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The availability of programmable hardware devices with high density of logic elements and the possibility of implementing CPUs (called softcores) using a fraction of the FPGA area offers additional flexibility for the implementation of embedded applications with real-time constraints. When implementing functions on such devices, designers can choose between hardware and software. Also, the designer can select the number of CPUs that must be created to best support the execution of the real-timedoi:10.1109/rtas.2007.25 dblp:conf/rtas/NataleB07 fatcat:7cv7wjbo4fapbnmz7y6hhauh3e