This pre-print paper will appear as Chapter 16, pp. 453-483, in Part IV of the book "Model-based Testing for Embedded Systems" by Justyna Zander, Ina Schieferdecker, and Pieter J. Mosterman (eds.), CRC Press, 2011/2012. Section 5, as well as several Figures and a number of Acknowledgments, which will appear in the above-mentioned book, are not shown in this pre-print paper.
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