The process of designing large real-time embedded signal processing systems is plagued by a lack of coherent specification and design methodology. A canonical waterfall design process is commonly used to specify, design, and implement these systems with commercial-off-the-shelf (COTS) multiprocessing (MP) hardware and software. Powerful frameworks exist for each individual phase of this canonical design process, but no single methodology exists which enables these frameworks to work together coherently, that is, allowing the output of a framework used in one phase to be consumed by a different framework used in the next phase. This lack of coherence usually leads to design errors that are not caught until well into the implementation phase. The cost of redesign increases as the design moves through these three stages, thus, the methodology desccribed above can become costly if errors are not detected in the early stages of design. This text shows how designs targeting COTS MP technologies can be improved by providing a coherent coupling between these frameworks, a quality known as model continuity . This book presents a new specification and design methodology (SDM) which accomplishes the requirements specification, design exploration, and implementation of COTS MP-based signal processing systems by using powerful commercial frameworks that are intelligently integrated into a single domain-specific SDM.