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First-generation CORBA middleware was reasonably successful at meeting the demands of applications with besteffort quality of service (QoS) requirements. Supporting applications with more stringent QoS requirements poses new challenges for next-generation real-time CORBA middleware, however. This paper provides three contributions to the design and optimization of real-time CORBA middleware. First, we outline the challenges faced by real-time Object Request Broker (ORB) implementers, focusingdoi:10.1109/4434.824309 fatcat:ssud6smk6vefpmzq2g2qoi2df4