><source ref="id23"/><target ref="id23"/><label kind="synchronisation" x="-112" y="-400">step?</label><nail x="-128" y="-352"/><nail x="-128" y="-416"/></transition><transition><source ref="id22"/><target ref="id23"/></transition><transition><source ref="id25"/><target ref="id22"/><label kind="guard" x="-576" y="-464">c1==rhoBar</label><label kind="assignment" x="-560" y="-448">c2:=0</label></transition><transition><source ref="id25"/><target ref="id23"/><nail x="-384" y="-384"/></transition><transition><source ref="id24"/><target ref="id23"/></transition><transition><source ref="id24"/><target ref="id24"/><label kind="guard" x="-288" y="-560">Track!=E</label><label kind="synchronisation" x="-240" y="-528">step?</label><nail x="-256" y="-544"/><nail x="-256" y="-480"/></transition><transition><source ref="id24"/><target ref="id25"/><label kind="guard" x="-456" y="-496">Track==E</label><label kind="synchronisation" x="-432" y="-480">step?</label><nail x="-416" y="-496"/></transition><transition><source ref="id25"/><target ref="id24"/><label kind="guard" x="-480" y="-544">Track!=E</label><label kind="synchronisation" x="-400" y="-560">step?</label><label kind="assignment" x="-400" y="-544">c2:=0</label><nail x="-416" y="-528"/></transition><transition><source ref="id25"/><target ref="id25"/><label kind="guard" x="-608" y="-560">Track==E</label><label kind="synchronisation" x="-624" y="-528">step?</label><nail x="-576" y="-544"/><nail x="-576" y="-480"/></transition><transition><source ref="id26"/><target ref="id25"/><label kind="guard" x="-512" y="-608">Track==E</label><label kind="assignment" x="-512" y="-592">c1:=0</label></transition><transition><source ref="id26"/><target ref="id26"/><label kind="synchronisation" x="-624" y="-656">step?</label><nail x="-576" y="-672"/><nail x="-576" y="-608"/></transition></template><instantiation>//Insert process assignments.
</instantiation><system>//Edit system definition.
system A_IN,A_OUT,CD_U;</system></nta>