“…These systems are complex and interacting collections of components [90] and are composed of heterogeneous processes, they are subject to hard and possibly unknown requirements and they must function in complex environments (such as space missions). Consequently, the design and development process for such systems require explicit models of their behaviour, a specific architecture, and models of the environment in which these systems are expected to operate [91]. Furthermore, suitably flexible computer-based design support is needed.…”