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OMG SysML 

a general-purpose graphical modeling language for specifying, analyzing, designing, and verifying complex systems that may include hardware, software, information, personnel, procedures, and facilities. In particular, the language provides graphical representations with a semantic foundation for modeling system requirements, behavior, structure, and integration with a broad range of engineering analysis.

Read OMG SysML Tutorial and Final Adopted OMG SysML Specification (ptc/06-05-04) May 2006

Creating a Traceable UML Model by Thomas A. Bullinger and Sandeep Mitra

A tutorial on building a traceable UML model for your embedded design, using UML diagrams and associated descriptions

SysML – The Systems Modeling Language by Bruce Powel Douglass, Telelogic

An Integrated Modeling Approach to Solving System and Software engineering problems by Hans-Peter Hoffmann, Ph.D. and Irv Badr, Telelogic