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In this paper, we survey the models and approachesapplied to the middleware services of pervasive computingenvironments. Architectural styles and patterns introducedin the domain of mobile and wireless computingare also appropriate in pervasive computing. However,the development of pervasive middleware requires moreemphasis on interoperability, adaptability and scalabilityof software services and components. To this aim, weintroduce interoperability layers, separation of concernsand ontology-orientation as key enabling technologies todesign and maintain agile middleware of pervasive computingenvironments.