Michael Schenke Ernst-Rüdiger Olderog Transformational Design of Real-Time Systems Part I: From Requirements to Program Specifications. 1-65 1999 36 Acta Inf. 1 http://link.springer.de/link/service/journals/00236/bibs/9036001/90360001.htm db/journals/acta/acta36.html#SchenkeO99