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This paper is a comprehensive introduction to the language of Timed CSP, proposed by Reed and Roscoe (1986). A brief description of the notation is followed by a detailed survey of timed and untimed models for the language. A compositional proof system is included, together with an account of timed refinement. The paper ends with a list of the changes made to the theory in recent years, and a brief discussion of other timed process algebras.