The development of small wireless sensors and smart-phones, which include various sound, video, motion and location sensors, has facilitated new pervasive applications such as healthcare, buidling and environmental monitoring or animal tracking. Devices may not be easily accessed for maintenance and users may be non-technical, thus, the systems need to be self-managing and self-healing with respect to faults and errors. In this thesis we investigate models and mechanisms for detection and recovery from faults and propose an adaptation framework to facilitate their deployment and maintenance.