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Well, that book costs $99: http://www.springer.com/us/book/9781441997357

But there's been more recent work done in TLA+ on another realtime OS, where the mechanical proof system, TLAPS, was used to prove some aspects of the kernel correct, and you can read about it for free here: https://members.loria.fr/SMerz/papers/abz2016-pharos.html




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