Wolfgang A. Halang Kim-Fung Man Matjaz Colnaric A graphical paradigm facilitating correct programming of complex computer control systems. 39-42 1995 conf/iceccs/1995 ICECCS http://csdl.computer.org/comp/proceedings/iceccs/1995/7123/00/71230039abs.htm db/conf/iceccs/iceccs1995.html#HalangMC95