With the growing complexity of embedded systems, more and more parts of a system are reused or supplied, often from external sources. These parts range from single hardware components or software processes to hardware-software (HW-SW) subsystems. They must cooperate and share resources with newly developed parts such that all of the design constraints are met. This, simply speaking, is the integration task, which ideally should be a plug-and-play procedure. This does not happen in practice, however, not only because of incompatible interfaces and communication standards but also because of specialization.