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The question only mentions a "modification" to be made. So can we leave it at the required conjunction? If not, then which simplification is recommended (DNF, CNF, SNF)?

in * TF "Emb. Sys. and Rob." by (610 points)

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Good point, but I think at least the formulas for the transition relation and Phi_inf with the substituted variables should be written down. More is not needed, I would say.
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