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Different distributed cyber-physical systems must handle aperiodic and periodic events with diverse requirements. While existing real-time middleware such as Real-Time CORBA has shown promise as a platform for distributed systems with time constraints, it lacks flexible configuration mechanisms needed to manage end-to-end timing easily for a wide range of different cyber-physical systems with both aperiodic and periodic events. The primary contribution of this paper is the design, implementation and performance evaluation of the first configurable component middleware services for admission control and load balancing of aperiodic and periodic event handling in distributed cyber-physical systems.
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