Mixed reality systems overlay real data with virtual information in order to assist users in their current task. They generally combine several hardware components operating at different time scales, and software that has to cope with these timing constraints. MIRELA, for MIxed REality LAnguage, is a framework aimed at modelling, analysing and implementing systems composed of sensors, processing units, shared memories and rendering loops, communicating in a well-defined manner and submitted to timing constraints. The framework is composed of (i) a language allowing a high level, and partially abstract, specification of a concurrent real–time system, (ii) the corresponding semantics, which defines the translation of the system to concrete networks of timed automata, (iii) a methodology for analysing various real-time properties, and (iv) an implementation strategy. We present here a summary of several of our papers about this framework, as well as some recent extensions concerning probability and non–deterministic choices.