Relation Algebra and Modal Logics. Schlingloff, H. & Heinle, W. In Brink, C., Kahl, W., & Schmidt, G., editors, Relational Methods in Computer Science, of Advances in Computer Science, pages 20–89. Springer, 1998.
bibtex   
@InCollection{sh98,
  Author         = {Holger Schlingloff and Wolfgang Heinle},
  Title          = {Relation Algebra and Modal Logics},
  BookTitle      = {Relational Methods in Computer Science},
  Publisher      = {Springer},
  Editor         = {Chris Brink and Wolfram Kahl and Gunther Schmidt},
  Series         = {Advances in Computer Science},
  Pages          = {20{--}89},
  year           = 1998
}

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