Ansgar Fehnker Ralf Huuck Bastian Schlich Michael Tapp Automatic Bug Detection in Microcontroller Software by Static Program Analysis. 267-278 2009 SOFSEM https://doi.org/10.1007/978-3-540-95891-8_26 conf/sofsem/2009 db/conf/sofsem/sofsem2009.html#FehnkerHST09