Fire Detection and Isolation For Intelligent Building Using Adaptive Sensory Fusion Method System
Fire Detection and Isolation For Intelligent Building Using Adaptive Sensory Fusion Method System
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International Conference on Robotics 8 Automation
Washington, DC May 2002
1
If Ui = +1 and H I
1
If Ui = -1 and H O
Figure 1. The hardware structure of fire detection system
*+*-
and PF are assumed to be constant. Therefore, the When H O occurs.
weighting functions can be obtained as
W = log(PDI PF). PD and PF are determined by = + A R . , i=O, 1, 2,...where and
confidence level of the measurement signal. We can q-
represent the weight value after and before each
conduct experiments to determine PD and PF for update, and
different sensors. In reality, PD and PF under operating m is the number of H , .
conditions are time-varying. Therefore, the weight h c t i o n mli is the number of vi = +1 ,and U: = 1.
should be made time-varying [19].
Consider a binary hypothesis testing case with the moi is the number of Ui = -1, and U#:= -1.
following two hypotheses:
where ut*is real experimental output by data fusion. Therefore, we can define the weight ratio WR,jg as
S , ( i ) = 1 Q j ( i )2 17 and W , is smal
0 Q j ( i )2 7 and W , is big
Next, we can get more exact decision output for the fire
detection system. The more exact decision output Y(i) is
(9)
defined as
IV. Fault detection algorithm
The paper uses 6 sensors to detect fire occurrence, and k=l j=1
these sensors are classified into two groups. Each group has When Y(i) is bigger than another fire detection threshold
one smoke sensor, one flame sensor and one temperature h, we can say that fire is happened. Finally, we can draw
sensor. We use the adaptive fusion method in each group the architecture of fire detection from equation (9) and (10).
for fire detection, and compare the weight variance for each It is shown in Figure 4.
group for sensor fault detection and isolation. The adaptive
multisensor fusion architecture is shown in Figure 3.
In reality, the weight h c t i o n W,,(i) is time-variable for
adaptive multisensor fusion method. We define the weight
variable function Q,(i) to be
Q,0 )=I Y,(9- wzJ(9 I j = 1,2,3 (5)
V. Experimental results
We use 6 sensors to detect fire happened, and these fire
sensors were classified two group. We call them as group I
(K=l) and group I1 (K=2). We define weight functions
verse to sensors to be shown table I.
Table I. The weight function verse to sensors
Figure 3. Adaptive multisensor fusion architecture
If the fue is occured, we can get the equation ( 6 ) by
equation (3)
(7)
n + n
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Next, we use the proposed method to detect sensory
failure and isolate it. In the experiment, we assume that
three types of sensors can detect fire signal simultaneously.
In the Figure 5, the weight variable function is almost the
same, when the fire detection system has not any sensor
failure. If one smoke sensor is error in group I, the weight
variable function is variable for one sensor error, and the
function WRl(i) is become bigger than others(see WR1 of 0.8E ~ ......; . . . . . . . '. \ :
accident location was from 300 to 600. So that we can say ............i.........i ........... :. ......... i............,:..... '.*".i
**i ................i................:.................. :................. i ................................... j
that the fire system has one smoke sensor error. But we 0 " s o a r s m R m
can't know which group smoke sensor to be faulty. We can "1 nmDx
see the Figure 7 and Figure 8. We compare Wll(i)and Wlz(i) Figure 7. The weight of group I for one smoke sensor error
function. The weight function Wll(i) of faulty sensor is
become small. We can detect the sensor fault detection and
isolation.
If one flame sensor is error in the another experiment, we
can get the weight variable function W&(i) to become
bigger than others. It is shown in Figure 9, and we can
know the flame sensor failure in the group I1 by Figure 10
and Figure 11. Because that W&) is bigger than WJ$).
The proposed method can provide more exact results in
sensor fault detection and isolation. We can use the result to
apply in intelligent building and security robot, and the
method is easy to design the hardware circuits. ................;..................: ..............:..................:................. i................ .i
o 1 m m s a m s o a a
h!A$nQnnbr
Tmww-
rniiinp nsnb*
Figure 10. The weight of group I for one flame sensor error
mmq -
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