-Spanning all layers, the devices are a large heterogeneous collection of different platforms, protocols, paradigms and programming languages resulting in impedance problems or semantic friction between layers~\citep{ireland_classification_2009}.
-Furthermore, specifically the perception layer often is a heterogeneous collections of microprocessors in itself as well, each having their own peculiarities, language of choice and hardware interfaces.
-As the hardware needs to be cheap, small-scale, and energy efficient, the \glspl{MCU} used to power these devices do not have a lot of computational power, only a soup\c{c}on of memory, and little communication bandwidth.
+Across the layers, the devices are a large heterogeneous collection of different platforms, protocols, paradigms, and programming languages often resulting in impedance problems or semantic friction between layers when programming \citep{ireland_classification_2009}.
+Even more so, perception layer specifically often is a heterogeneous collections of microprocessors in itself as well, each having their own peculiarities, language of choice and hardware interfaces.
+As the edge hardware needs to be cheap, small-scale, and energy efficient, the microprocessors used to power these devices do not have a lot of computational power, only a soup\c{c}on of memory, and little communication bandwidth.