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\documentclass[12pt,tikz]{standalone}
\pdfinfoomitdate 1
\pdfsuppressptexinfo 1
\pdftrailerid{}
\usepackage[utf8]{inputenc}
\usepackage{amsmath}
\usepackage{pgfplots}
\usepackage{tikz}
\pagestyle{empty}
\begin{document}
\begin{tikzpicture}
\tikzstyle{manual} = [draw, fill=green!10, rectangle, minimum height=2em, minimum width=8em, node distance=10em]
\tikzstyle{auto} = [draw, fill=orange!10, rectangle, minimum height=2em, minimum width=8em, node distance=10em]
\node[manual] (sys) {\begin{minipage}{8em}
\center
System Level \\
Model
\end{minipage}};
\node[manual] (beh) [right of=sys] {\begin{minipage}{8em}
\center
Behavioral \\
Model
\end{minipage}};
\node[auto] (rtl) [right of=beh] {\begin{minipage}{8em}
\center
RTL \\
Model
\end{minipage}};
\node[auto] (gates) [right of=rtl] {\begin{minipage}{8em}
\center
Gate-Level \\
Model
\end{minipage}};
\draw[-latex] (beh) edge[double, bend left] node[above] {synthesis} (rtl);
\draw[-latex] (rtl) edge[double, bend left] node[above] {synthesis} (gates);
\draw[latex-latex] (sys) edge[bend right] node[below] {verify} (beh);
\draw[latex-latex] (beh) edge[bend right] node[below] {verify} (rtl);
\draw[latex-latex] (rtl) edge[bend right] node[below] {verify} (gates);
\end{tikzpicture}
\end{document}
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