1. 199020002010 0 20 40 60 80 100 Software Costs Hardware Costs Total Costs % Figure 1.1 Software and hardware development costs in the industrial robots. © 2003 Crnkovic, Asklund, Persson Dahlqvist, ”Implementing and Integrating Product Data Management and Software Configuration Management”

2. Business Idea Development Operation and Maintenance DisposalProduction Generic product lifecycle Requirements Management Figure 1.2 Generic PLC. © 2003 Crnkovic, Asklund, Persson Dahlqvist, ”Implementing and Integrating Product Data Management and Software Configuration Management”

3. Business Idea System-Level Design Detailed Design Testing and Refinement Production Ramp-Up Operation and Maintenance Disposal Conceptual Development Production Implementation Integration and Test Generic product lifecycle Software Development Hardware Development Detailed Requirements Requirements Management Detailed Requirements Release Development Design Figure 1.3 Software and hardware development processes. © 2003 Crnkovic, Asklund, Persson Dahlqvist, ”Implementing and Integrating Product Data Management and Software Configuration Management”

4. Wheel /v1 Wheel /v2 Frame /v1 Frame /v2 Seat /v1 Seat /v2 Figure 1.4 Component versions and product versions. © 2003 Crnkovic, Asklund, Persson Dahlqvist, ”Implementing and Integrating Product Data Management and Software Configuration Management”

5. One link three links 15 links Figure 1.5 Direct relationships between group members. © 2003 Crnkovic, Asklund, Persson Dahlqvist, ”Implementing and Integrating Product Data Management and Software Configuration Management”