Formal Specification of a Wall-Climbing Robot Using Z – A Case Study of Small-Scale Embedded Hard Real-Time System. Jurnal Teknologi, [S. l.], v. 34, n. 1, p. 25–40, 2012. DOI: 10.11113/jt.v34.645. Disponível em: https://journals.utm.my/jurnalteknologi/article/view/645.. Acesso em: 23 jul. 2024.