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Service composition is an effective method to achieve flexible pervasive application. According to the relationship of messages and behaviors, we define a message oriented activity based Petri net (Moap) model to describe service, which supports concurrent processes and the reuse of composite service. And user's loose requirement is denoted as goal which is composed of expected input, output and key behaviors. Based on Moap, an automatic service composition algorithm autoSC is proposed to automatically create a specification of composite process to achieve goal. Finally, we analyze the effectiveness of autoSC and give a detailed comparison with other methods.