For an easy implementation of wireless sensor and actuator networks (WSAN), the state-of-the-art is offering single-chip solutions embedding in the same device a microcontroller core with a wireless transceiver. These internet-on-chip devices support different protocols (Bluetooth, ZigBee, Bluetooth Low Energy, sub-GHz links), from about 300 MHz to 6 GHz, with max. sustained bit-rates from 250 kb/s (sub-GHz links) to 4 Mb/s (Wi-Fi), and different trade-offs between RX sensitivity (from -74 to -100 dBm), RX noise figure (few dB to 10 dB), maximum TX power (from 0 to 22 dBm), link distances, power consumption levels (from few mW to several hundreds of mW). One limit for their successful application is the missing of an easy-to-use modeling and simulation environment to plan their deployment. The need is to predict, before installing a network, at which distances the sensors can be deployed, the real achievable bit-rate, communication latency, outage probability, power consumption, battery duration. To this aim, this paper presents the H 2 AWKS (Harsh environment and Hardware Aware Wireless linK Simulator) simulator, which allows the planning of a WSAN taking into account environment constraints and hardware parameters. Applications of H 2 AWKS to real WSAN case studies prove that it is an easy to use simulation environment, which allows design exploration of the system performance of a WSAN as a function of the operating environment and of the hardware parameters of the used devices.Keywords: wireless sensor and actuator networks (WSAN), harsh environment, network simulations, internet-on-chip Although a large set of embedded devices for WSANs exist, a severe limit for their application is the lack of an easy-touse modeling and design framework for planning their deployment. The need is to predict, before installing a network, at which distances the sensors can be deployed, the real achievable bit-rate, the real communication latency, the outage probability, the power consumption (and hence battery duration). To this aim, we have developed the H 2 AWKS (Harsh environment and Hardware Aware Wireless linK Simulator) environment, which allows the planning of a WSAN taking into account: 1) environment constraints, e.g. target Bit Error Rate (BER), presence of time-dispersive and frequency-selective channels, shadowing and occlusion, propagation losses with/without line-of-sight (LOS/NLOS), single or multi hop, outdoor or indoor, in presence of interference sources in the same band; 2) hardware parameters, e.g. RX noise figure and sensitivity, TX power, operating frequencies, gains; 3) network parameters, e.g. network topology, modulation and channel coding scheme (MCS), packet size. Hereafter, Section 2 reviews the wireless connection capability offered by internet-on-chip COTS devices. Section 3 discusses the set of models and equations used within H 2 AWKS. Section 4 shows the simulation results using H 2 AWKS. Conclusions are drawn in Section 5.