Enterprise distributed real-time and embedded (DRE) systems are
increasingly being developed with the use of component-based software
techniques. Unfortunately, commonly used component middleware platforms
provide limited support for event-based publish/subscribe (pub/sub)
mechanisms that meet both quality-of-service (QoS) and configurability
requirements of DRE systems. On the other hand, although pub/sub technologies,
such as OMG Data Distribution Service (DDS), support a wide range of QoS