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First-generation CORBA middleware was reasonably successful at meeting the demands of applications with best-effort quality of service (QoS) requirements. However, supporting applications with more stringent QoS requirements poses new challenges for next-generation real-time CORBA middleware. This article provides three contributions to the design and optimization of real-time CORBA middleware. First, the authors outline the challenges faced by real-time Object Request Broker (ORB) implementers, focusing on requirements for efficient, predictable, and scalable concurrency and demultiplexing in CORBA's ORB Core and Object Adapter components. Second, they describe how TAO, our real-time CORBA implementation, addresses these challenges by applying key ORB optimization principle patterns, which are rules for avoiding common design and implementation problems that can de-grade the efficiency, scalability, and predictability of complex systems. Third, they present the results of benchmarks that evaluate the impact of TAO's patterns and design strategies empirically. Their results indicate that it is possible to develop highly configurable, adaptable, and standard-compliant ORBs that can meet the QoS requirements of many real-time applications.