Lax (as opposed to strict), an OS- and library-level approach to trade the power dissipated by sensors in exchange for reduced accuracy and reliability, was the first technique in the line of work that eventually led to the Warp platform.
Phillip Stanley-Marbell and Martin Rinard, Foundations and Trends in Electronic Design Automation, 2017. ISBN: 9978-1680833584. Paperback: 114 pages. Publisher: NOW Publishers.