A technique for the synthesis of asynchronous sequentialcircuits from a Signal Transition Graph (STG) specificationis described. We give algorithms for synthesisand hazard removal, able to produce hazard-free circuitswith the bounded wire-delay model, requiring theSTG to be live, safe and to have the unique state codingproperty. A proof that, contrary to previous beliefs,STG persistency is not necessary for hazard-free implementationis given.1 IntroductionAsynchronous design is...