Embedded systems are used for critical applications that must adhere to safety constraints. Developers of these systems face three key challenges when attempting to apply existing requirements analysis approaches: (1) declaratively specifying functional requirements, non-functional requirements, and constraints; (2) operationally modeling the required behavior; and (3) analyzing the requirements models of the behavior for adherence to the constraints. To address these challenges, this paper introduces COBRA patterns that provide UML and goal model templates to be instantiated in tandem to create models that capture system requirements and their constraints. Structural consistency is established through the construction of the goal and UML models. Behavioral consistency is achieved by analyzing the UML models for adherence to the constraints specified in the goal model.