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In this paper, we have presented an RTOS-based design and validation methodology for embedded systems. The heart of our methodology is the use of an RTOS simulation model from the very early stage of the system design, which enables accurate system specification, efficient validation, and smooth implementation. We also showed a case study in order to demonstrate the effectiveness of our methodology. Up to now, we have developed a co-simulation framework and a simulation model of RTOS (Honda et al.,2004) which are key components to realize the proposed methodology. Currently we are working towards two directions. One is to improve the timing accuracy of co-simulation, and the other is to support multiprocessor embedded systems.