-These miniature computers contain integrated circuits that accomodates a microprocessor designed for use in embedded applications.
-Typically, microcontrollers are therefore tiny; have little memory; contain a slow, but energy-efficient processor; and allow for a lot of connectivity for integrating peripherals such as sensors and actuators in order to interact with their surroundings.
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-Unlike the conductor in the orchestra waving their baton to instruct the ensemble of instruments, in the universe of software there is room for little error.
-In the traditional setting, an \gls{IOT} engineer has to program each device and their interoperation using different programming paradigms, programming languages, and abstraction levels.
-Thus resulting in semantic friction, making programming and maintaining \gls{IOT} systems is a complex and error-prone process.
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-This thesis describes the research carried out around orchestrating these complex \gls{IOT} systems using \gls{TOP}.
+Microcontrollers are equipped with a lot of connectivity for integrating peripherals such as sensors and actuators.
+The connectivity makes them very suitable to interact with their surroundings.
+These miniature computers contain integrated circuits that accommodate a microprocessor designed for use in embedded applications.
+As a consequence, microcontrollers are cheap; tiny; have little memory; and contain a slow, but energy-efficient processor.
+
+Unlike the conductor in an orchestra waving their baton to instruct the ensemble of instruments, in the universe of software there is room for little error.
+Moreover, in dynamic \gls{IOT} applications, there is not always a coordinating conductor.
+Edge devices---the instruments---come and go, perform their own pieces, or are sometimes instructed to perform a certain piece, they might even operate without a central authority.
+In a traditional setting, an \gls{IOT} engineer has to program each device and their interoperation using different programming paradigms, programming languages, and abstraction levels.
+This results in semantic friction, which makes programming and maintaining \gls{IOT} systems a complex and error-prone process.
+
+This dissertation describes the research carried out around orchestrating these complex \gls{IOT} systems using \gls{TOP}.