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The emergence of Wireless Sensor and Actor Networks (WSAN) has contributed significantly to the progress of ubiquitous and pervasive computing, but has also introduced new challenges. The authors researched this technology and its applicability to real-world scenarios through the Cerberus project. This paper offers a discussion of the processes the authors went through from initial contact with the technology to implementing a system based on it, as well as the problems faced while working with WSAN. These experiences indicate the need for a dynamic, mote and application-independent management system. A service oriented architecture (SOA) for the management of WSAN, which makes use of OSGi, is proposed and evaluated. This SOA allows for the updating and changing of the application largely independent of the mote configuration as well as for easy management of different types of motes and actors.