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Embedded systems have become commonplace in recent years, and are increasingly being networked Middleware offers many advantages to the distributed application programmer, yet there exist very few middleware frameworks for the low end of the embedded systems market. In this paper we describe MicroQoSCORBA. It represents a fundamental, bottom-up rethinking of what middleware can and should support for resource-constrained devices. This middleware is tailorable, with a fine degree of granularity, to both the device and the application program's constraints. We describe the multiple Quality of Service domains that MicroQoSCORBA supports, and present an evaluation of our working framework.