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]: 

[2]: The specification of modeling and analysis of real-time and embedded systems (MARTE) is an extension of the unified modeling language (UML) in the domain of real-time and embedded systems. Even though MARTE time model offers a support to describe both discrete and dense clocks, the biggest effort has been put so far on the specification and analysis of discrete MARTE models. To address hybrid real-time and embedded systems, we propose to extend statecharts using both MARTE and the theory of hybrid automata. We call this extension hybrid MARTE statecharts. It provides an improvement over the hybrid automata in that: the logical time variables and the chronometric time variables are unified. The formal syntax and semantics of hybrid MARTE statecharts are given based on labeled transition systems and live transition systems. As a case study, we model the behavior of a train control system with hybrid MARTE statecharts to demonstrate the benefit.

[3]: In this article, a new UML extension for the specification of hybrid systems, where observables may consist of both discrete and time-continuous parameters, is presented. Whereas hybrid modeling constructs are not available in standard UML, several specification formalisms for this type of system have been elaborated and discussed, among them the CHARON language of which possesses already several attractive features for modeling embedded real-time systems with hybrid characteristics. Adopting this as a basis, the profile inherits formal semantics based on CHARON, so it offers the possibility for formal reasoning about hybrid UML specifications. Conversely, the CHARON framework is associated with a new syntactic representation within the UML 2.0 world, allowing to develop hybrid specifications with arbitrary CASE tools supporting UML 2.0 and its profiling mechanism. The “look-and-feel” of the profile is illustrated by means of a case study of an embedded system controlling the cabin illumination in an aircraft. The benefits and weaknesses of the constructed hybrid UML profile are discussed, resulting in feed-back for the improvement of both UML 2.0 and the CHARON formalism.

[4]: As its name promises, the Unified Modeling Language (UML) provides a collection of diagrammatic modeling styles. To the early class objects and use-case diagrams were almost immediately added state-, activity-, collaboration-, and component diagrams. All these modeling views, required for structural and behavioral representations of systems, were then progressed to further detailed expressivity. Provision for domain-specific specializations was made under the form of profiles. Somehow this goal of being rather universal and extendible discarded the possibility of UML to adopt too strict and precise a semantics; as users were generally to define and refine it in their stereotyped profiles anyway. As a result, even the little execution semantics there is in the standard is often not considered in such specializations. We tackled the general issue of defining a broadly expressive Time Model as a sub-profile of the upcoming OMG Profile for Modeling and Analysis of Real-Time Embedded systems (MARTE), currently undergoing finalization at OMG. The goal is to provide a generic timed interpretation, on which timed models of computation and timed simulation semantics could be built inside the UML definition scope, instead of as part of the many external proprietary profiles. The MARTE time library can be used as the basis for the definition of a UML real-time simulator.

[5]: The emergence of the UML as a de facto standard for object-oriented modeling has been mirrored by the success of the B method as a practically useful formal modeling technique. The two notations have much to offer each other. The UML provides an accessible visualization of models facilitating communication of ideas but lacks formal precise semantics. B, on the other hand, has the precision to support animation and rigorous verification but requires significant effort in training to overcome the mathematical barrier that many practitioners perceive. We utilize a derivation of the B notation as an action and constraint language for the UML and define the semantics of UML entities via a translation into B. Through the UML-B profile we provide specializations of UML entities to support model refinement. The result is a formally precise variant of UML that can be used for refinement based, object-oriented behavioral modeling. The design of UML-B has been guided by industrial applications.

[6]: 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.

[7]: This article explores a dual approach to real-time software development. Models are written in UML, as this is expected to be relatively easy and economic. Then models are automatically translated into a formal notation that supports the verification of properties such as safety, utility, liveness, etc. In this way, developers can exploit the advantages of formal notations while skipping the complex and expensive formal modelling phase. The proposed appraoch is applied to the Generalised Railroad Crossing (GRC) problem, one of the best known benchmarks porposed in the literature. A UML model of the GRC is built, and then translated into TRIO (a first order temporal logic). The resulting specification properties are tested by a history checking tool which exploits the formality of TRIO. The work described here highlights the shortcomings of UML as a real-time modelling language, proposes enhancements and workarounds to overcome UML limitations, and demonstrates the viability of using UML as a front-end for a formal real-time notation. By translating the GRC model into TRIO, we also give formal semantics to some of the UML constructs.

[8]: Abstract The mathematical notations of Formal Verification Tools (FVTs) do not prevent us from wrongly defining the behavior of systems, any more than modern CASE tools do. With software rapidly growing in size and complexity, graphical specifications in languages like UML need to be formally verified, before the implementation phase, in order to guarantee the development of more reliable systems. While the enterprise of integrating CASE and FVTs has had reasonable success with the translation of simple diagrams to model checkers' notations, there has been few progress regarding the fundamental aspects an interface should have to fully integrate them. In this work we present an interface for joining both technologies as a reliable solution to bridging this gap.

[9]: Today, mechanical engineering products can largely be classified as mechatronic systems, i.e. systems integrating electrical and mechanical components with software. Mechatronic systems are often employed in safety-critical areas, for instance in the automotive or railway domain. MECHATRONIC UML is a UML profile specifically tailored towards the modelling of mechatronic systems. It aims at bringing model-based design and formal analysis to the mechatronic area, which has originally been dominated by engineering techniques. In this paper we give a survey of the modelling as well as verification techniques supported by MECHATRONIC UML.
The Unified Modeling Language (UML [1] ) is a standardized language for object-oriented modeling. But without extension it is not well suited for modeling hybrid systems [3] . Therefore, the profiling mechanism of UML was used to extend the standardized UML languages SysML [6] for modeling hardware and software components of complex systems and MARTE [4] for modeling real-time and embedded systems. These and other extensions [3] [2] [6]6 increase the support for hybrid modeling in UML. However, those profiles augment the UML Statechart formalism, since their languages base on hybrid automata as underlying principle. We, instead, use hybrid programs and therefore extend UML Activity Diagrams since they are a more natural way of modeling. Examples for integrating formal notations with informal ones can be found outside the hybrid systems community, for instance, UML-B [5] , TRIO [7] , or VeriAgent [8] .