This paper presents real-time sensing, processing and actuating functions of a collaborative knowledge sharing system called 5D World Map System, and the applications in the field of multidisciplinary environmental research and education. The first objective is to integrate the analysis of sensing data into a knowledge sharing system with multimedia, based on the framework of Sensing-Processing-Actuation of Cyber-Physical Systems. The proposed real-time sensing, processing and actuating functions enable multiple remote-users to acquire real-time sensing data from multiple sites around the world, perform analytical visualizations of the acquired sensing data by the selected calculation methods on the system to discover the incidental phenomena, and provide the analysed results to related users' terminal equipment automatically. The second objective of the research is to realize a new multidimensional data analysis and knowledge sharing system for a collaborative environment by applying the concept of 'differential computing' to the analysis of sensing data. Especially, in the processing function, the time-series difference of the value of each sensor, the differences between the values of multiple sensors in a selected area, and the time-series differences between the values of multiple sensors, are calculated, to detect an environmental incident and estimate the possibility of occurrence of the same kind of incident in the neighboring sites within the same area. By using 5D World Map System integrated with these functions, the users are able to perform a global analysis on the environmental sensing data along with the related multimedia data on a single view of time-series maps, based on the spatiotemporal and semantic correlation calculations.