See the work of Margaret Hamilton, coiner of the term "software engineering" and developer of software for the Apollo mission.
> In 1976, Hamilton co-founded with Saydean Zeldin a company called Higher Order Software (HOS)[46] to further develop ideas about error prevention and fault tolerance emerging from their experience at MIT working on the Apollo program.
> In 1976, Hamilton co-founded with Saydean Zeldin a company called Higher Order Software (HOS)[46] to further develop ideas about error prevention and fault tolerance emerging from their experience at MIT working on the Apollo program.
https://en.wikipedia.org/wiki/Margaret_Hamilton_%28scientist...
Crapped on by Dijkstra himself: https://www.cs.utexas.edu/users/EWD/ewd08xx/EWD852.PDF
Written up by James Martin (without proper attribution in my opinion) in "System design from provably correct constructs : the beginnings of true software engineering": https://archive.org/details/systemdesignfrom00mart/mode/2up
See also: https://en.wikipedia.org/wiki/Universal_Systems_Language