Quality-of-service -enabled publish/subscribe (pub/sub) middleware provides powerful support for scalable data dissemination. It is hard, however, to maintain key quality of service properties (such as reliability and latency) in dynamic environments for distributed real-time and embedded systems (such as disaster relief operations or power grids). Managing quality of service manually is often not feasible in dynamic environments due to slow response times, the complexity of managing multiple

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... terrelated quality of service settings, and the scale of the systems being managed. For certain domains, distributed real-time and embedded systems must be able to reflect on the conditions of their environment and adapt accordingly in a bounded amount of time. This paper describes our architecture of quality of service-enabled middleware and corresponding algorithms to support specified quality of service in dynamic environments. The results of our work show that the middleware can monitor and adjust to a changing environment while addressing timeliness concerns of distributed real-time and embedded systems. In particular, the middleware can autonomically determine and implement appropriate adaptations in microseconds.