-Within these orchestras of computers, they interact with their environment using sensors and actuators.
-Edge devices usually use cheap microcontrollers designed for embedded applications, and therefore have little memory, unhurried processors, no \gls{OS}, and slow communication but are tiny and energy efficient.
-Programming \gls{IOT} systems is complex since they are dynamic, interactive, distributed, collaborative, multi-tiered, and multitasking.
-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 but are also small and energy efficient.
+Programming \gls{IOT} systems is complex since they are dynamic, interactive, distributed, collaborative, multi-tiered, and multitasking in nature.
+The complexity is increased further by semantic friction that arises through different hardware and software characteristics between tiers.