-Within these orchestras of computers, they interact with their environment using sensors and actuators.
-Edge devices often use cheap microcontrollers designed for embedded applications.
-They, therefore, have little memory, unhurried processors, and slow communication but are tiny and energy efficient.
-Programming \gls{IOT} systems is complex due to their dynamic, interactive, distributed, collaborative, multi-tiered, and multitasking nature.
-This is impeded even more by semantic friction that arises through different hardware and software characteristics between the tiers.
+Within these orchestrations of computers, they interact with the environment using sensors and actuators.
+Edge devices often use low-cost microcontrollers designed for embedded applications.
+They have little memory, unhurried processors, and are slow in communication.
+Yet they are small and energy efficient.
+Programming \gls{IOT} systems is complex since they are dynamic, interactive, distributed, collaborative, multi-tiered, and multitasking in nature.
+This is impeded more so by semantic friction that arises through different hardware and software characteristics between tiers.