Nowadays, the Internet of Things (IoT) technology has greatly promoted the transaction behavior. It has led to a shift from the traditional face-to-face, bartering business to today’s online virtual goods business, such as energy trading, spectrum, and so on. However, there exist two critical challenges in IoT-based trading market, which include “efficiency” and “safety”. “Efficiency” indicates a fair-trading decision-making rule, and “safety” indicates that the bidders’ privacy must be protected. To address the above challenges, numerous researchers are working on privacy-preserving auction mechanisms for IoT-based transactional markets, drawing insights from electronic auction theory and information security theory. However, a predominant focus on specific scenarios characterizes most existing works, lacking a comprehensive synthesis of the collective contributions to date. Therefore, this paper systematically elucidates privacy-preserving auction mechanisms for IoT-based transactional markets. Firstly, we expound the foundational knowledge of IoT-based auction markets, delving into auction theory and privacy theory through concise categorization. Secondly, we address both theoretical considerations (from the integration perspective of various privacy protection methods and auction mechanisms) and practical aspects (evaluating various real-world application scenarios). Each aspect undergoes meticulous scrutiny, providing practical assessments and prospects. Lastly, we propose future research directions. Key challenges include the absence of inference attack models for differential privacy, a dearth of algorithmic designs with privacy-preserving capabilities at the auction mechanism level, and the intricate balance between privacy and efficiency. Proposed solutions for future research directions include leveraging Bayesian inference and neural networks for effective attacks, designing autonomous privacy protection mechanisms, and addressing the privacy-efficiency trade-off through the application of Markov decision processes.

An efficient energy trading strategy is proven to have a vital role in reducing participants’ payment in the energy trading process of the power grid, which can greatly improve the operation efficiency of the power grid and the willingness of participants to take part in the energy trading. Nevertheless, with the increasing number of participants taking part in the energy trading, the stability and efficiency of the energy trading system are exposed to an extreme challenge. To address this issue, an actor-critic-based bidding strategy for energy trading participants is proposed in this paper. Specifically, we model the bidding strategy with sequential decision-making characteristics as a Markov decision process, which treats three elements, namely, total supply, total demand, and participants’ individual supply or demand, as the state and regards bidding price and volume as the action. In order to address the problem that the existing value-based reinforcement learning bidding strategy cannot be applied to the continuous action space environment, we propose an actor–critic architecture, which endows the actor the ability of learning the action execution and utilizes the critic to evaluate the long-term rewards conditioned by the current state–action pairs. Simulation results in energy trading scenarios with different numbers of participants indicate that the proposed method will obtain a higher cumulative reward than the traditional greedy method.

Smart meters, as a key component of Advanced Metering Infrastructure (AMI), collect fine-grained electricity consumption data for demand response in smart grids. While this data improves the grid's accuracy, it also poses significant threats to users' privacy. In this paper, we study the privacy issue in smart metering systems from both attacker and defender perspectives. First, we propose an improved Temporal Convolutional Network (TCN) based Non-Intrusive Load Monitoring (NILM) attack method, which infers electrical appliance usage from public load curves, addressing the gradient vanishing, gradient exploding, and other problems while improving attack accuracy. Second, we develop a rechargeable battery-assisted energy management system to hide load characteristics of electrical appliances by adding physical noise, thus resisting NILM attacks. To address the privacy-cost trade-off optimization problem, we propose a Practical Deep Reinforcement Learning-based Rechargeable Battery assist Privacy Preserving Method (PRoP) that learns optimal battery charging/discharging policies. We design a novel privacy measurement method and constraints to ensure the feasibility of system deployment and prove PRoP's effectiveness in resisting NILM attacks. Comprehensive evaluations demonstrate that our improved TCN-based NILM method achieves an attack success rate of over 80% on various electrical appliances, improving attack performance (MAE, RMSE) by 20% compared to existing methods while reducing model training time. Moreover, our proposed PRoP achieves a better trade-off between privacy protection and electricity cost than existing battery-assisted methods, reducing costs by 5% and the attack success ratio to 36%, while increasing the MAE and RMAE obtained by NILM by 3 times. Note to Practitioners-Smart grid, which can support bidirectional information transmission, has a series of advantages, such as high efficiency and high stability. However, it also brings a significant threat to users' electricity privacy. Although encryption-based privacy protection methods have been deployed on terminal devices of smart grids to prevent privacy leaks, this method can often only defend against intrusive attacks and has little effect on non-intrusive attacks. To this end, this paper studies the privacy issues caused by non-intrusive attacks. Specifically, to better study the protection method, we first investigate the attack mechanism and design an improved TCN-based Non-Intrusive Load Monitoring method. Then, we propose a Practical Reinforcement learning-based rechargeable battery-assisted Privacy preserving method (PRoP) to defend against this attack physically. The most practical contribution of this paper is that, compared with existing battery-assisted privacy protection methods, we do not blindly pursue algorithm performance but fully consider the practical factors of deployment, such as limiting battery capacity and constraining battery charging and discharging behavior. This can guide practitioners to better apply this technology in practice.

In robot inertial navigation systems, to deal with the problems of drift and noise in the gyroscope and accelerometer and the high computational cost when using extended Kalman filter (EKF) and particle filter (PF), a complementary filtering algorithm is utilized. By combining the Inertial Measurement Unit (IMU) multi-sensor signals, the attitude data are corrected, and the high-precision attitude angles are obtained. In this paper, the quaternion algorithm is used to describe the attitude motion, and the process of attitude estimation is analyzed in detail. Moreover, the models of the sensor and system are given. Ultimately, the attitude angles are estimated by using the quaternion extended Kalman filter, linear complementary filter, and Mahony complementary filter, respectively. The experimental results show that the Mahony complementary filtering algorithm has less computational cost than the extended Kalman filtering algorithm, while the attitude estimation accuracy of these two algorithms is similar, which reveals that Mahony complementary filtering is more suitable for low-cost embedded systems.