SuperCollider without jack server

One of the requirements in my project is to reduce runtime footprint on an embedded system. It looks like jackd is required on Linux and seem like it's currently a hard dependency and it cannot use libasound directly instead, is it true? It'd be also great to hear from someone who use jackd on an embedded device and could summaries it's resource usage. Although, I'm planing to use BeagleBone with relatively enough memory, I'd rather spare it for a longer delay line instead of running jackd.