Kurt Rohloff Joseph P. Loyall Partha Pratim Pal Richard E. Schantz High-Assurance Distributed, Adaptive Software for Dynamic Systems. 385-386 2007 conf/hase/2007 HASE http://doi.ieeecomputersociety.org/10.1109/HASE.2007.42 db/conf/hase/hase2007.html#RohloffLPS07