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The design of real-time embedded systems is a challenging field of research. Those systems use generally very small processing nodes that are interconnected and linked to sensors using an heterogeneous communication system. One primary aspect of our work, focuses on providing a suitable communication platform for real-time applications in an heterogeneous environment. We have developed a new real-time scalable middleware OSA+. The original concepts used in designing OSA+ is especially suited for embedded systems constrained by a small memory footprint requirement. This paper presents these concepts and current results of OSA+.