Diagrams are built with Magic Draw using Caminao stereotypes. They follow the sequence of the SysML sample problem.
B4. Setting Context
B5. Top Level Use Cases
B6. Drive Vehicle Operational Use Case
B7. Drive Vehicle Activities
B8. Drive Vehicle Control
B11. Requirements Hierarchy
B12. Derived Requirements
Requirements can be connected with dependency links, possibly qualified by logical inclusion (aka rationale) or exclusion. Dependency links can also be used without ambiguity between artifacts and requirements.
B13. Acceleration Requirements
The semantics of dependency links can be unambiguously defined by targets without further stereotyping. For instance a dependency between requirements and test cases can only be interpreted as verification.