This paper presents a middleware infrastructure for integration of heterogeneous embedded devices in ubiquitous computing environments. The proposed infrastructure employs the Devices Profile for Web Services (DPWS) as the underlying integration technology, allowing devices that adopt different networking standards to interact with each other, through the use of interconnection devices and software components responsible for building a communication path among them. A prototype implementation of this middleware infrastructure is also described, and results of performance measurements obtained with this prototype are presented. Categories and Subject Descriptors D.2.11 [Software Engineering]: Software Architectures. D.2.12 [Software Engineering]: Interoperability. General Terms Design, Standardization. Keywords Web Services, Interoperability, Embedded Systems, Ubiquitous Computing.