This paper presents a synthesis algorithm for pipelined circuits. Thc circuit is specified as a collection of independent, loosclycoupled modules connected by queues. The sYllthesis algorithm transfOrIns this asynchronous, modular specification iuto a synchronous, tightlycoupled, and fully pipelilled circuit in which queues are illlplelllented as finite buffers. Data is read frolll the buflers at the begining of each dock cycle, ncw values are cOlllputed, then the new results are written back into the buffers at the end of each dock cyde.We have illlplelIlented a prototype synthesizer that is capable of automatically gcneratillg synchronous, fully pipelined implelllcntatiollS of modular specifications. This paper presents experimental results from this synthesizer.