This paper describes an integrated approach for the design and subsequent behavioral analysis of concurrent software designs for embedded systems. The approach integrates software design using the COMET concurrent object-oriented design method, Colored Petri Net (CPN) modeling, and performance measurement of the target system. The approach combines information from platform-independent and platform-specific models to construct analyses of software architectures for embedded systems. It allows an engineer / analyst to examine behavioral and performance properties of a software architecture design paired with a candidate implementation architecture. Applying the behavioral design patterns in the UML-based design along with corresponding CPN templates, the results from the analyses can be directly mapped back to the original design artifacts. The approach is illustrated using a robot controller case study.