Most embedded systems require a high degree of predictability and reliability, and involve tight interactions with their physical environment. They differ from computation-intensive applications as a result of their concurrent threads of control and time-dependent behavior, as well as a variety of system requirements that include size, power, cost, safety, security, and regulation. However, the task of developing such systems is much more challenging than general computer applications as multiple concurrent subsystems interact with real-time signals and produce a sequence of interdependent and timed control actions. Consequently, system design and software development of embedded systems have become significant obstacle in meeting the market demands for functionality, reliability, and ease of use while achieving rapid product release cycles.