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This paper provides following three contributions to the study of developing and applying model driven engineering (MDE) techniques to quality of service (QoS) configuration of distributed real-time and embedded (DRE) systems. First, we describe the challenges associated with mapping domain-level QoS policies of DRE systems to middleware configuration space. Second, we discuss a domain specific modeling language (DSML) to capture QoS requirements of DRE system at a higher level of abstraction, simplifying the system QoS specification process. Third, we describe model transformations to automate the mapping of domain-specific QoS requirements.Our results indicate that our approach provides significant benefits in terms of productivity, scalability, reusability and automation of middleware QoS mapping compared to traditional QoS configuration techniques for publish/subscribe-based DRE systems.