SysML1.0, 11.3.2.8 Rate:
'The «rate» stereotype has a rate property of type ValueSpecification.'
However Figure 11.8 shows 'rate' with type InstanceSpecification.
(Also, the 'rate' property should be clearly defined as an Attribute of <<rate>> in 11.3.2.8 Rate.)
From SysML1.0: Figure 11.10 - Continuous system example 1:
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It is difficult and/or inconsistent to show the {stream} indication of the Action ':Driving' without an output Pin corresponding to an underlying output Parameter of Behavior 'Driving' satisfying the 'isStream=true' condition.
Indeed Table 11.1 - Graphical nodes included in activity diagrams shows only Actions with Pins and the {stream} indicator for UML4SysML::Parameter.isStream
The following image shows Figure 11.10 adapted to use Pins throughout (except for ControlValue input to the controller Action 'Monitor Traction'):
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The <<controlOperator>> action ':Enable on Brake Pressure > 0' does not show an output Pin corresponding to an output Parameter of type ControlValue that must exist for the Behavior Enable on Brake Pressure > 0. From SysML1.0:
'11.3.2.2 ControlOperator
,,
Constraints
[1] When the «controlOperator» stereotype is applied, the behavior or operation must have at least one parameter typed by ControlValue. If the stereotype is not applied, the behavior or operation may not have any parameter typed by ControlValue.'
It would make sense (and be clearer) if the «controlOperator» had an output Pin typed by ControlValue.
Below we see the diagram adapted to use an output Pin typed by ControlValue.
Here we see (in advance of my analysis of the individual issues) my suggestion for an "improved" Figure 11.10, which uses typed Pins wherever possible, a strategy that solves many of the specification issues and MD SysML 15 tool issues. Note also the use of clearly typed anonymous CallBehaviorActions.
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Please examine this detailed analysis of the many issues concerning Figure 11.10. Issues are extracted from this analysis and reported individually as shown in the following pages, along with an "improved" version of Figure 11.10.

For an even more detailed discussion of issues with Figure 11.10 and recommendations for MD SysML 15 please visit the Hybrid SUV sample tutorial:
Figure 11.10 - Continuous system example 1 in MD_SysML_15
SysML 1.0, 11.3.2.3 Discrete:
[1] The «discrete» and «continuous» stereotypes cannot be applied to the same element at the same time.
However Table11.1 and Table 11.2 Rate examples appear to show both «discrete» and «continuous» applied to the same element at the same time, and Table 11.1 appears to show overloaded tagged values {rate=constant} and {rate=distribution}.
Resolution: change Table11.1 and Table 11.2 to show dedicated examples of «discrete» and «continuous» stereotype usage.
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I do not recommend using the Behavior name EVER without a colon, as can be confused with action name.
Prefer: