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We describe the timed input/output automata (TIOA) framework, a general mathematical framework for modeling and analyzing real-time systems. It is based on timed I/O automata, which engage in both discrete transitions and continuous trajectories. The framework includes a notion of external behavior, and notions of composition and abstraction. We define safety and liveness properties for timed I/O automata, and a notion of receptiveness, and prove basic results about all of these notions. The TIOA framework is defined as a special case of the new hybrid I/O automata (HIOA) modeling framework for hybrid systems. Specifically, a TIOA is an HIOA with no external variables; thus, TIOAs communicate via shared discrete actions only, and do not interact continuously. This restriction is consistent with previous real-time system models, and gives rise to some simplifications in the theory (compared to HIOA). The …