The ubiquity of mobile devices has facilitated the prevalence of participatory sensing, whereby ordinary citizens use their private mobile devices to collect regional information and to share with participators. However, such applications may endanger the users' privacy by revealing their locations and trajectories information. Most of existing solutions, which hide a user's location information with a coarse region, are under k-anonymity model. Yet, they may not be applicable in some participatory sensing applications that require precise location information. The goals are seemingly contradictory: to protect a user's location privacy while simultaneously providing precise location information for a high quality of service. In this paper, we propose a method to meet both goals. Through selecting a certain number of a user's partners, it can protect the user's location privacy while providing precise location information. The user's trajectory privacy can be protected by constructing several trajectories that are similar to the user's trajectory in an interval time T. Finally, we utilize a new metric, called slope ratio, to evaluate the partners' selection algorithm that we proposed. Then, we measure the privacy level that the location and trajectory privacy protection mechanism LTPPM can achieve. The analysis and simulation results show that LTPPM can protect the user's location and trajectory privacy effectively and also provide a high quality of service in participatory sensing. Copyright © 2012 John Wiley & Sons, Ltd.

The ubiquity of the various cheap embedded sensors on mobile devices, for example cameras, microphones, accelerometers, and so on, is enabling the emergence of participatory sensing applications. While participatory sensing can benefit the individuals and communities greatly, the collection and analysis of the participators' location and trajectory data may jeopardize their privacy. However, the existing proposals mostly focus on participators' location privacy, and few are done on participators' trajectory privacy. The effective analysis on trajectories that contain spatial-temporal history information will reveal participators' whereabouts and the relevant personal privacy. In this paper, we propose a trajectory privacy-preserving framework, named TrPF, for participatory sensing. Based on the framework, we improve the theoretical mix-zones model with considering the time factor from the perspective of graph theory. Finally, we analyze the threat models with different background knowledge and evaluate the effectiveness of our proposal on the basis of information entropy, and then compare the performance of our proposal with previous trajectory privacy protections. The analysis and simulation results prove that our proposal can protect participators' trajectories privacy effectively with lower information loss and costs than what is afforded by the other proposals.

It is often important to obtain the real-time location of a small-sized ground robotic vehicle when it performs autonomous tasks either indoors or outdoors. We propose and implement LOBOT, a low-cost, self-contained localization system for small-sized ground robotic vehicles. LOBOT provides accurate real-time, 3D positions in both indoor and outdoor environments. Unlike other localization schemes, LOBOT does not require external reference facilities, expensive hardware, careful tuning or strict calibration, and is capable of operating under various indoor and outdoor environments. LOBOT identifies the local relative movement through a set of integrated inexpensive sensors and well corrects the localization drift by infrequent GPS-augmentation. Our empirical experiments in various temporal and spatial scales show that LOBOT keeps the positioning error well under an accepted threshold.

The multihop routing in wireless sensor networks (WSNs) offers little protection against identity deception through replaying routing information. An adversary can exploit this defect to launch various harmful or even devastating attacks against the routing protocols, including sinkhole attacks, wormhole attacks, and Sybil attacks. The situation is further aggravated by mobile and harsh network conditions. Traditional cryptographic techniques or efforts at developing trust-aware routing protocols do not effectively address this severe problem. To secure the WSNs against adversaries misdirecting the multihop routing, we have designed and implemented TARF, a robust trust-aware routing framework for dynamic WSNs. Without tight time synchronization or known geographic information, TARF provides trustworthy and energy-efficient route. Most importantly, TARF proves effective against those harmful attacks developed out of identity deception; the resilience of TARF is verified through extensive evaluation with both simulation and empirical experiments on large-scale WSNs under various scenarios including mobile and RF-shielding network conditions. Further, we have implemented a low-overhead TARF module in TinyOS; as demonstrated, this implementation can be incorporated into existing routing protocols with the least effort. Based on TARF, we also demonstrated a proof-of-concept mobile target detection application that functions well against an antidetection mechanism.

We present SensorTrust, a trust model to evaluate the trustworthiness of nodes in hierarchical wireless sensor networks, focusing on data integrity.

This paper studies the generalization and normalization issues of information-theoretic distance measures for clustering validation. Along this line, we first introduce a uniform representation of distance measures, defined as quasi-distance, which is induced based on a general form of conditional entropy. The quasi-distance possesses three properties: symmetry, the triangle law, and the minimum reachable. These properties ensure that the quasi-distance naturally lends itself as the external measure for clustering validation. In addition, we observe that the ranges of the distance measures are different when they apply for clustering validation on different data sets. Therefore, when comparing the performances of clustering algorithms on different data sets, distance normalization is required to equalize ranges of the distance measures. A critical challenge for distance normalization is to obtain the ranges of a distance measure when a data set is provided. To that end, we theoretically analyze the computation of the maximum value of a distance measure for a data set. Finally, we compare the performances of the partition clustering algorithm K-means on various real-world data sets. The experiments show that the normalized distance measures have better performance than the original distance measures when comparing clusterings of different data sets. Also, the normalized Shannon distance has the best performance among four distance measures under study.

Partition entropyis the numerical metric of uncertainty within a partition of a finite set, whileconditional entropymeasures the degree of difficulty in predicting a decision partition when a condition partition is provided. Since two direct methods exist for defining conditional entropy based on its partition entropy, the inequality postulates of monotonicity, which conditional entropy satisfies, are actually additional constraints on its entropy. Thus, in this paper partition entropy is defined as a function of probability distribution, satisfying all the inequalities of not only partition entropy itself but also its conditional counterpart. These inequality postulates formalize the intuitive understandings of uncertainty contained in partitions of finite sets. We study the relationships between these inequalities, and reduce the redundancies among them. According to two different definitions of conditional entropy from its partition entropy, the convenient and unified checking conditions for any partition entropy are presented, respectively. These properties generalize and illuminate the common nature of all partition entropies.