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# First Pass
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**Category:**
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**Context:**
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**Correctness:**
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**Category:** This paper is an experimental paper.
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**Context:** The context of this paper is using a couple different techniques
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synthesize control programs using different formal methods tools.
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**Correctness:** I trust Max's integrity. Some of the citations were funky and
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the intro was fluffy though.
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**Contributions:**
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This paper shows that using LTL and other formal methods still struggles to
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generate controllers for significantly challenging systems. The high bay
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warehouse used to create this paper had to be simplified. Then, they introduce
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an SMT solver based method to try to generate code.
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**Clarity:**
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The intro and conclusion do not provide very strong clarity on what they
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actually did other than "high assurance is high difficulty", and that we're not
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really there yet on HACPS.
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# Second Pass
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**What is the main thrust?**
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