“…These frameworks were based on either formal approaches, 27,45,49,109 SysML, 30 or other various methods and tools. 19,20,22,67,69,75,81,103,104,107,151,153,154 Thirteen out of 143 studies presented a model. The model could either be related to the collaborative modeling of safety and security properties, 147 a life-cycle model, 18,25,124,155 a process model, 24,37,44,60 a reference model, 55 or a business process model 42,43,83 for the development of safety and security systems.…”