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In ERT (embedded real time) software development, software functionality is not the only focus but multi-constraints extra-functionality requirement such as timing, resources constraint, statically predictable, safety-critical, processing power and memory is also important. Besides that, ERT software development involves multi-disciplinary knowledge that includes software, mechanical and electronic engineering fields. To meet these two challenges ERT software development must be able to support the multi-constraint and multi-disciplinary challenges. From this perspective, CBD (component-based development) appears to be one of the appropriate approaches to design the ERT software due to the ability of domain experts to interactively compose and adapt sophisticated ERT software which the decrease of development time and improvement of software quality. Existing component infrastructures used in ERT software development are MARMOT (component-based real-time object-oriented development and testing) and PECOS (pervasive component system). However, these technologies are not enough to support the two challenges in their CBD activities. This paper discusses about the integration of PECOS and MARMOT by mapping the metamodel of the two technologies and proposing a process model. The aim of the integration is to support methodological CBD software to enable systematic development of ERT software with consideration of multi-disciplinary knowledge and multi-constraint.