@Article{Koymans1990,
  author  = {Ron Koymans},
  title   = {Specifying real-time properties with metric temporal logic},
  journal = {Real-Time Syst.},
  volume  = 2,
  number  = 4,
  year    = 1990,
  issn    = {0922-6443},
  pages   = {255--299},
  doi     = {10.1007/BF01995674},
  publisher = {Kluwer Academic Publishers},
}