Albert Benveniste Bernard C. Levy Eric Fabre Paul Le Guernic A Calculus of Stochastic Systems for the Specification, Simulation, and Hidden State Estimation of Mixed Stochastic/Nonstochastic Systems. 171-217 1995 152 Theor. Comput. Sci. 2 db/journals/tcs/tcs152.html#BenvenisteLFG95 http://dx.doi.org/10.1016/0304-3975(94)00295-1