Mechanical and electrical systems show an increasing integration of mechanics with electronics and information processing. This integration is between the components (hardware) and the information-driven functions (software), resulting in integrated systems called mechatronic systems. The development of mechatronic systems involves finding an optimal balance between the basic mechanical structure, sensor and actuators, automatic digital information processing and control in which embedded systems play a key role. The field of embedded system and mechatronics is becoming evermore challenging; issues in embedded software lie at the focus of researchers both in industry and academia. The goal of this 5th ASME/IEEE MESA, MESA09, is to bring together experts from the fields of mechatronic and embedded systems, disseminate the recent advances made in the area, discuss future research directions, and exchange application experience. The conference program is organized in a number of symposia.