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The Internet of Things (IoT) is a novel paradigm relying on the interaction of smart objects (things) with each other and with physical and/or virtual resources through the Internet. Despite the recent advances that have made IoT a reality, there are several challenges to be addressed towards exploiting its full potential and promoting tangible benefits to society, environment, economy, and individual citizens. Recently, Cloud Computing has been advocated as a promising approach to tackle some of the existing challenges in IoT while leveraging its adoption and bringing new opportunities. With the combination of IoT and Cloud Computing, the cloud becomes an intermediate layer between smart objects and applications that make use of data and resources provided by these objects. On the one hand, IoT can benefit from the almost unlimited resources of Cloud Computing to implement management and composition …