Increasing population density in urban centers demands adequate provision of services and infrastructure to meet the needs of city inhabitants, encompassing residents, workers, and visitors. The utilization of information and communications technologies to achieve this objective presents an opportunity for the development of smart cities, where city management and citizens are given access to a wealth of real-time information about the urban environment upon which to base decisions, actions, and future planning. This paper presents a framework for the realization of smart cities through the Internet of Things (IoT). The framework encompasses the complete urban information system, from the sensory level and networking support structure through to data management and Cloud-based integration of respective systems and services, and forms a transformational part of the existing cyber-physical system. This IoT vision for a smart city is applied to a noise mapping case study to illustrate a new method for existing operations that can be adapted for the enhancement and delivery of important city services.

Anomaly detection in high dimensional data is becoming a fundamental research problem that has various applications in the real world. However, many existing anomaly detection techniques fail to retain sufficient accuracy due to so-called “big data” characterised by high-volume, and high-velocity data generated by variety of sources. This phenomenon of having both problems together can be referred to the “curse of big dimensionality,” that affect existing techniques in terms of both performance and accuracy. To address this gap and to understand the core problem, it is necessary to identify the unique challenges brought by the anomaly detection with both high dimensionality and big data problems. Hence, this survey aims to document the state of anomaly detection in high dimensional big data by representing the unique challenges using a triangular model of vertices: the problem (big dimensionality), techniques/algorithms (anomaly detection), and tools (big data applications/frameworks). Authors’ work that fall directly into any of the vertices or closely related to them are taken into consideration for review. Furthermore, the limitations of traditional approaches and current strategies of high dimensional data are discussed along with recent techniques and applications on big data required for the optimization of anomaly detection.

The current standalone deep learning framework tends to result in overfitting and low utility. This problem can be addressed by either a centralized framework that deploys a central server to train a global model on the joint data from all parties, or a distributed framework that leverages a parameter server to aggregate local model updates. Server-based solutions are prone to the problem of a single-point-of-failure. In this respect, collaborative learning frameworks, such as federated learning (FL), are more robust. Existing federated learning frameworks overlook an important aspect of participation: fairness. All parties are given the same final model without regard to their contributions. To address these issues, we propose a decentralized Fair and Privacy-Preserving Deep Learning (FPPDL) framework to incorporate fairness into federated deep learning. In particular, we design a local credibility mutual evaluation mechanism to guarantee fairness, and a three-layer onion-style encryption scheme to guarantee both accuracy and privacy. Different from existing FL paradigm, under FPPDL, each participant receives a different version of the FL model with performance commensurate with his contributions. Experiments on benchmark datasets demonstrate that FPPDL balances fairness, privacy and accuracy. It enables federated learning ecosystems to detect and isolate low-contribution parties, thereby promoting responsible participation.

For constrained end devices in Internet of Things (IoT), such as smart meters, data transmission is an energy-consuming operation. To address this problem, we propose an efficient and privacy-preserving aggregation system with the aid of Fog computing architecture, named PPFA, which enables the intermediate Fog nodes to periodically collect data from nearby smart meters and accurately derive aggregate statistics as the fine-grained Fog level aggregation. The Cloud/utility supplier computes overall aggregate statistics by aggregating Fog level aggregation. To minimize the privacy leakage and mitigate the utility loss, we use more efficient and concentrated Gaussian mechanism to distribute noise generation among parties, thus offering provable differential privacy guarantees of the aggregate statistic on both Fog level and Cloud level. In addition, to ensure aggregator obliviousness and system robustness, we put forward a two-layer encryption scheme: the first layer applies OTP to encrypt individual noisy measurement to achieve aggregator obliviousness, while the second layer uses public-key cryptography for authentication purpose. Our scheme is simple, efficient and practical, it requires only one round of data exchange among a smart meter, its connected Fog node and the Cloud if there are no node failures, otherwise, one extra round is needed between a meter, its connected Fog node and the trusted third party.

This paper is concerned with the collective behaviors of robots beyond the nearest neighbor rules, i.e., dispersion and flocking, when robots interact with others by applying an acute angle test (AAT)-based interaction rule. Different from a conventional nearest neighbor rule or its variations, the AAT-based interaction rule allows interactions with some far-neighbors and excludes unnecessary nearest neighbors. The resulting dispersion and flocking hold the advantages of scalability, connectivity, robustness, and effective area coverage. For the dispersion, a spring-like controller is proposed to achieve collision-free coordination. With switching topology, a new fixed-time consensus-based energy function is developed to guarantee the system stability. An upper bound of settling time for energy consensus is obtained, and a uniform time interval is accordingly set so that energy distribution is conducted in a fair manner. For the flocking, based on a class of generalized potential functions taking nonsmooth switching into account, a new controller is proposed to ensure that the same velocity for all robots is eventually reached. A co-optimizing problem is further investigated to accomplish additional tasks, such as enhancing communication performance, while maintaining the collective behaviors of mobile robots. Simulation results are presented to show the effectiveness of the theoretical results.

A robust motion control system is essential for the linear motor (LM)-based direct drive to provide high speed and high-precision performance. This paper studies a systematic control design method using fast nonsingular terminal sliding mode (FNTSM) for an LM positioner. Compared with the conventional nonsingular terminal sliding mode control, the FNTSM control can guarantee a faster convergence rate of the tracking error in the presence of system uncertainties including payload variations, friction, external disturbances, and measurement noises. Moreover, its control input is inherently continuous, which accordingly avoids the undesired control chattering problem. We further discuss the selection criteria of the controller parameters for the LM to deal with the system dynamic constraints and performance tradeoffs. Finally, we present a robust model-free velocity estimator based on the only available position measurements with quantization noises such that the estimated velocity can be used for feedback signal to the FNTSM controller. Experimental results demonstrate the practical implementation of the FNTSM controller and verify its robustness of more accurate tracking and faster disturbance rejection compared with a conventional NTSM controller and a linear H _∞ controller.