"Advances in hardware and network technologies have paved the way for the development of increasingly pervasive software-based that collaborate to provide essential services to society. Software in these systems is often required to (1) operate in distributed and embedded computing environments consisting of diverse devices (personal computers, specialized sensors and actuators), (2) communicate using a variety of interaction paradigms (e.g., SOAP messaging, media streaming), (3) dynamically adapt to changes in operating environments, and (4) behave in a dependable manner. Despite significant advances in programming languages and supporting integrated development environments (IDEs), developing these complex software systems using current code-centric technologies requires herculean effort."