This research addresses the problem of allocating closely spaced targets to multiple autonomous underwater vehicles (AUV) in the presence of constant ocean currents. The main difficulty of this problem is that the non-holonomic vehicles are constrained to move along forward paths with bounded curvatures. The Dubins model is a simple but effective way to handle the kinematic characteristics of AUVs. It gives complete characterization of the optimal paths between two configurations for a vehicle with limited turning radius moving in a plane at constant speed. In the proposed algorithm, Dubins paths are modified to include ocean currents, resulting in paths defined by curves whose radius of curvature is not constant. To determine the time required to follow such paths, an approximate dynamic model of the AUV is queried due to the computational complexity of the full model. The lower order model is built from data obtained from sampling the full model. The full model is used in evaluating the final tour times of the sequences generated by the proposed algorithm to validate the results. The proposed algorithm solves the task allocation problem with market-based auctions that minimize the total travel time to complete the mission. The novelty of the research is the path cost calculation that combines a Dubins model, an AUV dynamic model, and a model of the ocean current. Simulations were conducted in Matlab to illustrate the performance of the proposed algorithm using various number of task points and AUVs. The task points were generated randomly and uniformly close together to highlight the necessity for considering the curvature constraints. For a sufficiently dense set of points, it becomes clear that the ordering of the Euclidean tours are not optimal in the case of the Dubins multiple travelling salesmen problem. This is due to the fact that there is little relationship between the Euclidean and Dubins metrics, especially when the Euclidean distances are small with respect to the turning radius. An algorithm for the Euclidean problem will tend to schedule very close points in a successive order, which can imply long maneuvers for the AUV. This is clearly demonstrated by the numerous loops that become problematic with dense sets of points. The algorithm proposed in this thesis does not rely on the Euclidean solution and therefore, even in the presence of ocean currents, can create paths that are feasible for curvature bound vehicles. Field tests were also conducted on an Iver2 AUV at the Avila Pier in California to validate the performance of the proposed algorithm in real world environments. Missions created based on the sequences generated by the proposed algorithm were conducted to observe the ability of an AUV to follow paths of bounded curvature in the presence of ocean currents. Results show that the proposed algorithm generated paths that were feasible for an AUV to track closely, even in the presence of ocean current.

This research addresses the problem of allocating closely spaced targets to multiple autonomous underwater vehicles (AUV) in the presence of constant ocean currents. The main difficulty of this problem is that the non-holonomic vehicles are constrained to move along forward paths with bounded curvatures. The Dubins model is a simple but effective way to handle the kinematic characteristics of AUVs. It gives complete characterization of the optimal paths between two configurations for a vehicle with limited turning radius moving in a plane at constant speed. In the proposed algorithm, Dubins paths are modified to include ocean currents, resulting in paths defined by curves whose radius of curvature is not constant. To determine the time required to follow such paths, an approximate dynamic model of the AUV is queried due to the computational complexity of the full model. The lower order model is built from data obtained from sampling the full model. The full model is used in evaluating the final tour times of the sequences generated by the proposed algorithm to validate the results. The proposed algorithm solves the task allocation problem with market-based auctions that minimize the total travel time to complete the mission. The novelty of the research is the path cost calculation that combines a Dubins model, an AUV dynamic model, and a model of the ocean current. Simulations were conducted in Matlab to illustrate the performance of the proposed algorithm using various number of task points and AUVs. The task points were generated randomly and uniformly close together to highlight the necessity for considering the curvature constraints. For a sufficiently dense set of points, it becomes clear that the ordering of the Euclidean tours are not optimal in the case of the Dubins multiple travelling salesmen problem. This is due to the fact that there is little relationship between the Euclidean and Dubins metrics, especially when the Euclidean distances are small with respect to the turning radius. An algorithm for the Euclidean problem will tend to schedule very close points in a successive order, which can imply long maneuvers for the AUV. This is clearly demonstrated by the numerous loops that become problematic with dense sets of points. The algorithm proposed in this thesis does not rely on the Euclidean solution and therefore, even in the presence of ocean currents, can create paths that are feasible for curvature bound vehicles. Field tests were also conducted on an Iver2 AUV at the Avila Pier in California to validate the performance of the proposed algorithm in real world environments. Missions created based on the sequences generated by the proposed algorithm were conducted to observe the ability of an AUV to follow paths of bounded curvature in the presence of ocean currents. Results show that the proposed algorithm generated paths that were feasible for an AUV to track closely, even in the presence of ocean current.

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Ao considerar um sistema distribuído composto por um conjunto de servidores, clientes e recursos, que caracterizam ambientes como grades ou nuvens computacionais, que oferecem um grande número de recursos distribuídos como CPUs ou máquinas virtuais, os quais são utilizados conjuntamente por diferentes tipos de aplicações, tem-se a necessidade de se ter uma solução para alocação destes recursos. O apoio à alocação dos recursos fornecidos por tais ambientes deve satisfazer todas as solicitações de recursos das aplicações, e fornecer respostas afirmativas para alocação eficiente de recursos, fazer justiça na alocação no caso de pedidos simultâneos entre vários clientes de recursos e responder em um tempo finito a requisições. Considerando tal contexto de grande escala em sistemas distribuídos, este trabalho propõe um algoritmo distribuído para alocação de recursos. Este algoritmo explora a Lógica Fuzzy sempre que um servidor está impossibilitado de atender a uma solicitação feita por um cliente, encaminhando esta solicitação a um servidor remoto. O algoritmo utiliza o conceito de relógio lógico para garantir justiça no atendimento das solicitações feitas em todos os servidores que compartilham recursos. Este algoritmo segue o modelo distribuído, onde uma cópia do algoritmo é executada em cada servidor que compartilha recursos para seus clientes, e todos os servidores tomam parte das decisões com relação a alocação destes recursos. A estratégia desenvolvida tem como objetivo minimizar o tempo de resposta na alocação de recursos, funcionando como um balanceamento de carga em um ambiente cliente-servidor com alto índice de solicitações de recursos pelos clientes. A eficiência do algoritmo desenvolvido neste trabalho foi comprovada através da implementação e comparação com outros algoritmos tradicionais, mostrando a possibilidade de utilização de recursos que pertencem a distintos servidores por uma mesma solicitação de recursos, com a garantia de que esta requisição será atendida, e em um tempo finito. / When considering a distributed system composed of a set of servers, clients, and resources that characterize environments like computational grids or clouds that offer a large number of distributed resources such as CPUs or virtual machines, which are used jointly by different types of applications, there is the need to have a solution for allocating these resources. Support the allocation of resources provided by such environments must satisfy all Requests for resources such applications, and provide affirmative answers to the efficient allocation of resources, to do justice in this allocation in the case of simultaneous Requests from multiple clients and answer these resources in a finite time these Requests. Considering such a context of large- scale distributed systems, this paper proposes a distributed algorithm for resource allocation This algorithm exploits fuzzy logic whenever a server is unable to meet a request made by a client, forwarding this request to a remote server. The algorithm uses the concept of logical clock to ensure fairness in meeting the demands made on all servers that share resources. This algorithm follows a distributed model, where a copy of the algorithm runs on each server that shares resources for its clients and all servers take part in decisions regarding allocation of resources. The strategy developed aims to minimize the response time in allocating resources, functioning as a load-balancing in a client-server environment with high resource Requests by customers.

Ao considerar um sistema distribuído composto por um conjunto de servidores, clientes e recursos, que caracterizam ambientes como grades ou nuvens computacionais, que oferecem um grande número de recursos distribuídos como CPUs ou máquinas virtuais, os quais são utilizados conjuntamente por diferentes tipos de aplicações, tem-se a necessidade de se ter uma solução para alocação destes recursos. O apoio à alocação dos recursos fornecidos por tais ambientes deve satisfazer todas as solicitações de recursos das aplicações, e fornecer respostas afirmativas para alocação eficiente de recursos, fazer justiça na alocação no caso de pedidos simultâneos entre vários clientes de recursos e responder em um tempo finito a requisições. Considerando tal contexto de grande escala em sistemas distribuídos, este trabalho propõe um algoritmo distribuído para alocação de recursos. Este algoritmo explora a Lógica Fuzzy sempre que um servidor está impossibilitado de atender a uma solicitação feita por um cliente, encaminhando esta solicitação a um servidor remoto. O algoritmo utiliza o conceito de relógio lógico para garantir justiça no atendimento das solicitações feitas em todos os servidores que compartilham recursos. Este algoritmo segue o modelo distribuído, onde uma cópia do algoritmo é executada em cada servidor que compartilha recursos para seus clientes, e todos os servidores tomam parte das decisões com relação a alocação destes recursos. A estratégia desenvolvida tem como objetivo minimizar o tempo de resposta na alocação de recursos, funcionando como um balanceamento de carga em um ambiente cliente-servidor com alto índice de solicitações de recursos pelos clientes. A eficiência do algoritmo desenvolvido neste trabalho foi comprovada através da implementação e comparação com outros algoritmos tradicionais, mostrando a possibilidade de utilização de recursos que pertencem a distintos servidores por uma mesma solicitação de recursos, com a garantia de que esta requisição será atendida, e em um tempo finito. / When considering a distributed system composed of a set of servers, clients, and resources that characterize environments like computational grids or clouds that offer a large number of distributed resources such as CPUs or virtual machines, which are used jointly by different types of applications, there is the need to have a solution for allocating these resources. Support the allocation of resources provided by such environments must satisfy all Requests for resources such applications, and provide affirmative answers to the efficient allocation of resources, to do justice in this allocation in the case of simultaneous Requests from multiple clients and answer these resources in a finite time these Requests. Considering such a context of large- scale distributed systems, this paper proposes a distributed algorithm for resource allocation This algorithm exploits fuzzy logic whenever a server is unable to meet a request made by a client, forwarding this request to a remote server. The algorithm uses the concept of logical clock to ensure fairness in meeting the demands made on all servers that share resources. This algorithm follows a distributed model, where a copy of the algorithm runs on each server that shares resources for its clients and all servers take part in decisions regarding allocation of resources. The strategy developed aims to minimize the response time in allocating resources, functioning as a load-balancing in a client-server environment with high resource Requests by customers.

This thesis presents a new unified algorithm for cluster assignment and acyclic region scheduling in a partitioned architecture, and preliminary results on its integration into an experimental retargetable code generation framework. The object of this work is twofold. Firstly, to validate for the first time, and evaluate the framework which is almost automatic, so as to gain insights into possibilities for improvement. This was done by using as a baseline for comparison, highly optimized code generated by the handcrafted compiler of Texas Instruments, the TI Code Composer Studio V2. The second objective is to compare the integrated scheduling algorithm with another well known algorithm which performs scheduling and cluster allocation in the same phase, the Unified Assign and Schedule (UAS) algorithm. The computational complexity of the two algorithms is comparable. The components of the framework experimented with here are (a) a tree transformer generator, which takes as input, a description of the instruction set of the target architecture in the form of a regular tree grammar augmented with actions and attributes, and outputs a data dependency directed acyclic graph, (b) the well known public domain IMPACT front end for C, (c)a microarchitecture description module which uses a modification of the HMDES architecture description language of the TRIMARAN project, to include cluster information, and (d) a combined cluster allocator and acyclic region scheduler and a register allocator designed and implemented by us. Experiments have been carried out on creating the proper interfaces for all the modules to work together, and the targeting of the tool to the Texas Instruments TMS320c62x architecture to establish the feasibility of this approach. We present the results of our implementation on a set of benchmarks and some sorting programs and compare them with those obtained from the state-of-the-art TI compiler. The performance without software pipelining shows that our executables take on the average 1.4 times the execution time as that of those generated by the TI compiler. The integrated scheduling algorithm proposed in this thesis performs at least as well as the UAS algorithm and sometimes better by as much as 9 % in terms of the parallelism obtained.

A busca de sistemas de comunicação eficientes e econômicos é cada vez maior, principalmente com o aumento da demanda por tráfego e banda de transmissão. Conhecidas pela utilização eficiente de largura de banda, as redes ópticas de segmentação espectral flexível têm sido intensamente estudadas e são consideradas boas candidatas para a próxima geração de redes. Tais redes flexíveis utilizam formatos de modulação multinível e multiplexação multiportadora. Sistemas com alta capacidade de transmissão devem ser extremamente confiáveis, pois a falha em um dispositivo ou enlace da rede acarreta enorme perda de dados. Por isso, as técnicas de proteção e restauração do tráfego devem ser eficientes, de modo a garantir a sobrevivência da rede. Neste trabalho, foi desenvolvido um algoritmo capaz de lidar com cada requisição de conexão, encontrar um caminho óptico para transmissão e reservar outro caminho para recuperação do tráfego em caso de falha na rede. A seleção dos caminhos primário e de proteção utiliza a técnica smart-fit, que escolhe a solução com menor custo final, definido pela distância da rota percorrida somada ao custo do índice inicial da faixa espectral alocada, buscando equilibrar a escolha entre a posição no espectro e rota escolhida. Além disso, são definidos custos diferentes para slots de frequência livres e compartilhados, a fim de incentivar o compartilhamento espectral em caminhos de proteção. Dentre as técnicas de alocação espectral, a varredura com janela espectral varre o espectro em todos os enlaces da rota, slot por slot, em busca de uma faixa livre com tamanho suficiente para atender uma demanda. Neste trabalho, foi desenvolvida uma técnica chamada busca lógica, que lida simultaneamente com todos os enlaces da rota ao realizar operações lógicas com seus espectros. Em seguida, é realizada uma convolução entre a janela espectral, com tamanho da demanda, e o espectro resultante. A partir desse resultado, é possível saber as posições no espectro onde a demanda poderá ser alocada. Tal técnica, como será demonstrado, é mais veloz que a varredura com janela espectral. Para garantir a eficácia e confiabilidade do algoritmo, utilizando o software MATLAB, avaliou-se a probabilidade de bloqueio e probabilidade de bloqueio de banda, a fragmentação espectral média na rede, o grau de compartilhamento, a taxa de utilização espectral e a taxa de capacidade reservada. O algoritmo desenvolvido foi capaz de organizar o tráfego na rede de modo ordenado e pouco fragmentado, além de utilizar de maneira eficiente os recursos destinados à proteção. / The search for efficient and economical communication systems is increasing, especially with the increased demand for traffic and bandwidth transmission. The elastic optical networks, well known for their efficient using of bandwidth, have been thoroughly studied and are considered good candidates for the next generation networks. Such flexible networks use multilevel modulation formats and multicarrier multiplexing. Systems with high transmission capacity should be extremely reliable, as a failure in a device or link brings huge data loss. Therefore, traffic protection and restoration techniques should be efficient, to ensure network survivability. In this work, we propose an algorithm capable of managing each connection request, finding an optical path for transmission and a protection path to recover traffic in case of network failure. The selection of the primary and protection path uses the smart-fit technique, which chooses the solution with the lower final cost, defined by the route\'s distance plus the index\'s cost of the first slot of the allocated spectrum, in order to balance the choice between the position in the spectrum and the chosen route. In addition, different costs for free or shared frequency slots are defined, so as to encourage spectral sharing in protection paths. Among the spectrum allocation techniques, scanning with spectrum window scans the spectrum in all links of the route, slot by slot, searching for a free band large enough to meet the demand. In this work, we developed a new technique, called logical search, that simultaneously deals with all the links in the route, by performing logical operations with them. Then, a convolution is performed between a spectrum window, with the same size of the demand, and the resulting spectrum. From this result, it is possible to know all the positions in the spectrum where the demand may fit. This technique, as will be shown, is faster than the scan with spectrum window. To guarantee the efficiency and reliability of the algorithm, using the MATLAB software, we evaluated the blocking probability and bandwidth blocking probability, the average spectral fragmentation in the network, the shareability ratio, the spectral utilization ratio and the spare capacity ratio. The developed algorithm was able to organize the traffic in an orderly and less fragmented way, and use the protection resources efficiently.

A busca de sistemas de comunicação eficientes e econômicos é cada vez maior, principalmente com o aumento da demanda por tráfego e banda de transmissão. Conhecidas pela utilização eficiente de largura de banda, as redes ópticas de segmentação espectral flexível têm sido intensamente estudadas e são consideradas boas candidatas para a próxima geração de redes. Tais redes flexíveis utilizam formatos de modulação multinível e multiplexação multiportadora. Sistemas com alta capacidade de transmissão devem ser extremamente confiáveis, pois a falha em um dispositivo ou enlace da rede acarreta enorme perda de dados. Por isso, as técnicas de proteção e restauração do tráfego devem ser eficientes, de modo a garantir a sobrevivência da rede. Neste trabalho, foi desenvolvido um algoritmo capaz de lidar com cada requisição de conexão, encontrar um caminho óptico para transmissão e reservar outro caminho para recuperação do tráfego em caso de falha na rede. A seleção dos caminhos primário e de proteção utiliza a técnica smart-fit, que escolhe a solução com menor custo final, definido pela distância da rota percorrida somada ao custo do índice inicial da faixa espectral alocada, buscando equilibrar a escolha entre a posição no espectro e rota escolhida. Além disso, são definidos custos diferentes para slots de frequência livres e compartilhados, a fim de incentivar o compartilhamento espectral em caminhos de proteção. Dentre as técnicas de alocação espectral, a varredura com janela espectral varre o espectro em todos os enlaces da rota, slot por slot, em busca de uma faixa livre com tamanho suficiente para atender uma demanda. Neste trabalho, foi desenvolvida uma técnica chamada busca lógica, que lida simultaneamente com todos os enlaces da rota ao realizar operações lógicas com seus espectros. Em seguida, é realizada uma convolução entre a janela espectral, com tamanho da demanda, e o espectro resultante. A partir desse resultado, é possível saber as posições no espectro onde a demanda poderá ser alocada. Tal técnica, como será demonstrado, é mais veloz que a varredura com janela espectral. Para garantir a eficácia e confiabilidade do algoritmo, utilizando o software MATLAB, avaliou-se a probabilidade de bloqueio e probabilidade de bloqueio de banda, a fragmentação espectral média na rede, o grau de compartilhamento, a taxa de utilização espectral e a taxa de capacidade reservada. O algoritmo desenvolvido foi capaz de organizar o tráfego na rede de modo ordenado e pouco fragmentado, além de utilizar de maneira eficiente os recursos destinados à proteção. / The search for efficient and economical communication systems is increasing, especially with the increased demand for traffic and bandwidth transmission. The elastic optical networks, well known for their efficient using of bandwidth, have been thoroughly studied and are considered good candidates for the next generation networks. Such flexible networks use multilevel modulation formats and multicarrier multiplexing. Systems with high transmission capacity should be extremely reliable, as a failure in a device or link brings huge data loss. Therefore, traffic protection and restoration techniques should be efficient, to ensure network survivability. In this work, we propose an algorithm capable of managing each connection request, finding an optical path for transmission and a protection path to recover traffic in case of network failure. The selection of the primary and protection path uses the smart-fit technique, which chooses the solution with the lower final cost, defined by the route\'s distance plus the index\'s cost of the first slot of the allocated spectrum, in order to balance the choice between the position in the spectrum and the chosen route. In addition, different costs for free or shared frequency slots are defined, so as to encourage spectral sharing in protection paths. Among the spectrum allocation techniques, scanning with spectrum window scans the spectrum in all links of the route, slot by slot, searching for a free band large enough to meet the demand. In this work, we developed a new technique, called logical search, that simultaneously deals with all the links in the route, by performing logical operations with them. Then, a convolution is performed between a spectrum window, with the same size of the demand, and the resulting spectrum. From this result, it is possible to know all the positions in the spectrum where the demand may fit. This technique, as will be shown, is faster than the scan with spectrum window. To guarantee the efficiency and reliability of the algorithm, using the MATLAB software, we evaluated the blocking probability and bandwidth blocking probability, the average spectral fragmentation in the network, the shareability ratio, the spectral utilization ratio and the spare capacity ratio. The developed algorithm was able to organize the traffic in an orderly and less fragmented way, and use the protection resources efficiently.

The development needs of handling and ride vehicle dynamic characteristics are constantly evolving, crucial for safety and comfortable commute since many active safety and driver assistance systems depend on these characteristics. Ride improvements enhance passenger comfort, which plays a significant role in quality and brand value. Chassis and suspension systems greatly influence these vehicle dynamic characteristics. These systems should provide stability, high precision and a high degree of adaptive performance with quick response time. One of the ways to achieve these demands is by incorporating mechatronics suspension systems. Semi-active and fully active mechatronics suspension systems offer passengers a more comprehensive range of vehicle characteristics in terms of driving experience than vehicles with purely mechanical suspension systems. The efficient implementation of mechatronics suspension systems depends on the controller type and how its commands are realised. A typical control strategy is to decide a desired behaviour on the vehicle body and realise that behaviour with the help of the semi-active or active actuators. This work focuses on the realisation of the modal coordinate controller commands that counteracts the undesired body motions. The commands are in vehicle body coordinates with respect to the COG of the vehicle. The biggest challenge is to translate these counteracting forces and torques into semi-active damper vertical forces. This challenge is addressed with different algorithms with different levels of complexity and capability. The complexity ranges from the linear system of equations to real-time optimisation. Essentially, the algorithms will fragmentise and distribute the centralised command among different actuators and finally realise them back as close as commanded by taking the actuator and other physical limitations into account. This work also focuses on developing relative weights tuning methods, which play a significant role in the cost function formation and optimisation solution. The algorithms are evaluated in three different road conditions to incorporate typical driving environments related to primary and secondary rides. The enhancements in the ride performance are visualised by comparing against the existing methodology. The conclusions strongly support the optimisation-based force allocation algorithm over the existing method. It enables significant improvements in the ride performance and a high degree of flexibility by efficiently distributing commands among four actuators, which results in utilising the full potential of the semi-active dampers. / Utvecklingsbehoven för fordons dynamiska egenskaper med avseende på åkkomfort och köregenskaper är ständigt föränderliga och är avgörande för säkerheten och bekväm pendling eftersom många aktiva säkerhets- och förarassistanssystem är beroende av dessa egenskaper. Åkkomfortförbättringar förbättrar passagerarnas komfort, vilket spelar en betydande roll för kvalitet och märkesvärde. Chassi och fjädringssystem påverkar i hög grad dessa fordonsdynamiska egenskaper. Dessa system ska ge stabilitet, hög precision och en hög grad av adaptiv prestanda med snabb responstid. Ett av sätten att uppnå dessa krav är genom att införliva mekatroniska fjädringssystem. Semiaktiva och fullt aktiva mekatronikfjädringssystem erbjuder passagerare ett mer omfattande utbud av fordonsegenskaper när det gäller körupplevelse än fordon med rent mekaniska upphängningssystem. Ett effektivt genomförande av semiaktiva eller aktiva fjädringssystem beror på styrenhetstypen och hur styrenhetens kommandon är realiserade. En typisk reglerstrategi är att bestämma ett önskat beteende på fordonets kaross och realisera det beteendet med hjälp av de semiaktiva eller aktiva dämparna. Detta arbete fokuserar på förverkligandet av de modala koordinatstyrkommandon som motverkar oönskade kroppsrörelser. Kommandona beskrivs i fordonskroppens koordinater med avseende på fordonets tyngdpunkt (COG). Den största utmaningen är att översätta dessa motverkande krafter och vridmoment till vertikala krafter för stötdämparna. Denna utmaning hanteras med olika algoritmer med olika nivåer av komplexitet och kapacitet. Komplexiteten sträcker sig från det linjära ekvationssystemet till optimering i realtid. I huvudsak kommer algoritmerna att fragmentera och distribuera det centraliserade kommandot bland olika dämpare och slutligen förverkliga dem tillbaka så nära kommandot som möjligt genom att ta hänsyn till ställdonet och andra fysiska begränsningar. Studien fokuserar också på att utveckla justeringsmetoder för relativa vikter, som spelar en viktig roll i kostnadsfunktionsbildningen och optimeringslösningen. Algoritmerna utvärderas under tre olika vägförhållanden för att inkludera typiska körmiljöer relaterade till primär och sekundär åkkomfort. Förbättringarna i körprestandan visualiseras genom att jämföra mot den befintliga metoden. Slutsatserna stöder starkt en optimeringsbaserad kraftallokeringsalgoritm över den befintliga metoden. Algoritmen möjliggör betydande förbättringar av prestandan och en hög grad av flexibilitet genom att effektivt fördela kommandot bland fyra ställdon, vilket resulterar i att utnyttja den fulla potentialen för de semiaktiva dämparna.

This thesis addresses orchestration of servers amongst multiple co-hosted internet services such as e-Banking, e-Auction and e-Retail in hosting centres. The hosting paradigm entails levying fees for hosting third party internet services on servers at guaranteed levels of service performance. The orchestration of server ensemble in hosting centres is considered in the context of maximising the hosting centre's revenue over a lengthy time horizon. The inspiration for the server orchestration approach proposed in this thesis is drawn from nature and generally classed as swarm intelligence, specifically, sophisticated collective behaviour of social insects borne out of primitive interactions amongst members of the group to solve problems beyond the capability of individual members. Consequently, the approach is self-organising, adaptive and robust. A new scheme for server ensemble orchestration is introduced in this thesis. This scheme exploits the many similarities between server orchestration in an internet hosting centre and forager allocation in a honeybee (Apis mellifera) colony. The scheme mimics the way a honeybee colony distributes foragers amongst flower patches to maximise nectar influx, to orchestrate servers amongst hosted internet services to maximise revenue. The scheme is extended by further exploiting inherent feedback loops within the colony to introduce self-tuning and energy-aware server ensemble orchestration. In order to evaluate the new server ensemble orchestration scheme, a collection of server ensemble orchestration methods is developed, including a classical technique that relies on past history to make time varying orchestration decisions and two theoretical techniques that omnisciently make optimal time varying orchestration decisions or an optimal static orchestration decision based on complete knowledge of the future. The efficacy of the new biomimetic scheme is assessed in terms of adaptiveness and versatility. The performance study uses representative classes of internet traffic stream behaviour, service user's behaviour, demand intensity, multiple services co-hosting as well as differentiated hosting fee schedule. The biomimetic orchestration scheme is compared with the classical and the theoretical optimal orchestration techniques in terms of revenue stream. This study reveals that the new server ensemble orchestration approach is adaptive in a widely varying external internet environments. The study also highlights the versatility of the biomimetic approach over the classical technique. The self-tuning scheme improves on the original performance. The energy-aware scheme is able to conserve significant energy with minimal revenue performance degradation. The simulation results also indicate that the new scheme is competitive or better than classical and static methods.