Per Johannessen Fredrik Törner Jan Torin Actuator Based Hazard Analysis for Safety Critical Systems. 130-141 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3219&spage=130 2004 conf/safecomp/2004 SAFECOMP db/conf/safecomp/safecomp2004.html#JohannessenTT04