Bug Fixing, Ethernet, requirement engineering, Design Verification, brake systems, software test specifications, WTB, V-model approach, EN 50657, IEC 50128, traction control, software upgrades, setpoint generation, IEC 61131, IEC 61375, SWrS interface specifications, Communication Protocols, code reviews, TRDP, interface specifications, functional block diagrams, RArS, control logic development, MVB, logic block diagrams