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 \begin{document}
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-\chapter*{Summary}%
-\label{chp:summary}
-%\begin{center}
-\noindent%
-The amount of computers around us is growing exponentially.
-With it, the systems in which they operate are becoming increasingly complex.
-Many of these computers are so called \emph{edge devices}, operating in \gls{IOT} systems.
-Within these orchestras of computers, they perform the role of interacting with the outside world.
-These specialised computers are often powered by microcontrollers and therefore have little memory, small processors, and slow communication.
-On the other hand, they are designed for embedded systems and hence cheap, tiny, energy efficient, and is easily equipped with various sensors and actuators.
-Not only are \gls{IOT} systems dynamic, interactive, distributed, collaborative, multi-user, and multitasking.
-Also, the orchestra of computers has vastly different hardware and software characteristics, causing semantic friction, making programming such systems classically complex.
+\ifSubfilesClassLoaded{\chapter*{Summary}}{\chapter{Summary}}%
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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.
 
-\Gls{TOP} is a declarative programming paradigm with roots in functional programming that allows high-level interactive collaborative workflows to be specified for the work that needs to be done.
-From this specification, a ready-for-work computer program is generated supporting the user in actually performing the work.
-The main building blocks of \gls{TOP} programs are tasks, an abstract representation of work that needs to be done.
-During execution, the current value of a task is observable and other tasks can act upon it.
-Furthermore, tasks can be combined and transformed to create compound tasks, allowing the modelling of many collaboration patterns.
-Tasks running on edge devices can intuitively be built from the same \gls{TOP} concepts as the interactive collaborative applications \gls{TOP} was originally designed for, albeit with domain-specific primitives such as sensor and actuator access.
+\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.
 
-This dissertation shows how to orchestrate complete \gls{IOT} systems using \gls{TOP}.
-First I present advanced \gls{DSL} embedding techniques that make the creation of a \gls{DSL} such as \gls{MTASK} possible.
-Then I show \gls{MTASK}, a \gls{TOP} \gls{DSL} for \gls{IOT} edge devices.
-\Gls{MTASK} is embedded in \gls{ITASK}, a general-purpose \gls{TOP} language mostly used to program interactive web applications.
-All aspects of the \gls{MTASK} system are show: the design, implementation, integration with \gls{ITASK}, and a detailed overview of the green computing facilities.
-Using \gls{MTASK} in conjunction with \gls{ITASK}, entire \gls{IOT} systems can be programmed from a single source, in a single paradigm, and using a single high abstraction level.
-Finally, this tierless approach to \gls{IOT} systems is qualitatively and quantitatively compared to traditional tiered approaches.
+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.
 
+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.
-%\end{center}
 \end{document}