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In this paper, we present a two-phase framework that integrates task assignment, ordering and voltage selection (VS) together to minimize energy consumption of real-time dependent tasks executing on a given number of variable voltage processors. Task assignment and ordering in the first phase strive to maximize the opportunities that can be exploited for lowering voltage levels during the second phase, i.e., voltage selection. In the second phase, we formulate the VS problem as an Integer Programming (IP) problem and solve the IP efficiently. Experimental results demonstrate that our framework is very effective in executing tasks at lower voltage levels under different system configurations.