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A comment on Sequence diagrams, the only good thing UML brought to software development. Parent comment
Statecharts - A visual formalism for complex systems. David Harel. 1987
https://archive.org/details/7.-statecharts
Looks like you can also freely download the paper from here: https://www.sciencedirect.com/science/article/pii/0167642387...
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Statecharts - A visual formalism for complex systems. David Harel. 1987
https://archive.org/details/7.-statecharts
Looks like you can also freely download the paper from here: https://www.sciencedirect.com/science/article/pii/0167642387...