Doron Drusinsky Man-tak Shing TLCharts: Armor-plating Harel Statecharts with Temporal Logic Conditions. 29-36 2004 conf/rsp/2004 IEEE International Workshop on Rapid System Prototyping http://doi.ieeecomputersociety.org/10.1109/RSP.2004.42 db/conf/rsp/rsp2004.html#DrusinskyS04