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Object Request Broker (ORB) middleware has shown promise in meeting the functional and real-time performance requirements of Distributed Real-time and Embedded (DRE) systems. However, existing real-time ORB middleware standards such as RT-CORBA do not adequately address the challenges of providing robust performance guarantees portably across different platforms, and managing unpredictable workload. To overcome this limitation, the authors have developed software called FCS/nORB that integrates a Feedback Control real-time Scheduling (FCS) service with the nORB small-footprint real-time ORB designed for networked embedded systems.
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