Abstract: Directed graphs, called processing graphs, are a standard design aid for complex real-time systems. The primary problem in developing real-time systems with processing graphs is transforming the processing graph into a predictable real-time system in which latency can be managed. Software engineering techniques are combined with real-time scheduling theory to solve this problem. In the parlance of software engineering methodologies, a synthesis method is presented. New results on managing latency in the synthesis of real-time systems from cyclic processing graphs are also presented. The synthesis method is demonstrated with an embedded signal processing application for an anti-submarine warfare (ASW) system.