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An important domain for autonomic systems is the area of ubiquitous computing: users are increasingly surrounded by technology that is heterogeneous, pervasive, and variable. In this paper we describe our work in developing self-adapting computing infrastructure that automates the configuration and reconfiguration of such environments. Focusing on the engineering issues of self-adaptation in the presence of heterogeneous platforms, legacy applications, mobile users, and resource variabledoi:10.1109/tsmcc.2006.871588 fatcat:lct2vqc3cja5nawc77rsssp3km