W. Schafer and H. Wehrheim, “The challenges of build-ing advanced mechatronic systems,” Future of Software Engineering, International Conference on Software Engi-neering, IEEE Computer Society, 2007.
 K. Thramboulidis, “Model integrated mechatronics: To-wards a new paradigm in the development of manufac-turing systems,” IEEE Transactions on Industrial Infor-matics, Vol. 1, No. 1, February 2005.
 GD250, “Lifecycle process model ‘V-Model’,” Available online: http://www.informatik.uni-bremen.de/gd-pa/vmodel/ vm1. htm#application
 K. Thramboulidis, G. Doukas, and G. Koumoutsos, “A SOA-based embedded systems development environment for industrial automation,” EURASIP Journal on Embed-ded Systems, Article ID 312671, pp. 15, 2008.
 K. Thramboulidis, “Challenges in the development of mechatronic systems: The mechatronic component,” 13th IEEE International Conference on Emerging Technolo-gies and Factory Automation (ETFA), Hamburg, Ger-many, September 2008.
 S. Burmester, H. Giese, and M. Tichy, “Model-driven development of reconfigurable mechatronic systems with mechatronic ‘UML’ in model driven architecture,” Springer Berlin/Heidelberg, Vol. 3599, 2005.
 K. Knorr, A. Lapp, P. Torre Flores, J. Schirmer, D. Kraft J. Petersen, M. Bourhaleb, and T. Bertram “A process model for distributed development of networked mecha-tronic components in motor vehicles,” Proceedings of the IEEE Joint International Conference on Requirements Engineering (RE’02), 2002
 J. El-khoury, O. Redell, and M. Torngren, “A tool integra-tion platform for multi-disciplinary development,” Pro-ceedings of the 2005 31st EUROMICRO Conference on Software Engineering and Advanced Applications, 2005.
 OMG, “SysML and AP233 mapping activity,” OMG SysML portal, http://www.omgwiki.org/OMGSysML/ doku. php?id=sysml-ap233:mapping_between_sysml_and_ap233.
 L. Constantine, “Activity modeling: Toward a pragmatic integration of activity theory with usage-centered design,” Technical Paper, Available on-line: http://www. foru se. com/ articles/activitymodeling.pdf
 “The workpartner mobile service robot,” http://automa- tion.tkk.fi/