B. Kaiser, R. Weber, M. Oertel, E. Böde, B. Nejad, and J. Zander, “Contract-Based Design of Embedded Systems Integrating Nominal Behavior and Safety”, J. Complex Syst. Inform. Model. Q., no. 4, pp. 66–91, Oct. 2015, doi: 10.7250/csimq.2015-4.05.