  The design of embedded systems is a complex activity that involves a lot of
decisions. With high performance demands of present day usage scenarios and
software, they often involve energy hungry state-of-the-art computing units.
While focusing on power consumption of computing units, the physical properties
of software are often ignored. Recently, there has been a growing interest to
quantify and model the physical footprint of software (e.g. consumed power,
generated heat, execution time, etc.), and a component based approach
facilitates methods for describing such properties. Based on these, software
architects can make energy-efficient software design solutions. This paper
presents power consumption and execution time profiling of a component software
that can be allocated on heterogeneous computing units (CPU, GPU, FPGA) of a
tracked robot.
