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IoT systems can be leveraged by Network Function Virtualization (NFV) and Software-Defined Networking (SDN) technologies, thereby strengthening their overall flexibility, security and resilience. In this sense, adaptive and policy-based security frameworks for SDN/NFV-aware IoT systems can provide a remarkable added value for self-protection and self-healing, by orchestrating and enforcing dynamically security policies and associated Virtual Network Functions (VNF) or Virtual network Security Functions (VSF) according to the actual context. However, this security orchestration is subject to multiple possible inconsistencies between the policies to enforce, the already enforced management policies and the evolving status of the managed IoT system. In this regard, this paper presents a semantic-aware, zero-touch and policy-driven security orchestration framework for autonomic and conflict-less security orchestration in SDN/NFV-aware IoT scenarios while ensuring optimal allocation and Service Function Chaining (SFC) of VSF. The framework relies on Semantic technologies and considers the security policies and the evolving IoT system model to dynamically and formally detect any semantic conflict during the orchestration. In addition, our optimized SFC algorithm maximizes the QoS, security aspects and resources usage during VSF allocation. The orchestration security framework has been implemented and validated showing its feasibility and performance to detect the conflicts and optimally enforce the VSFs. [ABSTRACT FROM AUTHOR]