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\section*{Abstract}
{\em Developing real-time software for large-scale distributed
real-time and embedded (DRE) systems is hard due to variabilities that
arise from (1) integration with various subsystems based on different
programming languages and hardward, OS, middleware platforms, (2) fine
tuning the system to satisfy a range of customer requirements, such as
various quality-of-service (QoS) properties, and (3) changing
functional and QoS properties of the system based on available system
resources.  This paper describes our 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.  Our results show that (1) coherent
integration of MDD tools and component middleware can provide a
productive software process for developing DRE systems by modularizing
and composing variability concerns and (2) significant challenges
remain that must be overcome to apply these technologies to a broader
range of DRE systems.  }

{\bf Keywords: Model-Driven Development, Domain-Specific Modeling
Languages, Component Middleware, and Inventory Tracking Systems}

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