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"A reliability model for real-time rule-based expert systems",
IEEE Transactions on Reliability, vol. 44, no. 1, pp. 54-62, March 1995.
"On the reliability of AI planning software in real-time applications",
IEEE Transactions on Knowledge and Data Engineering, vol. 7, no. 1, pp. 4-13, February 1995.
"A software reliability model for AI programs",
International Journal of Software Engineering and Knowledge Engineering, vol. 3, no. 1, pp. 99-114, 1993.