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Heterogeneous non-functional requirements of Distributed Real-Time Embedded (DRE) system put a limit on middleware engineering: the middleware must reflect application requirements, with limited runtime impact. Thus, building an application-tailored middleware is both a requirement and a challenge. In this paper, we provide an overview of our work on the construction of middleware. We focus on two complementary projects: the definition of middleware that provides strong support for bothdoi:10.1007/978-3-540-71156-8_7 dblp:conf/monterey/HuguesKPV05 fatcat:trkl4brztzeajm6jf5dj3r2pmm