The integration of the Internet of Things (IoT) and Machine Learning (ML) technologies has opened up for the development of novel types of systems and services. Federated Learning (FL) has enabled the systems to collaboratively train their ML models while preserving the privacy of the data collected by their IoT devices and objects. Several FL frameworks have been developed, however, they do not enable FL in open, distributed, and heterogeneous IoT environments. Specifically, they do not support systems that collect similar data to dynamically discover each other, communicate, and negotiate about the training terms (e.g., accuracy, communication latency, and cost). Towards bridging this gap, we propose ART4FL, an end-to-end framework that enables FL in open IoT settings. The framework enables systems' users to configure agents that participate in FL on their behalf. Those agents negotiate and make commitments (i.e., contractual agreements) to dynamically form federations. To perform FL, the framework deploys the needed services dynamically, monitors the training rounds, and calculates agents' trust scores based on the established commitments. ART4FL exploits a blockchain network to maintain the trust scores, and it provides those scores to negotiating agents' during the federations' formation phase.

This paper proposes a novel agglomerated privacy-preservation model integrated with data mining and evolutionary Genetic Algorithm (GA). Privacy-pReservIng with Minimum Epsilon (PRIMϵ) delivers minimum privacy budget (ϵ) value to protect personal or sensitive data during data mining and publication. In this work, the proposed Pattern identification in the Locale of Users with Mining (PLUM) algorithm, identifies frequent patterns from dataset containing users’ sensitive data. ϵ-allocation by Differential Privacy (DP) is achieved in PRIMϵ with GA PRIMϵ , yielding a quantitative measure of privacy loss (ϵ) ranging from 0.0001 to 0.045. The proposed model maintains the trade-off between privacy and data utility with an average relative error of 0.109 on numerical data and an Earth Mover’s Distance (EMD) metric in the range between [0.2,1.3] on textual data. PRIMϵ model is verified with Probabilistic Computational Tree Logic (PCTL) and proved to accept DP data only when ϵ ≤ 0.5. The work demonstrated resilience of model against background knowledge, membership inference, reconstruction, and privacy budget attack. PRIMϵ is compared with existing techniques on DP and is found to be linearly scalable with worst time complexity of O(n log n) .

Designing MMLA systems is a complex task requiring a wide range of considerations. In this paper, we identify key considerations that are essential for designing MMLA systems. These considerations include data management, human factors, sensors and modalities, learning scenarios, privacy and ethics, interpretation and feedback, and data collection. The implications of these considerations are twofold: 1) The need for flexibility in MMLA systems to adapt to different learning contexts and scales, and 2) The need for a researcher-centered approach to designing MMLA systems. Unfortunately, the sheer number of considerations can lead to a state of "analysis paralysis," where deciding where to begin and how to proceed becomes overwhelming. This synthesis paper asks researchers to rethink the design of MMLA systems and aims to provide guidance for developers and practitioners in the field of MMLA.

Our phones have many uses for positioning technologies, such as navigation, LocationBased Services (LBS), emergency positioning, fitness applications, and advertising. We trust our phones and wearables to be location-aware. However, as soon as we enter a building, we can no longer use GPS signals, as their already weak signals are well below the background noise of the environment. This requires us to develop alternatives, such as installing active radio beacons, using existing radio infrastructure, applying environmental sensing based on barometric pressure and magnetic fields, or utilizing Inertial Measurement Units (IMUs) to estimate the user location. This licentiate thesis aims to evaluate beacon-based indoor positioning, where we assume installing a set of small battery-powered Bluetooth low-energy (BLE) beacons are possible. In particular, the thesis addresses essential factors such as installation effort, accuracy, the privacy aspects of an Indoor Positioning System(IPS), and mitigation of accuracy issues related to radio signal shadowing in complex indoor environments. The goal is to solve some obstacles to the widespread adoption of indoor positioning solutions.

The development of autonomous vehicles has prompted an interest in exploring various techniques in navigation. One such technique is simultaneous localization and mapping (SLAM), which enables a vehicle to comprehend its surroundings, build a map of the environment in real time, and locate itself within that map. Although traditional techniques have been used to perform SLAM for a long time, recent advancements have seen the incorporation of neural network techniques into various stages of the SLAM pipeline. This review article provides a focused analysis of the recent developments in neural network techniques for SLAM-based localization of autonomous ground vehicles. In contrast to the previous review studies that covered general navigation and SLAM techniques, this paper specifically addresses the unique challenges and opportunities presented by the integration of neural networks in this context. Existing review studies have highlighted the limitations of conventional visual SLAM, and this article aims to explore the potential of deep learning methods. This article discusses the functions required for localization, and several neural network-based techniques proposed by researchers to carry out such functions. First, it presents a general background of the issue, the relevant review studies that have already been done, and the adopted methodology in this review. Then, it provides a thorough review of the findings regarding localization and odometry. Finally, it presents our analysis of the findings, open research questions in the field, and a conclusion. A semisystematic approach is used to carry out the review.

On-demand transport services are often envisioned as stand-alone modes or as a replacement for conventional public transport modes. This leads to a comparison of service efficiencies, or direct competition for passengers between them. The results of this work point to the positive effects of the inclusion of DRT into the public transport network. We simulate a day of operation of a DRT service in a rural area and demonstrate that a DRT system that focuses on increasing accessibility for travellers with poor public transport access can be quite efficient, especially for reducing environmental impact. We show that DRT, while it produces more vehicle kilometres than private cars would inside the DRT operating zone, can help to reduce the vehicle kilometres travelled for long-distance trips. The results of this study indicate the need for a more systemic evaluation of the impact of the new mobility modes.

Public transport is an efficient way to transport large volumes of travellers. However, there are systemic issues that make it hard for conventional public transport to provide efficient service on finer levels, like first- and last-mile problems or low-demand areas. One of the potential solutions that has been getting a lot of attention recently in research and real practice is Demand-Responsive Transport(DRT). The main difference between demand-responsive services and conventional public transport is the need for explicit requests for a trip from the travellers. The service then adapts the routes of the vehicles to satisfy the requests as efficiently as possible. One of the aims of such transport services is to combine the flexibility and accessibility of travel modes like taxis and private cars with the efficiency of buses achieved through ride-sharing.DRT has the potential to improve public transport in, for example, low population density areas or for people with mobility limitations who could request a trip directly to a home door. Historically DRT has been extensively used for special transportation while the recent trend in research and practice explores the possibility of using this service type for the general population.The history of DRT shows a large degree of discontinued trials and services together with low utilisation of vehicles and limited efficiency levels. In practice, this leads to measures restricting the trip destination, times when service is available, or eligibility to use the service at all in case of special transport DRT. Due to the limited use of DRT services, there is little data collected on the efficiency of the service and transport agencies exploring the possibility of introducing this new service type face difficulties in estimating its potential.The main goal of this thesis is to contribute towards developing a decisionsupport method for transport analysts, planners, or decision-makers who want to evaluate the systemic effect of a DRT service such as costs, emissions and effecton society. Decision-makers should be able to evaluate and compare a large variety of DRT design choices like booking time restrictions, vehicle fleet type, target trip quality level, or stop allocation pattern. Using a design science, we develop a simulation approach which is evaluated with two simulation experiments. The simulation experiments themselves provide valuable insight into the potential of DRT services, explore the niche where DRT could provide the most benefits and advocate taking into account the sustainability perspective for a comprehensive comparison of transport modes.

The findings from the simulation experiments indicate that DRT, even in its extreme forms like fully autonomous shared taxis, does not show the level of efficiency that could result in a revolution in transportation — it is hard to compete inefficiency with conventional public transport in urban zones. However, in scenarios with lower demand levels, it could be more efficient to replace conventional buses with a DRT service when considering costs and emissions. We also show that, when integrated with conventional public transport, DRT could help alleviate the last-mile problem by improving accessibility to long-distance lines. Additionally, if car users are attracted to public transport with the help of DRT, there is a potential to significantly reduce the total level of emissions.

The simulation results indicate that the proposed simulation method can be applied for the evaluation of DRT. The implementation of trip planning combining DRT and conventional public transport is a major contribution of this thesis. We show that the integration between services may be important for the efficiency of the service, especially when considering the sustainability aspects.

Finally, this thesis indicates the direction for further research. The proposed simulation approach is suitable for the estimation of the potential of DRT but lacks the ability to make a prediction of the demand for DRT. Integration of a realistic mode choice model and day-to-day simulations are important for making predictions. We also note the complexity of the DRT routing for large-scale problems which prohibits a realistic estimation with simulation and the efficient operation of the service.

Predicting breakdowns is becoming one of the main goals for vehicle manufacturers so as to better allocate resources, and to reduce costs and safety issues. At the core of the utilization of vehicle sensors is the fact that early detection of anomalies facilitates the prediction of potential breakdown issues, which, if otherwise undetected, could lead to breakdowns and warranty claims. However, the making of such predictions is too complex a challenge to solve using simple predictive models. The strength of heuristic optimization techniques in solving np-hard problems, and the recent success of ensemble approaches to various modeling problems, motivated us to investigate a hybrid optimization- and ensemble-based approach to tackle the complex task. In this study, we propose a snapshot-stacked ensemble deep neural network (SSED) approach to predict vehicle claims (in this study, we refer to a claim as being a breakdown or a fault) by considering vehicle operational life records. The approach includes three main modules: Data pre-processing, Dimensionality Reduction, and Ensemble Learning. The first module is developed to run a set of practices to integrate various sources of data, extract hidden information and segment the data into different time windows. In the second module, the most informative measurements to represent vehicle usage are selected through an adapted heuristic optimization approach. Finally, in the last module, the ensemble machine learning approach utilizes the selected measurements to map the vehicle usage to the breakdowns for the prediction. The proposed approach integrates, and uses, the following two sources of data, collected from thousands of heavy-duty trucks: Logged Vehicle Data (LVD) and Warranty Claim Data (WCD). The experimental results confirm the proposed system's effectiveness in predicting vehicle breakdowns. By adapting the optimization and snapshot-stacked ensemble deep networks, we demonstrate how sensor data, in the form of vehicle usage history, contributes to claim predictions. The experimental evaluation of the system on other application domains also indicated the generality of the proposed approach.

User location is becoming an increasingly common and important feature for a wide range of services. Smartphone owners increasingly use location-based services, as service providers add context-enhanced functionality such as car-driving routes, COVID-19 tracking, crowdedness indicators, and suggestions for nearby points of interest. However, positioning a user indoors is still problematic due to the fading of the radio signal caused by multipath and shadowing, where both have complex dependencies on the indoor environment. Location fingerprinting is a common positioning method where Radio Signal Strength (RSS) measurements are compared to a reference database of previously stored RSS values. Due to the size of the reference databases, these are often stored in the cloud. However, server-side positioning computations make preserving the user's privacy problematic. Given the assumption that a user does not want to communicate his/her location, we pose the question of whether a passive system with client-side computations can substitute fingerprinting-based systems, which commonly use active communication with a server. We compared two passive indoor location systems based on multilateration and sensor fusion using an Unscented Kalman Filter (UKF) with fingerprinting and show how these may provide accurate indoor positioning without compromising the user's privacy in a busy office environment.

Interactive machine learning (ML) adds a human-in-the-loop aspect to a ML system. Even though the input from human users to the system is a central part of the concept, the uncertainty caused by the human feedback is often not considered in interactive ML. The assumption that the human user is expected to always provide correct feedback, typically does not hold in real-world scenarios. This is especially important for when the cognitive workload of the human is high, for instance in online learning from streaming data where there are time constraints for providing the feedback. We present experiments of interactive online ML with human participants, and compare the results to simulated experiments where humans are always correct. We found combining the two interactive learning paradigms, active learning and machine teaching, resulted in better performance compared to machine teaching alone. The results also showed an increased discrepancy between the experiments with human participants and the simulated experiments when the cognitive workload was increased. The findings suggest the importance of taking uncertainty caused by human factors into consideration in interactive ML, especially in situations which requires a high cognitive workload for the human.