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The Distributed Real-time Embedded Analysis Method (DREAM) is a tool and method for the real-time verification and performance estimation of distributed real-time embedded (DRE) systems. Publications: http://www.ics.uci.edu/~gabe/publications.html.
The Ocean Distributed Component Reference Framework for machinetools provides
CORBA 3.0 compliant Component Interfaces for controlling machinetools based on CIAO, TAO and ACE/RTAI.