I think Richard Fateman's paper on the subject is a good introduction: https://people.eecs.berkeley.edu/~fateman/papers/ADIL.pdf https://people.eecs.berkeley.ed

I think Richard Fateman's paper on the subject is a good introduction: https://people.eecs.berkeley.edu/~fateman/papers/ADIL.pdf https://people.eecs.berkeley.edu/~fateman/papers/ADIL.pdf