Stephan Flake Wolfgang Müller 0003 Ulrich Pape Jürgen Ruf Specification and Formal Verification of Temporal Properties of Production Automation Systems. 206-226 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3147&spage=206 2004 conf/dfg/2004 SoftSpez Final Report db/conf/dfg/softspez2004.html#FlakeMPR04