Takuya Katayama Tatsuo Nakajima Taiichi Yuasa Tomoji Kishi Shin Nakajima Shuichi Oikawa Masahiro Yasugi Toshiaki Aoki Mitsutaka Okazaki Seiji Umatani Highly Reliable Embedded Software Development Using Advanced Software Technologies. 1105-1116 2005 88-D IEICE Transactions 6 http://dx.doi.org/10.1093/ietisy/e88-d.6.1105 db/journals/ieicet/ieicet88d.html#KatayamaNYKNOYAOU05