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UML and Simulink models are widely used in embedded systems design. UML offers proper high-level abstractions for software-oriented models specification, while Simulink allows a better dataflow description. The features of each model motivate the development of proposals unifying and creating mappings between them. This article proposes a formal definition for a translation from UML to a Simulink model, previously proposed, using the graph grammar formalism. This mapping was previously described in natural language and a prototype implemented in Java. The formal definition using graph grammars not only eliminates possible ambiguities in the mapping, but also allows the use of the Groove tool to automate the translation.