## 5 Recent Progress  
Service-oriented approaches have been used in building WSANs. In [6], [PERSON] and [PERSON] explored the potential of SOA in building open, efficient, interoperable, scalable, and application-aware WSANs. A prototype service-oriented WSAN was developed on top of TinyOS. [PERSON] _et al_[22] developed a service-oriented WSAN platform called Atlas, which enables self-integrative, programmable pervasive spaces. [PERSON] _et al_[14] developed a programming framework called OASiS that provides abstractions for object-centric, ambient-aware, service-oriented sensor network applications. OASiS decomposes specified application behavior and generates the appropriate node-level code for deployment onto sensor networks. It enables the development of sensor network applications without having to deal with the complexity and unpredictability of low-level system and network issues. [PERSON] and [PERSON] [15] presented a reusable, scalable, extensible, and interoperable service-oriented sensor web architecture. The architecture conforms to the sensor web enablement standard defined by the OpenGIS consortium (OGC), integrates sensor web with grid computing, and provides middleware support for sensor webs. [PERSON] _et al_[23] proposed a service-oriented software architecture for mobile sensor networks. An adaptive middleware is employed in the architecture that encompasses mechanisms for cooperative data mining, self-organization, networking, and energy optimization to build higher-level service structures. Some efforts have been made on communication protocols that provide QoS support in WSANs. Real-time, reliable communication has been addressed in e.g. [24-32]. [PERSON] _et al_[24] designed a real-time communication framework that supports event detection, reporting, and actuator coordination. [PERSON] _et al_[25] proposed a real-time coordination and routing framework that addresses the coordination of sensors and actuators and respects the delay bound for routing in a distributed manner. [PERSON] _et al_[26] presented a distributed protocol for sensor-actor coordination that includes an adaptive mechanism to trade off energy consumption for delay when the data transmission is subject to real-time constraints. [PERSON] _et al_[27] developed an anycast communication paradigm that can reduce both end-to-end latency and energy consumption. A simple yet effective wireless communication model has been employed in [28] that realizes real-time actuation in autonomous animal control. [PERSON] _et al_[29] proposed a routing protocol with service differentiation for WASNs, which provides low latency and reliable delivery in the presence of failures. [PERSON] _et al_[30] presented a redundant data transmission protocol that can significantly enhance the reliability of data transmission over lossy WSANs. A general reliability-centric framework for event reporting has been presented in [31]. A low-complexity reliable transmission scheme has been developed in [32], which is based on local wireless path repair and hop-to-hop retransmissions. Adaptive sampling approaches have been exploited for dynamic management of resources in WSNs, e.g. [33,34]. However, these approaches don't take into account the co-existence of sensors and actuators. Few solutions have been devised for resource self-management that facilitates QoS-enabled autonomic WSAN. In [4,35], [PERSON] _et al_ applied feedback control technologies to dynamic bandwidth allocation in the context of WSAN, which take advantage of the idea of feedback scheduling. The flexibility and autonomy of the system is enhanced through deadline miss ratio control, leading to improved QoS in terms of reliability. While QoS-aware power management in general WSNs has been extensively studied, e.g. [36, 37], there is relatively little work dedicated to QoS-aware power management in WSANs, particularly for actuator nodes. [PERSON] and [PERSON] [38] developed an optimal method for power scheduling in WSAN that achieves a desired actuation fidelity.