@InProceedings{Giese+2004a,
  AUTHOR = {Giese, Holger and Burmester, Sven and Schäfer, Wilhelm and
  Oberschelp, Oliver},
  TITLE = {{Modular Design and Verification of Component-Based Mechatronic
  Systems with Online-Reconfiguration}},
  YEAR = {2004},
  MONTH = {November},
  BOOKTITLE = {Proc. of 12th ACM SIGSOFT Foundations of Software
  Engineering 2004 (FSE 2004), Newport Beach, USA},
  PAGES = {179-188},
  PUBLISHER = {ACM Press},
  URL =
  {http://www.upb.de/cs/ag-schaefer/Veroeffentlichungen/Quellen/Papers/2004/FSE2004.pdf},
  ABSTRACT = {The development of complex mechatronic systems requires
  a careful and ideally verifiable design. In addition, engineers from
  different disciplines, namely mechanical, electrical and software
  engineering, have to cooperate. The current technology is to use block
  diagrams including discrete blocks with statecharts for the design
  and verification of such systems. This does not adequately support
  the verification of large systems which improve the system behavior
  at run-time by means of online reconfiguration of its controllers
  because the system as whole has to be verified. It also does not
  support cooperative interdisciplinary work because a white-box view
  on all blocks involved in the online reconfiguration is required. This
  paper proposes a rigorous component concept based on the notion of UML
  component diagrams which enables modular composition and decomposition
  of complex systems with online reconfiguration given by hierarchical
  hybrid component specifications. The approach enables compatibility
  checks between components that are often independently developed
  (across the different disciplines) and supports compositional model
  checking based on a rigorously defined semantics.}
}