1. Introduction. - 1. Emergence of Embedded Systems. - 2. Design of Embedded Systems. - 3. Requirements For An Effective Design Methodology. - 4. Proposed Design Approach. - 5. Motivation. - 6. Overview. - 2. The Polis Codesign Framework. - 1. The Polis Codesign Methodology. - 3. Codesign Finite State Machines. - 1. Background. - 2. CFSMs: Semantics. - 3. Mathematical Model. - 4. Formal Verification of CFSM Specifications. - 1. Verification Methodology. - 2. Verification Example: Seat Belt Alarm Controller. - 3. Verification Example: Shock Absorber Controller. - 4. Conclusions. - 5. Synchronous Equivalence. - 1. Motivation. - 2. The Synchronous Assumption and Synchronous Equivalence. - 3. Design Exploration Methodology. - 4. Analyzing Synchronous Equivalence. - 6. Static Equivalence Analysis. - 1. Scheduling Policy Analysis. - 2. System Graph Analysis. - 3. Mixed Analysis. - 4. Analysis of Heterogeneous Architectures. - 5. Conclusions. - 7. Communication Analysis. - 1. Execution Trace. - 2. Abstracting Communication. - 3. Conclusions. - 8. Refining Communication Analysis. - 1. Container Refinement. - 2. State Refinement. - 3. Pruning Execution Covers. - 4. Relationship with Exact Simulation. - 9. Conclusions and Future Directions. - 1. Conclusions. - 2. Future Directions. Language: English