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+The development of reliable software for the \gls{IOT} is difficult because \gls{IOT} systems 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.
+Many computers that operate in \gls{IOT} systems are \emph{edge devices} that interact with the environment using sensors and actuators.
+Edge devices are often powered by 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.
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-This is a summary of 350--400 words.
+\Gls{TOP} can cope with the challenges of \gls{IOT} programming.
+In \gls{TOP}, the main building blocks are tasks, an abstract representation of work.
+During execution, the current value of the task is observable, and other tasks can act upon it.
+Collaboration patterns can be modelled by combining and transforming tasks into compound tasks.
+Programming edge devices benefits from \gls{TOP} as well, but running such a system within the limitations of resource-constrained microcontrollers is not straightforward.
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+This dissertation demonstrates how to include edge devices in \gls{TOP} systems using \glspl{DSL}.
+With these techniques, all tiers and their interoperation of an \gls{IOT} system are specified in a single high-level source, language, paradigm, high abstraction level, and type system.
+First, I present advanced \gls{DSL} embedding techniques.
+Then \gls{MTASK} is shown, a \gls{TOP} \gls{DSL} for \gls{IOT} edge devices, embedded in \gls{ITASK}.
+Tasks are constructed and compiled at run time in order to allow tasks to be tailored to the current work requirements.
+The task is then sent to the device for interpretation.
+A device is programmed once with a lightweight domain-specific \gls{OS} to be used in an \gls{MTASK} system.
+This \gls{OS} executes tasks in an energy-efficient way and automates all communications and data sharing.
+All aspects of the \gls{MTASK} system are shown: example applications, language design, implementation details, integration with \gls{ITASK}, and green computing facilities such as automatic sleeping.
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+Finally, tierless \gls{IOT} programming is compared to traditional tiered programming.
+In tierless programming frameworks, the size of the code and the number of required programming languages is reduced significantly.
+By using a single paradigm and a system-wide type system, tierless programming reduces problems such as semantic friction; maintainability and robustness issues; and interoperation safety.
+%This is a summary of 350--400 words.
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