The Common Object Request Broker Architecture (CORBA) is the most successful representative for an object-based distributed computing architecture. Although CORBA simplifies the implementation of complex, distributed systems significantly, support of techniques for reliable, fault-tolerant software, such as onlinereplacement or replication is not within scope of today's CORBA or Real-time CORBA.The Simplex architecture developed at the Software Engineering Institute at Carnegie Mellon University supports the online-replacement of software components within a fault-tolerant, real-time control application. Simplex middleware consist of both a hard real-time publisher/subscriber service and a soft real-time service to support human-in-the-loop supervisor control activities.We have replaced Simplex' soft real-time services with CORBA services while retaining its hard real-time publication and subscription service. This composite approach allows us to take advantage of both the strength of CORBA in distributed computing and Simplex' strength in hard real-time control applications.In this paper, we will discuss the trade-off issues in this composite system approach and present the telelaboratory experiment, which is based on the extended Simplex system.
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