%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.