WITH THE RAPID EVOLUTION of submicronprocess technology, manufacturers are integrating increasing numbers of components on one chip. A heterogeneous system on a chip (SOC) such as that shown in Figure 1 might include one or more programmable components-generalpurpose processor cores, digital signal processor cores, or application-specific intellectual property cores-as well as an analog front end, on-chip memory, I/O devices, and other application-specific ICs. Unfortunately, design technologies have fallen behind advances in processing technology, especially in the context of complex (possibly data-dominated) and very dynamic (partly nondeterministic) applications. SOC designers need a consistent system design technology that can cope with such characteristics and with evershortening time-to-market requirements. This technology should efficiently map these dynamic applications to the target realization while meeting all real-time and other constraints.Contemporary software (and hardware) design practices for this target class can be described only as ad hoc. The design trajecto-
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