A Consistent Preliminary Design Process for Mechatronic Systems - Simulation and Modeling Methodologies, Technologies and Application - page 101

Then, the topology has to be mathematically expressed (Fig. 9) using a connection
(or incidence) matrix named C and an algebraic graph that allows one to connect
nodes and branches. The topological structure (graph) is overlaid with an algebraic
Fig. 6. Architecture, test cases and system requirements attachment
Fig. 7. Kinematic joints relations diagram in SysML