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Unified modeling language (UML) sequence diagrams combined with the UML profile for modeling and analysis of real-time and embedded (MARTE) systems are used to represent the systems' requirements. To enhance formal analysis, sequence diagrams annotated with MARTE stereotypes are mapped into timed colored Petri nets with inhibitor arcs (TCPNIA). The mapping rules for the fragments of sequence diagrams and MARTE stereotypes are proposed respectively. The mapping rules for general ordering between messages are proposed to cope with complicated interactions. The data related issues are handled through colored properties in TCPNIA models, guard functions and operational functions. A mapping rule for state invariant is proposed based on data related information. Through state invariant, complicated control relations can be expressed. Formal definitions for morphing and substitution in TCPNIA models are given. They provide modular and hierarchical modeling methods for TCPINA models. A case study shows the applicability and feasibility of our method.