Joost-Pieter Katoen Henrik C. Bohnenkamp Ric Klaren Holger Hermanns Embedded Software Analysis with MOTOR. 268-294 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3185&spage=268 2004 conf/sfm/2004 SFM db/conf/sfm/sfm2004.html#KatoenBKH04