This paper presents a Spinning Sensors NW middleware which realizes a distributed sensor actuator network and a Sensor Actuator Network Markup Language (SANML) to write the controlling rules of networked sensors and actuators. In the realization of sensor actuator network architecture, the application developer needs to coordinate sensors and actuators in the network and set the control rules of them. We have stated these problems as collaboration of distributed sensors and actuators problem and collaboration description problem. The Spinning Sensors NW middleware provides the mechanism to coordinate multiple networked sensors and actuators. The SANML provides a format to express the control rules of sensors and actuators. We implemented an air-conditioning application and networked robot application to test the performance of the middleware and the expressive power of the markup language. This paper overcomes above-mentioned two problems and increase the flexibility and combinations of sensors and actuators..