THE COMPLEXITY and the short time to market of embedded systems require the use of automated techniques during the specification, implementation, and testing phases of such systems. Due to the cost requirements and the timing constraints of such systems, application-specific hardware solutions are often needed, making the codesign of hardware and software a major topic for the design automation of embedded systems. Often, simulation tools are used for exploring the design space and for

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... g the functional and timing behaviors of embedded systems. During the last few years, a lot of different approaches for simulation have been developed. Hardware can now be simulated at different levels (e.g., electrical circuits, logic Hardware/Software Codesign and Rapid Prototyping of Embedded Systems Embedded Systems with SDL/MSC 28 This article describes tools for the analysis, synthesis, and rapid prototyping of distributed embedded real-time systems and presents a complete design flow from specification to implementation.