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2013

  1. Generative and Transformational Techniques in Software Engineering IV, International Summer School, GTTSE 2011, Braga, Portugal, July 3-9, 2011. Revised Papers. Ralf Lämmel, João Saraiva and Joost Visser, Lecture Notes in Computer Science, 7680, Springer, 2013, 10.1007/978-3-642-35992-7.
  2. Proceedings First International Workshop on Trends in Functional Programming in Education, TFPIE'12. Marco T. Morazán and Peter Achten, EPTCS, EPTCS, 106, 2013, January, DOI: 10.4204/EPTCS.106, ISSN: 2075-2180.
  3. Situation Awareness with Systems of Systems. P. van de Laar, J. Tretmans and M. Borth, 2013, Springer, http://dx.doi.org/10.1007/978-1-4614-6230-9.
  4. The Beauty of Functional Code - Essays Dedicated to Rinus Plasmeijer on the Occasion of His 61st Birthday. Peter Achten and Pieter W. M. Koopman, The Beauty of Functional Code, Springer, Lecture Notes in Computer Science, 8106, 2013.
  5. A. Boudjadar, F.W. Vaandrager, J.-P. Bodeveix and M. Filali. Extending UPPAAL for the Modeling and Verification of Dynamic Real-Time Systems. 2013, 111-132, F. Arbab and M. Sirjani, Fundamentals of Software Engineering - 5th International Conference, FSEN 2013, Tehran, Iran, April 24-26, 2013, Revised Selected Papers, Springer, Lecture Notes in Computer Science, 8161.
  6. A. Hommersom, P. J. F. Lucas, M. Velikova, G. Dal, J. Bastos, J. Rodriguez, M. Germs and H. Schwietert . MoSHCA - My Mobile and Smart Health Care Assistant. 15th IEEE International Conference on e-Health Networking, Application & Services, , IEEE, 188-192, 2013.
  7. A. Osaiweran, M. Schuts and J. Hooman. Experiences with incorporating formal techniques into industrial practice. Empirical Software Engineering, 1-26, March, Springer US, 2013.
  8. A. Osaiweran, M. Schuts, J. Hooman and J. Wesselius. Incorporating Formal Techniques into Industrial Practice: an Experience Report. Proceedings 9th International Workshop on Formal Engineering approaches to Software Components and Architectures (FESCA 2012), Electronic Notes in Theoretical Computer Science (ENTCS), 295, 49-63, 2013.
  9. A.J. Hommersom and P.J.F. Lucas. Probabilistic problem solving in biomedicine . Artificial Intelligence in Medicine, 57, 3, 169-170, 2013.
  10. A.J. Hommersom, S. Verwer and P.J.F. Lucas. Discovering Probabilistic Structures of Healthcare Processes. AIME 2013 Joint Workshop, KR4HC 2013/ProHealth 2013, Murcia, Spain, June 1, 2013, Revised Selected Papers, D. Riaño, R. Lenz, S. Miksch, M. Peleg, M. Reichert and A. ten Teije, LNCS, 8268, 53-67, Springer International Publishing, 2013, 10.1007/978-3-319-03916-9_5.
  11. A.J. Mooij, J. Hooman and R. Albers. Gaining Industrial Confidence for the Introduction of Domain-Specific Languages. Proceedings 37th Annual Computer Software and Applications Conference (COMPSAC), International Workshop on Industrial Experience in Embedded Systems Design (IEESD), IEEE Computer Society, 662-667, 2013.
  12. Fides Aarts, Joeri de Ruiter and Erik Poll. Formal Models of Bank Cards for Free.. ICST Workshops, 461-468, IEEE Computer Society, http://dblp.uni-trier.de/db/conf/icst/icstw2013.html#AartsRP13, http://www.italia.cs.ru.nl/html/papers/SECTEST2013.pdf, 10.1109/ICSTW.2013.60, 2013.
  13. P. Achten, M.C.J.D. Eekelen, M.de Mol and R. Plasmeijer. EditorArrow: An arrow-based model for editor-based programming. Journal of Functional Programming, 23, 2013.
  14. Peter Achten. Why Functional Programming Matters To Me. The Beauty of Functional Code - Essays Dedicated to Rinus Plasmeijer on the Occasion of His 61st Birthday, Festschrift, Springer, 2013, August, Peter Achten and Pieter Koopman, LNAI, 8106, essay, 79-96.
  15. Anthony Labarre and Sicco Verwer. Merging partially labelled trees: hardness and a declarative programming solution.. IEEE/ACM transactions on Computational Biology and Bioinformaticss, 2013, accepted.
  16. Anwar Aldris, Ariadi Nugroho, Patricia Lago and Joost Visser. Measuring the Degree of Service Orientation in Proprietary SOA Systems. Seventh IEEE International Symposium on Service-Oriented System Engineering, SOSE 2013, San Francisco, CA, USA, March 25-28, 2013, 233-244, IEEE Computer Society, 2013, 10.1109/SOSE.2013.63.
  17. H. P. Barendregt, W. J. M. Dekkers and R. Statman. Lambda Calculus with Types. Cambridge University Press, 2013, Perspectives in Mathematical Logic.
  18. H.P. Barendregt, G. Manzonetto and R. Plasmeijer. The imperative and functional programming paradigm. The Selected works of A.M. Turing, Elsevier, 2013, M.B. Cooper Lankhorst and J. van Leeuwen, 121-126.
  19. E. Barendsen and I. Henze. Docentkennis en leerlingattitudes bij concept-context onderwijs. Paper presented at ORD2013, Brussels, 2013.
  20. Erik Barendsen and Idzard Stoker. Computational thinking in CS teaching materials: a pilot study. Proceedings of the 13th Koli Calling International Conference on Computing Education Research, 199-200, 2013, ACM.
  21. Twan Basten, Martijn Hendriks, Nikola Tr\ucka, Lou Somers, Marc Geilen, Yang Yang, Georgeta Igna, Sebastian Smet, Marc Voorhoeve, Wil van der Aalst, Henk Corporaal and Frits Vaandrager. Model-Driven Design-Space Exploration for Software-Intensive Embedded Systems. 2013, Model-Based Design of Adaptive Embedded Systems, 22, Embedded Systems, Twan Basten, Roelof Hamberg, Frans Reckers and Jacques Verriet, 10.1007/978-1-4614-4821-1_7, Springer New York, 189-244.
  22. Susan Braak, Sunil Choenni and Sicco Verwer. Combining and Analyzing Judicial Databases. 2013, Discrimination and Privacy in the Information Society, 3, Studies in Applied Philosophy, Epistemology and Rational Ethics, Bart Custers, Toon Calders, Bart Schermer and Tal Zarsky, 10.1007/978-3-642-30487-3_10, Springer Berlin Heidelberg, 191-206.
  23. Christophe Costa Florencio and Sicco Verwer. Regular Inference as Vertex Coloring. Theoretical Computer Science, 2013, accepted.
  24. Eduardo P. Costa, Sicco Verwer and Hendrik Blockeel. Estimating Prediction Certainty in Decision Trees. 2013, Advances in Intelligent Data Analysis XII, 8207, Lecture Notes in Computer Science, Allan Tucker, Frank Höppner, Arno Siebes and Stephen Swift, 10.1007/978-3-642-41398-8_13, Springer Berlin Heidelberg, 138-149.
  25. E Moricke, M Lappenschaar, SHN Swinkels, NNJ Rommelse and JK Buitelaar. Latent class analysis reveals five homogeneous behavioural and developmental profiles in a large Dutch population sample of infants aged 14-15 months. European Child and Adolescent Psychiatry, 22, 2, 103-115, 2013.
  26. Emily Weimar, Ariadi Nugroho, Joost Visser and Aske Plaat. Towards high performance software teamwork. Fabio Q. B. da Silva, Natalia Juristo Juzgado and Guilherme Horta Travassos, 17th International Conference on Evaluation and Assessment in Software Engineering, EASE '13, Porto de Galinhas, Brazil, April 14-16, 2013, 212-215, ACM, 2013, 10.1145/2460999.2461030.
  27. Eric Bouwers, Arie van Deursen and Joost Visser. Evaluating usefulness of software metrics: an industrial experience report. David Notkin, Betty H. C. Cheng and Klaus Pohl, 35th International Conference on Software Engineering, ICSE '13, San Francisco, CA, USA, May 18-26, 2013, 921-930, IEEE / ACM, 2013.
  28. Eric Bouwers, Arie van Deursen and Joost Visser. Software metrics: pitfalls and best practices. David Notkin, Betty H. C. Cheng and Klaus Pohl, 35th International Conference on Software Engineering, ICSE '13, San Francisco, CA, USA, May 18-26, 2013, 1491-1492, IEEE / ACM, 2013.
  29. F. Aarts, B. Jonsson, J. Uijen and F.W. Vaandrager. Generating Models of Infinite-State Communication Protocols using Regular Inference with Abstraction. 2013, January, Report, ICIS-R13001, Institute for Computing and Information Sciences, Radboud University Nijmegen.
  30. F. Aarts, H. Kuppens, G.J. Tretmans, F.W. Vaandrager and S. Verwer. Improving active Mealy machine learning for protocol conformance testing. 2013, Machine Learning, 10.1007/s10994-013-5405-0, Springer US, 1-36.
  31. F. Houben, G. Igna and F.W. Vaandrager. Modeling task systems using parameterized partial orders. 2013, International Journal on Software Tools for Technology Transfer, 10.1007/s10009-012-0264-8, Springer-Verlag, 15, 3, 269-286.
  32. N. Grgurina, E. Barendsen, B. Zwaneveld, W. Van de Grift and I. Stoker. Computational Thinking Skills in Dutch Secondary Education. WiPCSE 2013 proceedings, 2013.
  33. Kay Grosskop and Joost Visser. Identification of Application-level Energy Optimizations. Lorenz M. Hilty, Bernard Aebischer, Göran Andersson and Wolfgang Lohmann, Proceedings of the First International Conference on Information and Communication Technologies for Sustainability (ICT4S 2013), 101-107, 2013, 10.3929/ethz-a-007337628, ETH Zurich, University of Zurich and Empa, Swiss Federal Laboratories for Materials Science and Technology.
  34. H. Barendregt. Foundations of Mathematics from the Perspective of Computer Mathematics. Mathematics, Computer Science, and Logic--A never ending story, Springer, 2013, P. Paule, 1-49, Festschrift for Bruno Buchberger.
  35. H. Barendregt, V. Capretta and D. Kozen. Reflection in the Chomsky hierarchy. Journal of Automata, Languages and Combinatorics, 2013, 18, 1, 53-60.
  36. Haiyun Xu, Jeroen Heijmans and Joost Visser. A Practical Model for Rating Software Security. Seventh International Conference on Software Security and Reliability, SERE 2012, Gaithersburg, Maryland, USA, 18-20 June 2013 - Companion Volume, 231-232, IEEE, 2013, 10.1109/SERE-C.2013.11.
  37. I. Henze and E. Barendsen. Teacher Knowledge versus Student Learning in Context Based Chemistry Education: PCK-related Analyses of Student Data. Paper presented at ORD2013, Brussels, 2013.
  38. MarijnJ.H. Heule and Sicco Verwer. Software model synthesis using satisfiability solvers. 2013, Empirical Software Engineering, 18, 4, 10.1007/s10664-012-9222-z, Springer US, 825-856.
  39. Stijn Hoppenbrouwers, Rob Thijssen and Jan Vogels. Operationalizing Dialogue Games for Collaborative Modeling.. MoRoCo@ECSCW, Alexander Nolte, Michael Prilla, Peter Rittgen and Stefan Oppl, 41-48, CEUR-WS.org, CEUR Workshop Proceedings, 1037, 2013.
  40. Stijn Hoppenbrouwers and Wim van Stokkum. From Dialogue Games to m-ThinkLets: Overview and Synthesis of a Collaborative Modeling Approach. 2013, 9, 32-44, 4, International Journal of e-Collaboration (IJeC), IGI Global.
  41. J. van Haaren, J. Davis, M. Lappenschaar and A.J. Hommersom. Exploring Disease Interactions using Markov Networks . AAAI workshop on Expanding the Boundaries of Health Informatics Using Artificial Intelligence, 2013, 65-70, Bellevue, Washington.
  42. David N. Jansen. More or less true: DCTL for continuous-time MDPs. V\'\ictor Braberman and Laurent Fribourg, Formal modeling and analysis of timed systems: \ldots FORMATS, Springer, Heidelberg, 2013, Lecture notes in computer science, 8053, 137-151.
  43. David N. Jansen. More or less true: DCTL for continuous-time MDPs. Nijmegen, Radboud Universiteit, 2013, ICIS-R13006.
  44. David N. Jansen, Lei Song and Lijun Zhang. Revisiting weak simulation for substochastic Markov chains. Kaustubh Joshi, Markus Siegle, Mariëlle Stoelinga and Pedro D'Argenio, Quantitative evaluation of systems: \ldots QEST, Springer, Heidelberg, 2013, Lecture notes in computer science, 8054, 209-224.
  45. David N. Jansen, Lei Song and Lijun Zhang. Revisiting weak simulation for substochastic Markov chains. Nijmegen, Radboud Universiteit, 2013, ICIS-R13005.
  46. Jeroen Arnoldus, Joris Gresnigt, Kay Grosskop and Joost Visser. Energy-efficiency indicators for e-services. Patricia Lago, Niklaus Meyer, Maurizio Morisio, Hausi A. Müller and Giuseppe Scanniello, 2nd International Workshop on Green and Sustainable Software, GREENS 2013, San Francisco, CA, USA, May 20, 2013, 24-29, IEEE, 2013, 10.1109/GREENS.2013.6606418.
  47. KT Beuker, S Schjolberg, KK Lie, R Donders, M Lappenschaar, SHN Swinkels and JK Buitelaar. The Structure of Autism Spectrum Disorder Symptoms in the General Population at 18 Months. Journal of Autism and Developmental Disorders , 43, 1, 45-56, 2013.
  48. Kay Grosskop and Joost Visser. Energy Efficiency Optimization of Application Software. Advances in Computers, 88, 199-241, 2013, 10.1016/B978-0-12-407725-6.00005-8.
  49. Bas Lijnse. Evolution of a Parallel Task Combinator. The Beauty of Functional Code - Essays Dedicated to Rinus Plasmeijer on the Occasion of His 61st Birthday, Peter Achten and Pieter Koopman, LNAI, 8106, 193-210, 2013, Springer.
  50. Bas Lijnse. TOP to the Rescue - Task-Oriented Programming for Incident Response Applications. Institute for Computing and Information Sciences, Radboud University Nijmegen, The Netherlands , 2013, ISBN 978-90-820259-0-3, pdf.
  51. M. Lappenschaar, A.J. Hommersom, P.J.F. Lucas and J. Lagro. Understanding the Co-occurrence of Diseases using Structure Learning. N. Peek, R. Marin and N. Lavrac, 14th Conference on Artificial Intelligence in Medicine (AIME'13), 2013, 135-144, LNCS, 7885, Springer.
  52. M. Lappenschaar, A.J. Hommersom, P.J.F. Lucas, J. Lagro and S. Visscher. Multilevel Bayesian Networks for the Analysis of Hierarchical Health Data. Artificial Intelligence in Medicine, 2013, 57, 3, 171-183.
  53. M. Lappenschaar, A.J. Hommersom, P.J.F. Lucas, J. Lagro, S. Visscher, J.C. Korevaar and F.G Schellevis. Multilevel temporal Bayesian networks can model longitudinal change in multimorbidity. Journal of Clinical Epidemiology, 2013, 66, 12, 1405-1416, Elsevier.
  54. M. Velikova, P. J. F. Lucas, M. Samulski and N. Karssemeijer. On the interplay of machine learning and background knowledge in image interpretation by Bayesian networks. Artificial Intelligence In Medicine, 2013, 57, 73-86.
  55. M. van der Heijden and P.J.F. Lucas. Describing disease processes using a probabilistic logic of qualitative time. Artificial Intelligence in Medicine, 59, 3, 143-155, 2013.
  56. M. van der Heijden, P.J.F. Lucas, B. Lijnse, Y.F. Heijdra and T.R.J. Schermer. An autonomous mobile system for the management of COPD. Journal of Biomedical Informatics, 46, 3, 458-469, 2013.
  57. Maurice Bruynooghe, Hendrik Blockeel, Bart Bogaerts, Broes de Cat, Stef de Pooter, Joachim Jansen, Anthony Labarre, Jan Ramon, Marc Denecker and Sicco Verwer. Predicate Logic as a Modeling Language: Modeling and Solving some Machine Learning and Data Mining Problems with IDP3 . Theory and Practice of Logic Programming, 2013, submitted.
  58. Steffen Michels. The Beauty of Declarative Purely Functional Projections. The Beauty of Functional Code, 250-257, 2013, Springer.
  59. Miguel Alexandre Ferreira, Eric Hoekstra, Bo Merkus, Bram Visser and Joost Visser. SEFLab: A lab for measuring software energy footprints. Patricia Lago, Niklaus Meyer, Maurizio Morisio, Hausi A. Müller and Giuseppe Scanniello, 2nd International Workshop on Green and Sustainable Software, GREENS 2013, San Francisco, CA, USA, May 20, 2013, 30-37, IEEE, 2013, 10.1109/GREENS.2013.6606419.
  60. A. Nakakawa, P. van Bommel and H.A. Proper. Supplementing enterprise architecture approaches with support for executing collaborative tasks. International Journal of Cooperative Information Systems, 22, 02, 2013.
  61. Danny Oldenhave, Stijn Hoppenbrouwers, Theo Weide and Remco Lagarde. Gamification to Support the Run Time Planning Process in Adaptive Case Management. 2013, Enterprise, Business-Process and Information Systems Modeling, 147, Lecture Notes in Business Information Processing, Selmin Nurcan, HenderikA. Proper, Pnina Soffer, John Krogstie, Rainer Schmidt, Terry Halpin and Ilia Bider, 10.1007/978-3-642-38484-4_27, Springer Berlin Heidelberg, 385-394.
  62. Pieter W. M. Koopman. Functional Semantics. The Beauty of Functional Code, 2013, 60-78, DBLP:conf/birthday/2013plasmeijer.
  63. R. Plasmeijer. TOP Software. Het Beste Idee van 2013, Uitgeverij De Wereld, 2013, Jos Baijens, 302-304.
  64. S. Evers, A.J. Hommersom, P.J.F. Lucas, C. Cochior and P. van den Bosch. Model-Based Design of Adaptive Embedded Systems. Reasoning with Uncertainty about System Behaviour: Making Printing Systems Adaptive, Springer, 2013, T. Basten, R. Hamberg, F. Reckers and J. Verriet, 22, 5, 125-158, Embedded Systems.
  65. S. Michels, M. Velikova, A. Hommersom and P. J. F. Lucas. A decision support model for uncertainty reasoning in safety and security tasks. IEEE International Conference on Systems, Man, and Cybernetics (SMC'13), , IEEE, 663-668, 2013.
  66. Sicco Verwer, Qing Chuan Ye and Yingqian Zhang. White-box optimization from historical data. 2013, BENELEARN 2013: Proceedings of the 22nd Belgian-Dutch Conference on Machine Learning, Antal van den Bosch, Tom Heskes and David van Leeuwen, 103-104.
  67. S. Smetsers and E. Barendsen. Verifying Functional Formalizations - A Type-Theoretical Case Study in PVS. The Beauty of Functional Code, Peter Achten and Pieter Koopman, Springer, 47-59, 2013.
  68. Denis Ssebuggwawo, Stijn Hoppenbrouwers and Henderik Proper A.. Applying AHP for Collaborative Modeling Evaluation: Experiences from a Modeling Experiment. 2013, 4, 1-24, 1, International Journal of Information System Modeling and Design (IJISMD), IGI Global.
  69. Steffen Michels, Arjen Hommersom, Peter J. F. Lucas, Marina Velikova and Pieter W. M. Koopman. Inference for a New Probabilistic Constraint Logic. 23rd International Joint Conference on Artificial Intelligence, 2540-2546, 2013, Menlo Park, CA: AAAI Press, Francesca Rossi.
  70. Steven Raemaekers, Arie van Deursen and Joost Visser. The maven repository dataset of metrics, changes, and dependencies. Thomas Zimmermann, Massimiliano Di Penta and Sunghun Kim, Proceedings of the 10th Working Conference on Mining Software Repositories, MSR '13, San Francisco, CA, USA, May 18-19, 2013, 221-224, IEEE / ACM, 2013.
  71. Steven Raemaekers, Gabriela F. Nane, Arie van Deursen and Joost Visser. Testing principles, current practices, and effects of change localization. Thomas Zimmermann, Massimiliano Di Penta and Sunghun Kim, Proceedings of the 10th Working Conference on Mining Software Repositories, MSR '13, San Francisco, CA, USA, May 18-19, 2013, 257-266, IEEE / ACM, 2013.
  72. Theodoros Polychniatis, Jurriaan Hage, Slinger Jansen, Eric Bouwers and Joost Visser. Detecting Cross-Language Dependencies Generically. Anthony Cleve, Filippo Ricca and Maura Cerioli, 17th European Conference on Software Maintenance and Reengineering, CSMR 2013, Genova, Italy, March 5-8, 2013, 349-352, IEEE Computer Society, 2013, 10.1109/CSMR.2013.47.
  73. J. Tretmans and P. van de Laar. Introduction: Situation Awareness, Systems of Systems, and Maritime Safety and Security. P. van de Laar, J. Tretmans and M. Borth, Situation Awareness with Systems of Systems, 1, 3-20, 2013, Springer, http://dx.doi.org/10.1007/978-1-4614-6230-9_1.
  74. F.P. Tulinayo, P. van Bommel and H.A. Proper. Enhancing the system dynamics modeling process with a domain modeling method. International Journal of Cooperative Information Systems, 22, 02, 2013.
  75. Sicco Verwer and Toon Calders. Introducing Positive Discrimination in Predictive Models. 2013, Discrimination and Privacy in the Information Society, 3, Studies in Applied Philosophy, Epistemology and Rational Ethics, Bart Custers, Toon Calders, Bart Schermer and Tal Zarsky, 10.1007/978-3-642-30487-3_14, Springer Berlin Heidelberg, 255-270.
  76. Sicco Verwer, Rémi Eyraud and Colin Higuera. PAutomaC: a probabilistic automata and hidden Markov models learning competition. 2013, Machine Learning, 10.1007/s10994-013-5409-9, Springer US, 1-26.
  77. Michele Volpato and Jan Tretmans. Towards Quality of Model-based Testing in the Ioco Framework. Proceedings of the 2013 International Workshop on Joining AcadeMiA and Industry Contributions to Testing Automation, JAMAICA 2013, 2013, 41-46, 10.1145/2489280.2489293, ACM, New York, NY, USA.
  78. Ilona Wilmont, Sytse Hengeveld, Erik Barendsen and Stijn Hoppenbrouwers. Cognitive Mechanisms of Conceptual Modelling: How Do People Do It?. 2013, Conceptual Modeling, 8217, Lecture Notes in Computer Science, Wilfred Ng, VedaC. Storey and JuanC. Trujillo, 10.1007/978-3-642-41924-9_7, Springer Berlin Heidelberg, 74-87, November.
  79. Jan Pieter Zwart and Stijn Hoppenbrouwers. Elementary Transactions. 2013, On the Move to Meaningful Internet Systems: OTM 2013 Workshops, 8186, Lecture Notes in Computer Science, YanTang Demey and Hervé Panetto, 10.1007/978-3-642-41033-8_65, Springer Berlin Heidelberg, 513-523.
  80. Joost de Vries and Stijn Hoppenbrouwers. Rule Governance, Social Coding and Social Modeling.. PoEM (Short Papers), Janis Grabis, Marite Kirikova, Jelena Zdravkovic and Janis Stirna, 176-182, CEUR-WS.org, CEUR Workshop Proceedings, 1023, 2013.
  81. W. van Stokkum, P. Heiner, S. J. B. A. Hoppenbrouwers and H. Mulder. The Added Value of Collaborative Modeling for Legal Business Rule Management.. MoRoCo@ECSCW, Alexander Nolte, Michael Prilla, Peter Rittgen and Stefan Oppl, 57-64, CEUR-WS.org, CEUR Workshop Proceedings, 1037, 2013.

Unknown

  1. Pedro Pereira Rodrigues, Mykola Pechenizkiy, João Gama, Ricardo Cruz Correia, Jiming Liu, Agma Traina, Peter Lucas and Paolo Soda, Proceedings of CMBS 2013 (26th IEEE International Symposium on Computer Based Medical Systems), IEEE, IEEE Catalog Number CFP13CBM-ART.
  2. Paul Bosch, Carmen Cochior, Mohamed Ezzeldin, Perry Groot, Peter Lucas, Jacques Verriet, René Waarsing and Siep Weiland. Adaptive control strategies for productive toner printers. Twan Basten, Roelof Hamberg, Frans Reckers and Jacques Verriet, Model-Based Design of Adaptive Embedded Systems, Springer New York, ES 22, 87-123.