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Developing real-time software for large-scale Distributed Real-time and Embedded (DRE) systems is hard due to variabilities that arise from integration with various subsystems based on different programming languages and hardward, OS, middleware platforms, fine tuning the system to satisfy a range of customer requirements, such as various Quality-of-Service (QoS) properties, and changing functional and QoS properties of the system based on available system resources. This paper describes the experience applying Model-Driven Development (MDD) tools and QoS-enabled component middleware technologies to address domain- and middleware-specific variability challenges in an inventory tracking system, which manages the storage and flow of items in warehouses.
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