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Most streaming applications, such as multimedia and digital signal processing (DSP) application, are iterative in nature, so pipelined implementation can be introduced into streaming application for high throughput. In this case, as a communication-centric design approach, NoC is capable of solving communication bottleneck incurred by throughput increment. In this paper streaming application with pipelined implementation was mapped onto the NoC architecture by an energy-aware mapping algorithm proposed focusing on the pipelining mechanism. This algorithm performs the task allocation, scheduling and communication scheduling simultaneously and minimizes the energy consumption. The result generated by this algorithm was verified by a cycle-accurate simulator written in SystemC. Experimental results show that 7 times throughput increments can be achieved and energy consumption is also reduced by 12%, compared with one that doesn't involve pipelined implementation.