This volume describes novel and state-of-the-art approaches to solving problems arising in the domain of embedded real-time systems. It is based on the GI-Dagstuhl research seminar MBEERTS (Modelling-Based Engineering of Embedded Real-Time Systems), which took place from November 4th to 9th in 2007, at Schloss Dagstuhl, Germany. Using models throughout the development bears several advantages. Not only can they be used as a tool for abstraction but also for verification, implementation, testing and maintenance. Due to the specific domain of real-time systems several constraints like real-time requirements, resource limitations or hardware-specific dependencies arise and impede the acceptance of high-level models for the aforementioned purposes. The approaches presented in this volume tackle those problems and lead the way to a greater acceptance and applicability of high-level models for embedded real-time systems. Therefore this volume contains 10 longer chapters covering broad areas and 11 short chapters discussing several specific state-of-the-art tools used for model-based engineering of embedded real time systems. The topic of 'Model-based Engineering of Real-time Embedded Systems' brings together a challenging problem domain (real-time embedded systems) and a solution domain (model-based engineering). Today, real-time embedded software plays a crucial role in most advanced technical systems such as airplanes, mobile phones, and cars, and has become the main driver and facilitator for innovation. Development, evolution, verification, configuration, and maintenance of embedded and distributed software nowadays are often serious challenges as drastic increases in complexity can be observed in practice. This volume is a collection of 10 long and 11 short papers that survey the state-of-the-art in model-based development of real-time embedded systems. It is composed of longer chapters that cover broad areas and short papers that discuss specific tools. This state-of-the-art survey - outcome of a Dagstuhl Seminar held in Dagstuhl Castle in November 2007 - covers the essential aspects of integrated software and systems engineering in the field of model-based engineering of embedded real-time systems. The topics covered include: frameworks and methods, validation, model-based integration technology, formal modeling of semantics, fault management, concurrency models and models of computation, requirements modeling, formal derivation of designs from requirements, test modeling and model-based test generation, quality assurance, design management, abstractions and extensions, and development techniques and problems of application domains.