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This paper surveys the design of embedded computer systems, which use software running on programmable computers to implement system functions. Creating an embedded computer system which meets its performance, cost, and design time goals is a hardware-software co-design p r o b l e w h e design of the hardware and software components influence each other. This paper emphasizes a historical approach to show the relationships between well-understood design problems and the as-yet unsolveddoi:10.1109/40.296155 fatcat:ry7g2gcfkvdo3fnmi73knppf5a