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Modeling statecharts and activitycharts as signal equations:

Beauvais, J.-R. ; Rutten, E. ; Gautier, T....
ACM Transactions on Software Engineering and Methodology (TOSEM).  10 (2001)  4 - p. 397-451 , 2001
Link: https://dl.acm.org/doi/10.1145/384189.384191