For decades, the design of untethered devices has been focused on delivering a fixed quality of service with minimum power consumption, to enable battery-powered devices with reasonably long deployment lifetime. However, to realize the promised tens of billions of connected devices in the Internet of Things, computers must operate autonomously and harvest ambient energy to avoid the cost and maintenance requirements imposed by mains- or battery-powered operation. But harvested power typically fluctuates, often unpredictably, and with large temporal and spatial variability.
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