This work was supported in part by the Center for Hybrid and Embedded Software Systems (CHESS) at UC Berkeley, which receives support from the National Science Foundation (NSF awards #0720882 (CSR-EHS: PRET), #1035672 (CPS: PTIDES) and #0931843 (ActionWebs)), the U. S. Army Research Office (ARO #W911NF-07-2-0019), the U. S. Air Force Office of Scientific Research (MURI #FA9550-06-0312), the Air Force Research Lab (AFRL), the Multiscale Systems Center (MySyC), one of six research centers funded under the Focus Center Research Program, a Semiconductor Research Corporation program, and the following companies: Bosch, National Instruments, Thales, and Toyota.

Major prior funding was received from DARPA, the Defense Advanced Research Projects Agency.

Prior corporate sponsors include Agilent, General Motors, Hewlett-Packard, HSBC, Lockheed Martin, Infineon and Microsoft.