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Middleware facilitates the development of real-time and embedded systems. However, middleware itself is becoming increasingly complex. Using the methodology of aspect-oriented software development to analyze and reconstruct the architecture of middleware can make the architecture more modularized and more customizable. In addition, since middleware plays a significant role in the realtime and embedded systems development, its characteristics must be considered in the entire real-time and embedded systems software process from requirements analyze phase to testing phase. This paper provides two contributions to the study of real-time and embedded systems development. First, presents the problems of current middleware architecture and analyzes functional requirements and non-functional requirements of aspect-oriented middleware. Second, proposes an aspect-oriented middleware based real-time and embedded systems software process. Both functional and non-functional characteristics of middleware are considered in all phases of the software process.