“…Some examples here are the traditional waterfall approach [116], the widely used V-model approach (Figure 1.1) [114], and the more recent agile approach [115], which tends to be popular among startups. Another important dimension is whether we move directly from the mind of the designer to a system prototype (implementation) or whether this transition is gradual and involves build-ing (abstract) system models in the process, in which case we talk about Model-Based Design (MBD) [15,105,66,78,44,93,94,99,55,104]. In the case where models are used, we can further classify based on whether these models are built manually or automatically (e.g.…”