-\subsection*{\nameref{chp:introduction}}
-\Cref{chp:introduction} introduces the contents of the thesis, provides background material on \gls{IOT}, \glspl{DSL} and \gls{TOP} (\cref{sec:back_iot}, \cref{sec:back_dsl}, and \cref{sec:back_top} respectively) and an overview of the contributions including a more technical outline in \cref{sec:contributions}.
-
-\subsection*{\Fullref{prt:dsl}}
-
-\subsection*{\Fullref{prt:top}}
-
-\subsection*{\Fullref{prt:tvt}}
-
-\subsection*{\nameref{chp:conclusion}}
-\Cref{chp:conclusion} wraps up with the coda that provides discussion and an outlook on future work.
-
-\section{Contributions}\label{sec:contributions}
-\subsection*{\nameref{prt:dsl}}
-The \gls{MTASK} system is a heterogeneous \gls{EDSL} and during the development of it, several novel basal techniques for embedding \glspl{DSL} in \gls{FP} languages have been found.
-This first episode is a cumulative---otherwise known as paper-based---episode consisting of two papers published on novel embedding techniques.
-Both papers are readable independently.
-
-\subsubsection*{\Fullref{chp:classy_deep_embedding}}
-This chapter is based on the paper: \citeentry{lubbers_deep_2022}\todo{change in-press when published}.
-
-While supervising \citeauthor{amazonas_cabral_de_andrade_developing_2018}'s \citeyear{amazonas_cabral_de_andrade_developing_2018} Master's thesis, focussing on an early version of \gls{MTASK}, a seed was planted for a novel deep embedding technique for \glspl{DSL} where the resulting language is extendible both in constructs and in interpretation using type classes and existential data types.
-Slowly the ideas organically grew to form the technique shown in the paper.
-\Cref{sec:classy_reprise} was added after publication and contains a (yet) unpublished extension of the embedding technique.
-The research from this paper and writing the paper was solely performed by me.
-
-\subsubsection*{\Fullref{chp:first-class_datatypes}}
-This chapter is based on the paper: \citeentry{lubbers_first-class_2022}\todo{change when accepted}.
-
-It shows how to inherit data types from the host language in \glspl{EDSL} using metaprogramming.
-It does so by providing a proof-of-concept implementation using \gls{HASKELL}'s metaprogramming system: \gls{TH}.
-Besides showing the result, the paper also serves as a gentle introduction to using \gls{TH} and contains a thorough literature study on research that uses \gls{TH}.
-The research in this paper and writing the paper was performed by me, though there were weekly meetings with Pieter Koopman and Rinus Plasmeijer in which we discussed and refined the ideas.
-
-\subsection*{\nameref{prt:top}}
-This is a monograph compiled from several papers and revised lecture notes on \gls{MTASK}, the \gls{TOP} system used to orchestrate the \gls{IOT}.
-It provides a gentle introduction to the \gls{MTASK} system elaborates on \gls{TOP} for the \gls{IOT}.
-\todo[inline]{outline the chapters}
-
-\begin{itemize}
- \item \citeentry{koopman_task-based_2018}
-
- This was the initial \gls{TOP}/\gls{MTASK} paper.
- Pieter Koopman wrote it, I helped with the software and research.
- \item \citeentry{lubbers_task_2018}
-
- This paper was an extension of my Master's thesis \citep{lubbers_task_2017}.
- It shows how a simple imperative variant of \gls{MTASK} was integrated with \gls{ITASK}.
- While the language was a lot different than later versions, the integration mechanism is still used in \gls{MTASK} today.
- The research in this paper and writing the paper was performed by me, though there were weekly meetings with Pieter Koopman and Rinus Plasmeijer in which we discussed and refined the ideas.
- \item \citeentry{lubbers_multitasking_2019}\footnote{%
- This work acknowledges the support of the ERASMUS+ project ``Focusing Education on Composability, Comprehensibility and Correctness of Working Software'', no. 2017--1--SK01--KA203--035402
- }
-
- This paper was a short paper on the multitasking capabilities of \gls{MTASK} in contrast to traditional multitasking methods for \gls{ARDUINO}.
- The research in this paper and writing the paper was performed by me, though there were weekly meetings with Pieter Koopman and Rinus Plasmeijer.
- \item \citeentry{koopman_simulation_2018}\footnotemark[\value{footnote}]\todo{change when published}
-
- These revised lecture notes are from a course on the \gls{MTASK} simulator was provided at the 2018 \gls{CEFP}/\gls{3COWS} winter school in Ko\v{s}ice, Slovakia.
- Pieter Koopman wrote and taught it, I helped with the software and research.
- \item \citeentry{lubbers_writing_2019}\footnotemark[\value{footnote}]\todo{change when published}
-
- These revised lecture notes are from a course on programming in \gls{MTASK} provided at the 2019 \gls{CEFP}/\gls{3COWS} summer school in Budapest, Hungary.
- Pieter Koopman prepared and taught half of the lecture and supervised the practical session.
- I taught the other half of the lecture, wrote the lecture notes, made the assignments and supervised the practical session.
- \item \citeentry{lubbers_interpreting_2019}
-
- This paper shows an implementation for \gls{MTASK} for microcontrollers in the form of a compilation scheme and informal semantics description.
- The research in this paper and writing the paper was performed by me, though there were weekly meetings with Pieter Koopman and Rinus Plasmeijer.
- \item \citeentry{crooijmans_reducing_2022}\todo{change when published}
-
- This paper shows how to create a scheduler so that devices running \gls{MTASK} tasks can go to sleep more automatically.
- The research was carried out by \citet{crooijmans_reducing_2021} during his Master's thesis.
- I did the daily supervision and helped with the research, Pieter Koopman was the formal supervisor and wrote most of the paper.
- \item \emph{Green Computing for the Internet of Things}\footnote{
- This work acknowledges the support of the Erasmus+ project ``SusTrainable---Promoting Sustainability as a Fundamental Driver in Software Development Training and Education'', no. 2020--1--PT01--KA203--078646}\todo{change when published}
-
- These revised lecture notes are from a course on sustainable programming using \gls{MTASK} provided at the 2022 SusTrainable summer school in Rijeka, Croatia.
- Pieter prepared and taught a quarter of the lecture and supervised the practical session.
- I prepared and taught the other three quarters of the lecture, made the assignments and supervised the practical session\todo{writing contribution}.
-\end{itemize}
-
-\subsection*{\nameref{prt:tvt}}
-\Cref{prt:tvt} is based on a journal paper that quantitatively and qualitatively compares traditional \gls{IOT} architectures with \gls{IOT} systems using \gls{TOP} and contains a single chapter.
-This chapter is based on the journal paper: \citeentry{lubbers_could_2022}\todo{change when published}\footnote{This work is an extension of the conference article: \citeentry{lubbers_tiered_2020}\footnotemark{}}.
-\footnotetext{This paper was partly funded by the Radboud-Glasgow Collaboration Fund.}
-
-It compares programming traditional tiered architectures to tierless architectures by showing a qualitative and a quantitative four-way comparison of a smart-campus application.
+\subsection{The mTask system}
+The work for \gls{IOT} edge devices can often be succinctly described by \gls{TOP} programs.
+Software on microcontrollers is usually composed of smaller basic tasks, are interactive, and share data with other components or the server.
+The \gls{ITASK} system seems an obvious candidate for bringing \gls{TOP} to \gls{IOT} edge devices.
+However, an \gls{ITASK} application contains many features that are not needed on \emph{edge devices} such as higher-order tasks, support for a distributed architecture, or a multi-user web server.
+Furthermore, \gls{IOT} edge devices are in general not powerful enough to run or interpret \gls{CLEAN}\slash\gls{ABC} code, they just lack the processor speed and memory.
+To bridge this gap, \gls{MTASK} is developed, a domain-specific \gls{TOP} system for \gls{IOT} edge devices that is integrated in \gls{ITASK} \citep{koopman_task-based_2018}.
+The \gls{ITASK} language abstracts away from details such as user interfaces, data storage, client-side platforms, and persistent workflows.
+On the other hand, \gls{MTASK} offers abstractions for edge layer-specific details such as the heterogeneity of architectures, platforms, and frameworks; peripheral access; task scheduling; and lowering energy consumption.
+
+The \gls{MTASK} system is seamlessly integrated with \gls{ITASK}.
+Tasks in \gls{MTASK} are integrated in such a way that they function as regular \gls{ITASK} tasks.
+Furthermore, \glspl{SDS} on the device can proxy \gls{ITASK} \glspl{SDS}.
+Using \gls{MTASK}, the programmer can define all layers of an \gls{IOT} system as a single declarative specification.
+The \gls{MTASK} language is written in \gls{CLEAN} as a multi-view \gls{EDSL} and hence there are multiple interpretations possible.
+The byte code compiler is the most relevant for this thesis.
+From an \gls{MTASK} task constructed at run time, a compact binary representation of the work that needs to be done is compiled.
+This byte code is then sent to a device that running the \gls{MTASK} \gls{RTS}.
+This feather-light domain-specific \gls{OS} is written in portable \gls{C} with a minimal device specific interface and it executes the tasks using interpretation and rewriting.
+
+To illustrate \imtask{}, an example application is shown.
+The application is an interactive application for blinking \pgls{LED} on the microcontroller at a certain frequency that can be set and updated at run time.
+\Cref{lst:intro_blink,fig:intro_blink} show the \gls{ITASK} part of the code and a screenshot.
+Using \cleaninline{enterInformation}, the connection specification of the \gls{TCP} device is queried through a web editor (\cref{lst:intro_enterDevice,fig:intro_blink_dev}).
+\Cref{lst:intro_withshared} defines \pgls{SDS} to communicate the blinking interval between the server and the edge device.
+The \gls{MTASK} device is connected using \cleaninline{withDevice} at \cref{lst:intro_withdevice}.
+Once connected, the \cleaninline{intBlink} task is sent to the device (\cref{lst:intro_liftmtask}) and, in parallel, a web editor is shown that updates the value of the interval \gls{SDS} (\cref{lst:intro_editor,fig:intro_blink_int}).
+To allow terminating of the task, the \gls{ITASK} task ends with a sequential operation that returns a constant value when the button is pressed, making the task stable.
+\todo{foto device+led?}
+
+\cleaninputlisting[float={!ht},firstline=10,lastline=18,numbers=left,caption={The \gls{ITASK} code for the interactive blinking application.},label={lst:intro_blink}]{lst/blink.icl}
+
+\begin{figure}
+ \centering
+ \begin{subfigure}{.5\textwidth}
+ \centering
+ \includegraphics[width=.9\linewidth]{blink1g}
+ \caption{Device selection.}\label{fig:intro_blink_dev}
+ \end{subfigure}%
+ \begin{subfigure}{.5\textwidth}
+ \centering
+ \includegraphics[width=.9\linewidth]{blink2g}
+ \caption{Changing the interval.}\label{fig:intro_blink_int}
+ \end{subfigure}
+ \caption{The \gls{UI} for the interactive blink application in \gls{MTASK}.}%
+ \label{fig:intro_blink}
+\end{figure}
+
+The \cleaninline{intBlink} task (\cref{lst:intro_blink_mtask}) is the \gls{MTASK} part of the application.
+It has its own tasks, \glspl{SDS}, and \gls{UOD}.
+This task first defines \gls{GPIO} pin 13 to be of the output type (\cref{lst:intro:declarePin}), followed by lifting the \gls{ITASK} \gls{SDS} to an \gls{MTASK} \gls{SDS} (\cref{lst:intro:liftsds}).
+The main expression of the program calls the \cleaninline{blink} function with an initial state.
+This function on \crefrange{lst:intro:blink_fro}{lst:intro:blink_to} first reads the interval \gls{SDS}, waits the specified delay, writes the state to the \gls{GPIO} pin, and calls itself recursively using the inverse of the state in order to run continuously.
+
+\cleaninputlisting[float={!ht},linerange={23-,25-33},numbers=left,caption={The \gls{MTASK} code for the interactive blinking application.},label={lst:intro_blink_mtask}]{lst/blink.icl} %chktex 8
+
+\subsection{Other TOP languages}
+While \gls{ITASK} conceived \gls{TOP}, it is no longer the only \gls{TOP} system.
+Some \gls{TOP} languages were created to fill a gap encountered in practise.
+Toppyt \citep{lijnse_toppyt_2022} is a general purpose \gls{TOP} language written in \gls{PYTHON} used to host frameworks for modelling command \& control systems, and hTask \citep{lubbers_htask_2022}, a vessel for experimenting with asynchronous \glspl{SDS}.
+Furthermore, some \gls{TOP} systems arose from Master's and Bachelor's thesis projects.
+For example, \textmu{}Task \citep{piers_task-oriented_2016}, a \gls{TOP} language for modelling non-interruptible embedded systems in \gls{HASKELL}, and LTasks \citep{van_gemert_task_2022}, a \gls{TOP} language written in the dynamically typed programming language Lua.
+Finally, there are \gls{TOP} languages with strong academic foundations.
+\Gls{TOPHAT} is a fully formally specified \gls{TOP} language designed to capture the essence of \gls{TOP} \citep{steenvoorden_tophat_2019}.
+Such a formal specification allows for symbolic execution, hint generation, but also the translation to \gls{ITASK} for actually performing the work \citep{steenvoorden_tophat_2022}.
+\Citeauthor{steenvoorden_tophat_2022} distinguishes two instruments for \gls{TOP}: \gls{TOP} languages and \gls{TOP} engines.
+The language is the \emph{formal} language for specifying interactive systems.
+The engine is the software or hardware that executes these specifications as a ready-for-work application.
+
+\section{Contributions}%
+\label{sec:contributions}
+This section provides a thorough overview of the relation between the scientific publications and the contents of this thesis.
+
+\subsection{\Fullref{prt:dsl}}
+The \gls{MTASK} system is an \gls{EDSL} and during the development of it, several novel basal techniques for embedding \glspl{DSL} in \gls{FP} languages have been found.
+This paper-based episode contains the following papers:
+\todo{papers met bibitem doen? of conferentie noemen.}
+\begin{enumerate}
+ \item \emph{Deep Embedding with Class} \citep*{lubbers_deep_2022} is the basis for \cref{chp:classy_deep_embedding}.
+ It shows a novel deep embedding technique for \glspl{DSL} where the resulting language is extendible both in constructs and in interpretation just using type classes and existential data types.
+ The related work section is updated with the research found after publication.
+ \Cref{sec:classy_reprise} was added after publication and contains a (yet) unpublished extension of the embedding technique for reducing the required boilerplate at the cost of requiring some advanced type system extensions.
+ \item \emph{First-\kern-1ptClass Data Types in Shallow Embedded Domain-Specific Languages} \citep*{lubbers_first-class_2022}\label{enum:first-class} is the basis for \cref{chp:first-class_datatypes}.
+ It shows how to inherit data types from the host language in \glspl{EDSL} using metaprogramming by providing a proof-of-concept implementation using \gls{HASKELL}'s metaprogramming system: \glsxtrlong{TH}.
+ The chapter also serves as a gentle introduction to, and contains a thorough literature study on \glsxtrlong{TH}.
+\end{enumerate}
+
+%\paragraph{In preparation}
+%Furthermore, there are some papers either in preparation or under review describing methods for creating \glspl{DSL}.
+%They describe techniques found while developing the \gls{MTASK} \gls{DSL} that have not made it (yet) into the system.
+%Hence, they are not part of the dissertation.
+%
+%\begin{itemize}
+% \item \emph{Strongly-Typed Multi-\kern-2ptView Stack-\kern-1.25ptBased Computations} shows how to create type-safe \glspl{EDSL} representing stack-based computations.
+% Instead of encoding the arguments to a function as arguments in the host language, stack-based approaches use a run time stack that contains the arguments.
+% By encoding the required contents of the stack in the types, such systems can be made type safe.
+%
+% \item \emph{Template Metaprogramming using Two-Stage Generic Functions} shows how a sufficiently rich generic programming system can achieve much of the same functionality as template metaprogramming.
+% The generic programming functionality of \gls{Clean} is built into the compiler.
+% As a result, metadata of the generic types is added to the generic structure.
+% From this metadata, we can destill not only type and constructor names but also arities, fixity, kinds, types, \etc{}.
+% This allows us, by
+%\end{itemize}
+
+\paragraph{Contribution:}
+The papers of which I am first author are solely written by me, there were weekly meetings with co-authors in which we discussed and refined the ideas.
+
+\subsection{\crtCref{prt:top}: \hspace{8.28992pt}\nameref{prt:top}}
+This episode is a monograph that shows the design, properties, implementation and usage of the \gls{MTASK} system and \gls{TOP} for the \gls{IOT}.
+It is compiled from the following publications:
+
+\begin{enumerate}[resume]
+ \item \emph{A Task-\kern-1.25ptBased \glsxtrshort{DSL} for Microcomputers} \citep*{koopman_task-based_2018}
+ is the initial \gls{TOP}\slash{}\gls{MTASK} paper.
+ It provides an overview of the initial \gls{TOP} \gls{MTASK} language and shows first versions of some interpretations.
+ \item \emph{Task Oriented Programming for the Internet of Things} \citep*{lubbers_task_2018}\footnote{This work is an extension of my Master's thesis \citep{lubbers_task_2017}.}
+ shows how a simple imperative variant of \gls{MTASK} was integrated with \gls{ITASK}.
+ While the language differs a lot from the current version, the integration mechanism is still used.
+% \paragraph{Contribution}
+% The research in this paper and writing the paper was performed by me, though there were weekly meetings with Pieter Koopman and Rinus Plasmeijer in which we discussed and refined the ideas.
+ \item \emph{Multitasking on Microcontrollers using Task Oriented Programming} \citep*{lubbers_multitasking_2019}\footnote{This work acknowledges the support of the \erasmusplus{} project ``Focusing Education on Composability, Comprehensibility and Correctness of Working Software'', no.\ 2017--1--SK01--KA203--035402.}
+ is a short paper on the multitasking capabilities of \gls{MTASK} comparing it to traditional multitasking methods for \gls{ARDUINO}.
+% \paragraph{Contribution}
+% The research in this paper and writing the paper was performed by me, though there were weekly meetings with Pieter Koopman and Rinus Plasmeijer.
+ \item \emph{Simulation of a Task-\kern-1.25ptBased Embedded Domain Specific Language for the Internet of Things} \citep*{koopman_simulation_2023}\footnotemark[\value{footnote}]
+ are the revised lecture notes for a course on the \gls{MTASK} simulator provided at the 2018 \gls{3COWS} winter school in Ko\v{s}ice, Slovakia, January 22--26, 2018.
+% \paragraph{Contribution}
+% Pieter Koopman wrote and taught it, I helped with the software and research.
+ \item \emph{Writing Internet of Things Applications with Task Oriented Programming} \citep*{lubbers_writing_2023}\footnotemark[\value{footnote}]
+ are the revised lecture notes from a course on programming \gls{IOT} systems using \gls{MTASK} provided at the 2019 \gls{3COWS} summer school in Budapest, Hungary, June 17--21, 2019.
+% \paragraph{Contribution}
+% Pieter Koopman prepared and taught half of the lecture and supervised the practical session.
+% I taught the other half of the lecture, wrote the lecture notes, made the assignments and supervised the practical session.
+ \item \emph{Interpreting Task Oriented Programs on Tiny Computers} \citep*{lubbers_interpreting_2019}
+ shows an implementation of the byte code compiler and \gls{RTS} of \gls{MTASK}.
+% \paragraph{Contribution}
+% The research in this paper and writing the paper was performed by me, though there were weekly meetings with Pieter Koopman and Rinus Plasmeijer.
+ \item \emph{Reducing the Power Consumption of IoT with Task-Oriented Programming} \citep*{crooijmans_reducing_2022}
+ shows how to create a scheduler so that devices running \gls{MTASK} tasks can go to sleep more automatically and how interrupts are incorporated in the language.
+% \paragraph{Contribution}
+% The research was carried out by \citet{crooijmans_reducing_2021} during his Master's thesis.
+% I did the daily supervision and helped with the research, Pieter Koopman was the formal supervisor and wrote most of the paper.
+ \item \emph{Green Computing for the Internet of Things} \citep*{lubbers_green_2022}\footnote{This work acknowledges the support of the \erasmusplus{} project ``SusTrainable---Promoting Sustainability as a Fundamental Driver in Software Development Training and Education'', no.\ 2020--1--PT01--KA203--078646.}
+ are the revised lecture notes from a course on sustainable \gls{IOT} programming with \gls{MTASK} provided at the 2022 SusTrainable summer school in Rijeka, Croatia, July 4--8, 2022.
+
+% \paragraph{Contribution}
+% These revised lecture notes are from a course on sustainable programming using \gls{MTASK} provided at the 2022 SusTrainable summer school in Rijeka, Croatia.
+% Pieter prepared and taught a quarter of the lecture and supervised the practical session.
+% I prepared and taught the other three quarters of the lecture, made the assignments and supervised the practical session
+\end{enumerate}
+
+\paragraph{Contribution:}
+The original \gls{MTASK} language, and their initial interpretations were developed by Pieter Koopman and Rinus Plasmeijer.
+I extended the language, developed the byte code interpreter, the integration with \gls{ITASK}, and the \gls{RTS}.
+The papers of which I am first author are solely written by me, there were weekly meetings with the co-authors in which we discussed and refined the ideas.
+
+\subsection{\Fullref{prt:tvt}}
+\Cref{prt:tvt} is based on a journal paper that quantitatively and qualitatively compares traditional \gls{IOT} architectures with \gls{TOP} \gls{IOT} architectures.
+\begin{enumerate}[resume]
+ \item \emph{Could Tierless Programming Reduce IoT Development Grief?} \citep*{lubbers_could_2022}
+ is an extended version of paper~\ref{enum:iot20}.
+ It compares programming traditional tiered architectures to tierless architectures by illustrating a qualitative and a quantitative four-way comparison of a smart-campus application.
+ \item \emph{Tiered versus Tierless \glsxtrshort{IOT} Stacks: Comparing Smart Campus Software Architectures} \citep*{lubbers_tiered_2020}\footnote{This work was partly funded by the 2019 Radboud-Glasgow Collaboration Fund.}\label{enum:iot20} compares traditional tiered programming to tierless architectures by comparing two implementations of a smart-campus application.
+\end{enumerate}
+
+\paragraph{Contribution:}