www.prismmodelchecker.org
[GMS+10] Adriano Gomes, Alexandre Mota, Augusto Sampaio, Felipe Ferri and Julio Buzzi. Systematic Model-Based Safety Assessment Via Probabilistic Model Checking. In 4th International Symposium on Leveraging Applications on Leveraging Applications of Formal Methods, Verification and Validation (ISoLA'10), pages 625-639, Springer. 2010. [Uses PRISM for quantitative safety assessment, with a case study of an actuator control system.]
Notes: The original publication is available at www.springerlink.com.

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