This paper presents an RTOS-centric hardwareisoftware cosimulator which we have developed for embedded system design. One of the most remarkable features in our cosimulator is that it has a complete simulation model of an RTOS which is widely used in industry, so that application tasks including RTOS service calls are natively executed on a host computer. Our cosimulator also feaNres cosimulation with functional simulation models of hardware written in C i C U and cosimulation with HDL simulators. A case study with a JPEG decoder application demonstrates the effectiveness of our cosimulator. Categoriesand SubjectDescriptors C.3 [Special-Purpose and Application-Based Systems]: RealTime and Embedded Systems; D.4.8 [Performance]: Simulation; B.7.2 [Design Aids]: Simulation and Verification. General Terms Design, Performance, Verification Keywords RTOS, Cosimulation, Embedded Systems