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L. Girod, N. Ramanathan, J. Elson, T. Stathopoulos, M. Lukac and D. Estrin, “Emstar: A Software Environment for Developing and Deploying Heterogeneous Sen-sor-Actuator Networks,” ACM Transactions on Sensor Networks, Vol. 3, No. 3, August 2007, pp. 13-es. doi:10.1145/1267060.1267061

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