Manish Vachharajani Neil Vachharajani David A. Penry Jason A. Blome Sharad Malik David I. August The Liberty Simulation Environment: A deliberate approach to high-level system modeling. 211-249 2006 24 ACM Trans. Comput. Syst. 3 http://doi.acm.org/10.1145/1151690.1151691 db/journals/tocs/tocs24.html#VachharajaniVPBMA06