Oded Maler Dejan Nickovic Amir Pnueli Checking Temporal Properties of Discrete, Timed and Continuous Behaviors. 475-505 2008 conf/birthday/2008trakhtenbrot Pillars of Computer Science http://dx.doi.org/10.1007/978-3-540-78127-1_26 db/conf/birthday/trakhtenbrot2008.html#MalerNP08