You are provided with the abstract of a scientific paper and the abstracts of the papers it references. Your task is to write a Related Work section for the main paper. This section should concisely summarize and integrate the key points from the cited abstracts, reflecting how they relate to the main paper's contributions and context. In your summary, use numerical citation markers like [1], [2], etc., to refer to the corresponding papers.

Main Abstract:
Hybrid systems with both discrete and continuous dynamics are an important model for real-world cyber-physical systems. The key challenge is to ensure their correct functioning w.r.t. safety requirements. Promising techniques to ensure safety seem to be model-driven engineering to develop hybrid systems in a well-defined and traceable manner, and formal verification to prove their correctness. Their combination forms the vision of verification-driven engineering. Often, hybrid systems are rather complex in that they require expertise from many domains (e. g., robotics, control systems, computer science, software engineering, and mechanical engineering). Moreover, despite the remarkable progress in automating formal verification of hybrid systems, the construction of proofs of complex systems often requires nontrivial human guidance, since hybrid systems verification tools solve undecidable problems. It is, thus, not uncommon for development and verification teams to consist of many players with diverse expertise. This paper introduces a verification-driven engineering toolset that extends our previous work on hybrid and arithmetic verification with tools for (1) graphical (UML) and textual modeling of hybrid systems, (2) exchanging and comparing models and proofs, and (3) managing verification tasks. This toolset makes it easier to tackle large-scale verification tasks.

Cited Abstract(s):
[1]: In this paper we present Maestro, a model-based systems engineering (MBSE) environment for design and simulation of complex electronic systems using Orchestra—a simulation tool developed at Sandia National Laboratories. Maestro is deployed as a plugin for MagicDraw and uses Orchestra domain-specific language (DSL) which is based on SysML. Maestro enables a model-based design and analysis approach that replaces the traditional document-based systems engineering process. It provides a unified graphical modeling environment to domain experts who have had to depend on drawing tools for defining system architecture and manual transcription of system topology in creating complex simulation models.

[2]: Distributed real-time and embedded (DRE) systems have become critical in domains such as avionics (e.g., flight mission computers), telecommunications (e.g., wireless phone services), tele-medicine (e.g., robotic surgery), and defense applications (e.g., total ship computing environments). These types of system are increasingly interconnected via wireless and wireline networks to form systems of systems. A challenging requirement for these DRE systems involves supporting a diverse set of quality of service (QoS) properties, such as predictable latency jitter, throughput guarantees, scalability, 24x7 availability, dependability, and security that must be satisfied simultaneously in real-time. Although increasing portions of DRE systems are based on QoS-enabled commercial-off-the-shelf (COTS) hardware and software components, the complexity of managing long lifecycles (often 15-30 years) remains a key challenge for DRE developers and system integrators. For example, substantial time and effort is spent retrofitting DRE applications when the underlying COTS technology infrastructure changes. This paper provides two contributions that help improve the development, validation, and integration of DRE systems throughout their lifecycles. First, we illustrate the challenges in creating and deploying QoS-enabled component middleware-based DRE applications and describe our approach to resolving these challenges based on a new software paradigm called Model Driven Middleware (MDM), which combines model-based software development techniques with QoS-enabled component middleware to address key challenges faced by developers of DRE systems - particularly composition, integration, and assured QoS for end-to-end operations. Second, we describe the structure and functionality of CoSMIC (Component Synthesis using Model Integrated Computing), which is an MDM toolsuite that addresses key DRE application and middleware lifecycle challenges, including partitioning the components to use distributed resources effectively, validating software configurations, assuring multiple simultaneous QoS properties in real-time, and safeguarding against rapidly changing technology.

[3]: 

[4]: During embedded systems development, decisions must be made regarding which portions of the system will be implemented in software, hardware, firmware etc. The latest version of UML (UML 2.1.1), and the Systems Modeling Language, (SysML) now enable embedded systems developers to more closely model their systems. Systems engineering principals, can also aid this process. Consequently, essential aspects of systems engineering issues such as concurrency, hardware architecture, and requirements traceability can be applied to embedded systems. This paper proposes a method for analyzing and designing a system into logical units so that the allocation process can be successfully completed. Constraints and elements can be traced to and reflected in the generated code.
Model-driven engineering in a collaborative manner has been successfully applied in the embedded systems community. Efforts, for instance, include transforming between different UML models and SysML [4] , modeling in SysML and transforming these models to the simulation tool Orchestra [1] , integration of modeling and simulation in Cosmic Cadena [2] , or modeling of reactive systems and integration of various verification tools in Syspect [3] .