Abstract: An adaptive DDS middleware was implemented by improving the DCPS DDS middleware on data service finding and fault tolerance, which achieves adaptability by modifying the centralized information store model with peer-to-peer model and applying chord protocol for data publication and subscription. Based on the traditional heart beating model,a heart beating accelerate push-pull model was proposed for enhancing the node failure detecting efficiency. Finally, a middleware was implemented. I}he test result shows that the implemented middleware is characterized with real-time ability,fault tolerance and adaptalility.

Key words: Data distributed service, Dynamic adaptive, Fault-tolerance, Middleware