The use of formal methods at early stages of software development contributes to the reliability and robustness of the system to be constructed. Int his context, real-time system development benefits from the construction of behavioral models in order to verify the correct satisfaction of time constraints. The Unified Modeling Language (UML) is a software specification language widely used by the industry and the academia. Nevertheless, its version 2.0 lacks a formal semantics for the development of provably-correct models. In addition, its constraint specification language, Object Constraint Language (OCL), has limitations for its use in behavioral models of real-time systems. This work concerns the inter-component behavioral specification of real-time systems. Such behavior is described using the UML 2.0 Interactions language extended for the inclusion of time constraints using the OCL for Real Time (OCL/RT) language. The main problem addressed in this work is the definition of a formal semantics for the fusion of both languages. The semantics allows recognizing valid and invalid behaviors of a system with time constraints. Intended for formal verification, an analysis of the properties derived from the semantics is also done. In particular, the notions of refinement of interactions and refinement of constraints are explored. Finally, the proposal is compared with related works and its practical application is studied in order to analyze its benefits and weaknesses. This work contributes to the formalization of concepts widely used in practice and, inconsequence, to its inclusion in modeling and formal reasoning tools. More-over, the expressivity of the UML 2.0 Interactions language is augmented in order to support complex real-time constraints, not expressable until this moment.