The size and complexity of large-scale distributed embedded systems such as automotive and process control have increased recently. Sophisticated systems in distributed systems that are safe and environment friendly require numerous types of sensor data, which are collected from various devices and sent to computers through networks. In order to develop large-scale distributed embedded systems, distributed object technology such as CORBA is widely used. In this study, we focus our attention on MICO, an implementation of CORBA; we study the performance of MICO and the overhead of a sample distributed system. MICO can be used for developing an execution environment platform for distributed embedded system software.