Despite choosing the appropriate modelling language to use in embedded system, such as SysML or MARTE, choosing the suitable modelling method to implement the model according to the practice, such as OOSM or SYSMOD, plays as important role.
What modelling method do you use in the Embedded Systems domain and why it was the choosen method?
One possibility is using Coloured Petri Nets (CPNs). Once you have the CPN model, you can apply model checking to verify desirable and undesirable behaviours in your modelled embedded system.
I have used AADL in my research. AADL comes with different standardized extensions which can be used for evaluation and inline implementation. See "The FORA Fog Computing Platform for Industrial IoT" and "Fogification of electric drives: An industrial use case" where I employed AADL for modelling.
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