The increasing adoption of Internet of Things (IoT) devices has raised serious concerns about their security, particularly given the limited hardware resources available on many of these devices. Hardware-based Roots of Trust (RoT) like TPM 2.0 offer strong security guarantees but are often unsuitable for small IoT devices due to space, cost, and computational constraints. This thesis explores the use of MARS (Modular Architecture for Root of Trust Security), a lightweight, flexible RoT designed to operate without requiring a discrete chip or specialized processor modes. MARS can be implemented in various ways, including as a hardware state machine within a microcontroller, as silicon IP, via FPGA, or as software running on trusted adjunct processors or in protected execution environments.