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This paper describes an object-oriented model and a reuse-oriented methodology for the co-design of embedded computer systems. Our approach is based on a hierarchy of classes which describes all possible specifications of systems of a certain domain, the behavior of hard-and sofrware-components, and the target-architectures. The content of this knowledge buse (re-usable, formalized descriptions) is determined by the analysis of known systems. We present solutions for a specification methodology, the modeling of heterogeneous systems by task graphs, and the mapping process from speci$ed requirements down to hard-or sofhvare components in a target architecture. This approach is illustrated by functions of the domain of robot controls.

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