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This paper presents the design and implementation of TMACS -- a distributed middleware framework for Mobile Ad-hoc Network (MANETs). TMACS leverages type-based group communication paradigm in which type is used as a first-class abstraction for identifying groups and provides a novel group-based RPC-mechanism called TRPC as a higher-level communication abstraction suitable for MANET computing environments. A fully decentralized discovery service has been provided to lookup the meta-information of the distributed objects and services. At the network layer, TMACS implements TypeCast routing protocol to efficiently support TRPC and service discovery via effective type dissemination and aggregation mechanisms. A complete system implementation of TMACS has been deployed on linux-based mobile devices and has been used to program a variety of applications. We present results from a selected set of applications and services that include an ad-hoc distributed caching service and an ad-hoc marketplace application. The physical implementations were used to evaluate the performance of TMACS and demonstrate its resiliency in the presence of mobility-induced topology changes.