Timothy W. Hnat Tamim I. Sookoor Pieter Hooimeijer Westley Weimer Kamin Whitehouse MacroLab: a vector-based macroprogramming framework for cyber-physical systems. 225-238 2008 SenSys http://doi.acm.org/10.1145/1460412.1460435 conf/sensys/2008 db/conf/sensys/sensys2008.html#HnatSHWW08