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analysis soa present past problems interface esoa service oriented embeddded contextual networks architecture strategies heuristic resolving scheduling heuristics solving algorithms sokoban challenge automatic trends theoretical applied ai bot kismet rodney brooke humanoid mit foundations approach variability metamodels domain weaving sensor wireless wsn awsoa network agents ator wsan online meeting tool smartspeed design ui web taxonomy users interface web sites tactile future web services composition wsco optimizer model checking software model checker driven verification model