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Networked sensor systems are an emerging area in the field of ubiquitous computing. The typical approach is to connect sensor-actuator devices using classic network infrastructures at a low level. A promising new approach is to integrate them into high-level ad hoc networking communities. These ad hoc networks can serve as infrastructures to dynamically integrate sensors and actuators into complex interactive systems while providing convenient interfaces to users. However, because they are usually heterogeneous, such networks often require platform-independent middleware systems. Unfortunately, these middleware systems make great demands on the participating devices in terms of computing resources. On the other hand, sensor-actuator modules (SAMs) should be as inexpensive and small as possible to achieve market success and save energy resources. Hence, they usually do not meet the requirements for joining ad hoc networks. Shaman, an extendable Java-based service gateway for networked sensor systems, solves this problem. Shaman integrates small network-attached SAMs into heterogeneous, high-level networking communities. The system unburdens the SAMs and provides multiple interfaces for common standards of ad hoc networking. Because some cases require direct user access to services, the system also provides a self-contained mapping of graphical user interfaces. Shaman's one-GUI, x-interfaces concept minimizes design efforts because a single GUI component automatically maps to each kind of user interface.. Currently, the system provides automatic generation of Jini-, Java-applet-, and HTML-based user interfaces. This allows easy minimization of SAM parameters such as physical size, cost, and energy consumption without affecting convenience or performance.