I would suggest looking at the work of Stephen J. Mellor. His work on the Shlaer-Mellor method was done at Project Technology (now defunct), but was in the context of work at CERN. Developments of this method were done when he worked at Mentor Graphics, in the context of embedded development and chip design. Much of his work in this context was picked up by Kennedy-Carter in connection with "hard" real time systems. Following links to Kennedy-Carter (mine were well out of date) led me to Advanced Systems which seems to be the successor of that company, and which is providing methods and services in connection with embedded systems.
As part of their development of this method, Kennedy-Carter developed a number of architectures, including at least one simulation architecture, enabling developers to step through the application in a software environment.
I would add that research in this area is handicapped, because the firms, using such methods to develop embedded systems, tend to view their methods as proprietary, and one of the elements that give them a competitive edge. This does mean that public availability of resources can be patchy and difficult to find.