Heather Goldsby Peter Sawyer Nelly Bencomo Betty H. C. Cheng Danny Hughes Goal-Based Modeling of Dynamically Adaptive System Requirements. 36-45 2008 ECBS http://doi.ieeecomputersociety.org/10.1109/ECBS.2008.22 conf/ecbs/2008 db/conf/ecbs/ecbs2008.html#GoldsbySBCH08