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Computing systems are increasingly Distributed, Real-time, and Embedded (DRE) and must operate under highly unpredictable and changeable conditions. An important and challenging problem for DRE systems is therefore adaptation of behavior and reconfiguration of resources to maintain the best possible application performance in the face of changes in system load and avail-able resources. To provide predictable mission-critical Quality of Service (QoS) end-to-end, QoS-enabled middleware services and mechanisms have begun to emerge. The current generation of Commercial-Off-The-Shelf (COTS) middleware, however, lacks adequate support for applications with stringent QoS requirements in changing, dynamic environments.
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