@newmiracle I've tried Pd with the following boards - BeableBoard-xM, Udoo, Odroid. Now I'm working with a Raspberry Pi (I'm installing the Wolfson card drivers, this very moment, dunno if it will work).
The BeagleBoard isn't so fast, and I got quite some crashes, when I was feeding sound back to it (no external sound card used). I played some gig s with it though, but wouldn't rely on it. Haven't tried a BeagleBone Black yet, it's in my future plans.
Udoo seems good, it seemed to kind of work with a Focusrite Scarlett 2i4, with some drop outs (only ALSA, I'm pretty positive that the drop outs will get cleared with Jack), but had terrible noise in the analog pins of the embedded Arduino, so I switched to Odroid.
With Odroid I think I'm having the best luck for now. It runs smoothly with the same sound card (Focusrite), with Jack, without drop outs (haven't tried duplex though, yet). It's got a powerful processor (4 cores running at 1.7 GHz). I'm planning on doing some heavy work with it. I'll post results when it's done.
I run the BeagleBoard with ccrma Satellite, but Udoo and Odroid with Debian, installing Pd from the Debian repos.