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Dotlife is a very simple open source framework for C++ distributed objects. There are no advanced features but just a focus about how object can communicate in a distributed manner. Dotlife has also a minimal support for unittesting.
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.