Sven Burmester Holger Giese Matthias Tichy Model-Driven Development of Reconfigurable Mechatronic Systems with Mechatronic UML. 47-61 2004 conf/mdafa/2004 MDAFA http://dx.doi.org/10.1007/11538097_4 db/conf/mdafa/mdafa2004.html#BurmesterGT04