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Cyber-Physical Systems (CPSs) are combinations of physical devices controlled by software systems to accomplish specified tasks under stringent real-time and physical resource constraints. The major benefit of these systems lies in their potentially positive impacts on real world systems by enabling high dependability assurance. However, a key challenge is to determine not only correct but also cost-effective dynamic operation of all physical devices in the system in the context of real world constraints.In this paper, we present a novel context-sensitive resource-explicit service model and develop the corresponding composition formalisms to help automate the composition process under real-time constraints as well as under various physical resource constraints. The approach is illustrated using an emergency response system.