This paper presents an approach for mapping tasks optimal tohardware and software components in order to design a real-time system.The tasks are derived from an algorithm and are represented by atask-graph. The performance of the algorithm on the resulting real-timesystem will meet the specified timing constraints. Some of the hardwarecomponents are programmable and others are application specific hardwareprocessors. We propose a powerful MILP (Mixed Integer Linear Program)model with and without functional pipelining. The efficiency of themethod is demonstrated with practical examples
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