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in * TF "Emb. Sys. and Rob." by (440 points)

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Why do you think that it should be removed? To justify (S1,Q1), we need to check the following simulation diagram:

    S1 --> {S0;S2}
    |     
    Q1 --> {Q0;Q2;Q3}

That means that we have to check whether for S1->S0, there is a corresponding one of (S0,Q0), (S0,Q2), (S0,Q3) is in the relation which is the case, and we have to check whether for S1->S2, there is a corresponding one of (S2,Q0), (S2,Q2), (S2,Q3) is in the relation which is also the case. Hence, (S1,Q1) also remains in the relation since state Q1 can simulate everything what S1 can do.

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