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Darwin wouldn't work on a zaurus or any other PDA. Why? It's too big. Even at it's bare minimum it's 5 MB which is HUGE by PDA standards.
Plus Darwin wasn't designed to fit in such a small space, it has no PDA friendly functions, NO GUi of it's own and would have to be ported to the zaurus's processor (StrongARM).
Also, do you know weither or not the Linux based OS on the Zaurus PDA is really a Unix based OS. If so, wouldn't it be possible to incorporate Darwin services or compatability to it. Like Quicktime etc.
Linux is a Unix-like OS like Darwin. It would be a technical challenge to try to add Darwin like functions. The closest you can come is NetBSD, which I think has been ported.