reorganize open systems section into new sections

- model checking is one form of verification
- new section on synchronous languages
- synchronous languages are intended primarily for:
    - humans writing deterministic controllers
    - open systems
    - verification
    - compilation into executable code (hardware/software "synthesis")
  *not* synthesis from temporal logic
- mv state charts to synchronous languages, because they belong mainly there
- new synthesis section
- synthesis for closed systems reduces to counterexample generation from model checking
- new section: synthesis for open systems
- distinguish between:
    - discrete games
    - hybrid games
    - contracts
- distinguish between full LTL, GR(1), and specialized game solvers
fix typo
add Quartz, marduk, Unbeast, GASt, alpaga