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In this paper, we approach embedded systems design from a new angle that considers not only quality of service but also security as part of the design process. Moreover, we also take into consideration the dynamic aspect of modern embedded systems in which the number and nature of active tasks are variable during run-time. In this context, providing both high quality of service and guaranteeing the required level of security becomes a difficult problem. Therefore, we propose a novel secure embedded systems design framework that efficiently solves the problem of runtime quality optimization with security constraints. Experiments demonstrate the efficiency of our proposed techniques.