Neil C. Audsley I. J. Bate Alan Grigg 111- 1999 conf/rtcsa/1999 RTCSA https://doi.org/10.1109/RTCSA.1999.811200 https://doi.ieeecomputersociety.org/10.1109/RTCSA.1999.811200 db/conf/rtcsa/rtcsa1999.html#AudsleyBG99