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Existing concurrent programming languages are not well-suited to the development of open distributed systems. Middleware technologies provide the support for the development of open distributed systems. However, the technologies suffer the same problems of existing concurrent programming approaches which the software evolution of the systems are not supported well. The resulting systems are difficult to maintain due to the changes. This has led to the design and implementation of a variety of coordination models and languages for open distributed systems. The main purpose is to separate the concerns of the complexities including communication, coordination, computation, and heterogeneity in the development of open distributed systems. 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