Uppaal Model Checker

UPPAAL is an integrated tool environment for modeling, validation and verification of real-time systems modeled as networks of timed automata, extended with data types (bounded integers, arrays etc.).
It has been used in at least 17 case studies since its release in 1995, including on Lego Mindstorms, for the Philips audio protocol, and in gearbox controllers for Mecel.
The tool has been developed in collaboration between the Design and Analysis of Real-Time Systems group at Uppsala University, Sweden and Basic Research in Computer Science at Aalborg University, Denmark.
There are the following extensions available: