An embedded system has historically been defined as a single function product where the intelligence is embedded in the system. It could be anything from a dishwasher to a hearing aid, if that product includes a microprocessor and software. Many of today's embedded systems are looking more like PCs with user interfaces, touchscreens, displays, keypads and more. Still, these are not general function systems but are designed to perform very specific functions.
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An Embedded Architecture is a board that is implemented as the embedded system when programmed an embedded architecture is also a target board on which a uProcessor is plugged
I cannot imagine a modern embedded system that is not built on a printed circuit board.
A ROM chip
The embedded system was invented in the mid 1980s. However, it was not really used in personalized computers and robots until the mid 90s.
If it resided in RAM, it would get lost when you power off the system.