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Firstly in the words of Dave Chappell one of the founders of Synapse

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ServiceMix on the other hand is a full ESB built on the JBI specification which can work with many different SOAP Stacks such as Axis, WSIF, XFire, ActiveSOAP and JAX-WS. ServiceMix also has full support for Routing, Transformation and Orchestration

Its also worth noting that the ServiceMix Team are working with the Synapse community to add JBI support to Synapse so I expect ServiceMix and Synapse to both work together and integrate nicely with each other using JBI.