Porter, J., Hemingway, G., Nine, H., vanBuskirk, C., Kottenstette, N., Karsai, G., & Sztipanovits, J. (2010). The ESMoL Language and Tools for High-Confi dence Distributed Control Systems Design. Part 1: Language, Framework, and Analysis. Nashville, TN: Vanderbilt University. (Original work published September 2010)