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Service discovery is a critical functionality of emerging pervasive computing environments. In such environments, service discovery mechanisms need to (i) overcome the heterogeneity of hardware devices, software platforms, and networking infrastructures; and (ii) provide users with an accurate selection of services that meet their current requirements. To address these issues, we have developed the Multi- Protocol Service Discovery and Access (MSDA) middleware platform^2, which provides context-aware service discovery and access in pervasive environments. This paper primarily focuses on the design and implementation of the context-awareness support of MSDA. Context-awareness not only provides a more accurate service selection, but also enables a more efficient dissemination of service requests across heterogeneous pervasive environments. We present the design and prototype implementation of MSDA, along with experimental results that demonstrate the advantages derived by introducing context awareness.