Reference: Larsson, J. E. The MFM/Guardian Operations Manual. Knowledge Systems Laboratory, Department of Computer Science, July, 1995.
Abstract: This report describes the MFM Toolbox for Guardian, a software toolbox written in Lisp and BB1, which implements three model-based diagnostic algorithms: alarm analysis, fault diagnosis, and explanation generation. The algorithms are based on explicit modeling of goals and functions using multilelvel flow modeling concepts, and they are well-suited for problems where hard real-time behavior, speed, precise worst-case time information, and integration with conventional software are needed.
Full paper available as ps.