Heinrich Rust Safety in Production Cell Components: An Appraoch Combining Formal Real-Time Specifications and Patterns. 32-44 http://link.springer.de/link/service/series/0558/bibs/1516/15160032.htm 1998 conf/safecomp/1998 SAFECOMP db/conf/safecomp/safecomp98.html#Rust98