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Abstract-Recent advances in embedded devices capabilities and wireless networks paved the way for creating ubiquitous Cyber-Physical Systems (CPS) grafted with self-configuring and self-adaptive capabilities. As these systems need to strike a balance between dependability, open-endedness and adaptability, and operate in dynamic and opportunistic environments, their design and development is particularly challenging. We take an architecture-based approach to this problem and advocate the use of component-based abstractions and related machinery to engineer self-adaptive CPS. Our approach is structured around DEECo -a component framework that introduces the concept of component ensembles to deal with the dynamicity of CPS at the middleware level. DEECo provides the architecture abstractions of autonomous components and component ensembles on top of which different adaptation techniques can be deployed. This makes DEECo a vehicle for seamless experiments with selfadaptive systems where the physical distribution and mobility of nodes, and the limited data availability play an important role.

The challenge of developing dynamically-evolving resilient distributed systems that are composed of autonomous components has been partially addressed by introducing the concept of component ensembles. Nevertheless, systematic design of complex ensemble-based systems is still a pressing issue. This stems from the fact that contemporary design methods do not scale in terms of the number and complexity of ensembles and components, and do not efficiently cope with the dynamism involved. To address this issue, we present a novel methodInvariant Refinement Method (IRM) -for designing ensemblebased component systems by building on goal-based requirements elaboration, while integrating component architecture design and software control system design.