STIMULUS provides a modelling language that allows system architects to combine formalised textual requirements, state machines and block diagrams in a fully integrated simulation environment.  (gemeinfrei)

Debugging Embedded Systems Requirements before the Design Begins

Over the last two decades, there has been a real movement towards requirements engineering [1]. However, the various tools that have been developed with the aim of improving the specifications development are mostly focused on requirements management and traceability (Doors, Reqtify, etc), and there is no practical upstream requirements validation tool available for checking their functional coherence before the design stage.

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