Gerold Alfs, Reiner W. Hartenstein, Andrea Wodtko. Explicit fault modeling and hierarchical test pattern generation in the KARATE system. Journal of Systems Architecture, 27(1-5):675-680, 1989. [doi]
@article{AlfsHW89,
  title = {Explicit fault modeling and hierarchical test pattern generation in the KARATE system},
  author = {Gerold Alfs and Reiner W. Hartenstein and Andrea Wodtko},
  year = {1989},
  doi = {10.1016/0165-6074(89)90131-2},
  url = {https://doi.org/10.1016/0165-6074(89)90131-2},
  researchr = {https://researchr.org/publication/AlfsHW89},
  cites = {0},
  citedby = {0},
  journal = {Journal of Systems Architecture},
  volume = {27},
  number = {1-5},
  pages = {675-680},
}