Heather Goldsby Sascha Konrad Betty H. C. Cheng Goal-Oriented Patterns for UML-Based Modeling of Embedded Systems Requirements. 7-14 2007 conf/hase/2007 HASE http://doi.ieeecomputersociety.org/10.1109/HASE.2007.40 db/conf/hase/hase2007.html#GoldsbyKC07