Internet of Things (IoT) technology, a new paradigm of the development of the Internet, has been developed and applied into cyber-physical social systems such as industrial control systems and healthcare information systems. The growth and application of these IoT devices such as smart phones, sensors, healthcare wearables, connected vehicles, smart home gadgets and appliances are expected to improve the intelligence of cyber physical systems, enhance the reliability, resilience, operational efficiency, and energy efficiency of current information systems while reducing system costs and resource consumption. However, when IoT devices are pervasively used in cyber physical systems, their security, privacy and trustworthiness have become critical issues. In October 2016, 150,000 compromised IoT devices composed of CCTV cameras and digital video recorders were used as botnets by hackers to launch massive and sustained Distributed Denial of Service (DDoS) attacks that have caused outages and network congestion for a large number of websites. By the year 2020, it says that 50 billion devices will be exposed to cyber attacks.
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