Rajeev Alur Thao Dang Joel M. Esposito Rafael B. Fierro Yerang Hur Franjo Ivancic Vijay Kumar Insup Lee Pradyumna Mishra George J. Pappas Oleg Sokolsky Hierarchical Hybrid Modeling of Embedded Systems. 14-31 2001 conf/emsoft/2001 EMSOFT http://link.springer.de/link/service/series/0558/bibs/2211/22110014.htm db/conf/emsoft/emsoft2001.html#AlurDEFHIKLMPS01