Sensor Reliability Evaluation Method
In Multi-Sensor Control Systems
Paweł Łęczycki, Artur Andrzejczak, Piotr Pietrzak, Andrzej Napieralski
Department of Microelectronics and Computer Science
Lodz University of Technology
Lodz, Poland
pleczycki@dmcs.pl
Abstract— This paper describes the reliability evaluation
method for reliability evaluation of a sensor in multi-sensor
control systems, where communication between modules is based
on a binary information. At the beginning, main objectives of the
TULCOEMPA is are briefly presented. One of the main tasks of
this project is the Truck Recognition System that uses various
types of sensors, which are working for the same purpose –
recognition of vehicles with total mass over 3.5 ton without
weighting system. In the following, authors present algorithms on
which mentioned method is based on and results with description
of simulations performed to preliminary test the method.
Keywords—TULCOEMPA; truck recognition; sensor; trust
coefficient; structural health monitoring; measurement system;
I. Introduction
During a research, Iin many cases, during trials, the there
is need to estimate the state or behavior of an object
influenced by depends on many factors. Investigation of the
relationships between them requires model development or if
possible making experiment. If some of those factors are
known, it is possible to tell On this basis it is possible to
determine what is happening with the object at the moment. A
wide range of methods and tools used to analyze information
from multiple sources during experiment lets(?) us also predict
what will happen with the object in the future. There are more
and more solutions, which are using involve more than one
kind of sensor to analyze the same phenomenon. These types
of systems are used inter alia among others to collect aquire
most accurate data or to evaluate which of the available
sources of information are most trustworthy realiable under
given conditions and circumstances. For example, a gyroscope
and an accelerometer can be used to determine in what
position, horizontal or vertical, is an object. But to increase
precision it is needed to use data from both of sensors. Similar
problem occurs in a TULCOEMPA project, where
independent modules of the Truck Recognition System will be
identifying appearance of a specific event using different
methods. Based on the information generated from by system
modules, equipped with various types of sensors, a wireless
bridge measurement monitoring system will be triggered.
II. TULCOEMPA
A. Project outline
In the context of the Swiss-Polish cooperation in research
and development of the innovative methods for monitoring in
the civil engineering infrastructure, the Lodz University of
Technology (TUL) and Empa1 realize carry out
multidisciplinary project entitled TULCOEMPA. The basis of
the project is the pioneer worldwide usage of the innovative
strengthening system of the selected bridge (located in
Szczercowska Wies) using unanchored prestressed carbon
fiber reinforced polymer (CFRP) laminates. Reliability of this
new technique will be confirmed by long-term monitoring of
the facility and any additional environmental influences
(temperature and humidity) as well as static and dynamic
effects on the object. Monitoring will be realized with using
utilization of the multi-point measuring measurement system
composed of the networks of different sensors network,
transducers, nodal points, a base station to with the GSM
wireless communications modem and computer system for
collecting, processing and data coding. In addition, no
existence lack of proper infrastructure in mentioned
localization enforces usage of batteries and solar and wind
energy harvesting from solar cells harvesters. As a
consequence, particular attention is paid to the energy
efficiency of the system [1].
The Mmultitude of the measurement data, which will be
collected constantly by the measurement system, requires a
selection. To achieve that, cooperation with a specialized
system for which recognize recognition of weight, speed and
number of vehicles crossing the bridge is needed. In terms of
project, the Truck Recognition System will cause the
limitation of irrelevant information. It will be realized by
triggering the measurement system only in the situation when
the investigated bridge is loaded by vehicle heavy enough to
affect the research object its structure will appear. This
solution will also significantly reduce an energy consumption
by switching particular elements of the measurement system
1
Eidgenössische Materialprüfungs- und Forschungsanstalt
(The Swiss Federal Laboratories for Materials Science and
Technology)
to standby mode and by cutting back transmission power of
putting into standby mode communication modules.
B. Truck Recognition System
One of the main tasks in the TULCOEMPA project is the
development of the Truck Recognition System (TRS).
Vehicles approaching towards the monitored object will be
monitored to recognize the ones with total mass over 3.5 ton.
After detection such vehicle, the TRS will trigger the
structural health monitoring system installed on the bridge [2]
[3].
There are various ways enabling verification of the vehicle
type. One of the most credible is weighting. But this solution
is not cheap. Especially when it comes to installation of
weighting system, which allows for weight measurement of
moving objects. In addition, it is not always acceptable or
possible to install this type of the system (for example in
short-term monitoring in center of a city). These are the
reasons why it was decided to conduct studies to find the most
relevant alternative solution. Amidst available to apply
Among possible methods, studies focused on the analysis of:
 magnetic field,
 sound,
 vibrations,
 camera image.
were chosen to be analyzed and implemented.
Identification Modules of the Truck Recognition System
will be working independently. Each of them will be equipped
with a sensor of one of above-mentioned types and will
generate a signal for a management unit only when a suitable
vehicle will be is recognized. It means that there will be only
one-way communication.
Fig. 1. Block diagram of the Truck Recognition System with an energy
harvesting system.
The management unit will be an Open Multimedia
Application Platform (OMAP). Prepared software will be
scanning general input-output ports and waiting for signals
from Identification Modules. Decision about starting a the
measurement will be made based on a voting system. Modules
with sensors, after event detection, will inform about this fact
by setting its input pin state to high. It will be interpreted as a
vote for starting the measurement. Rest of Modules will take a
vote for not starting the measurement by leaving for certain
period of time input pin state on at low logic level.
It must be taken into account that accuracy and reliability
(including stability) of Identification Modules can be unstable
during a year. Changes of climatic conditions and lighting
conditions can affect sensors too. Damaged sensor must be
excluded from voting. As it was mentioned before, there will
be no communication between Modules of Truck Recognition
System and there will not be any confirmation that sensors
work properly (for example the Identification Module with
sound sensor can identify an agricultural machine as a truck or
camera can have reduced field of view in foggy evening). To
ensure triggering of the measurement system only when
specified event occurs, influence reduction of the sensors
mistakes and fortuitous events has to be reduced. is needed.
Solution for this issue appears to be a trust coefficient, which
will be assigned to every vote as weight. Literature review did
not reveal existence or usage of any method for dynamic
appraisal of trust coefficient, which in addition do not require
learning process, for particular system elements [4][5][6].
Based on performed analysis and research work a new,
universal method for trust evaluation of information from
sensors was developed. .Its task is to estimate a level of
effectiveness and assign proper weight to it. I this case
described majority voting system takes form of weighted
voting system.
III. Sensor Reliability Evaluation
Method
A. Trust coefficient as a source of information
Trust is a belief that properties and functionality of an
object are in accordance to our assumptions and knowledge. In
statistics, level of trust is defined as a trust coefficient and is a
real number in the interval of 0 to 1 (0% - 100%). The trust
coefficient indicates probability that occurrence of an event is
truthful inevitable. The trust coefficient indicates probability
that occurrence of an event will be truthful. Accordingly,
lower trust coefficient means lower level of reliability. Trust
analysis methods review leads to the conclusion that objects
are evaluated in context of affiliation to specified classes. For
experts, the trust coefficient is only an indicator of possibility
to occurrence of an irregularity or some distortions [5][7].
In the Truck Recognition System there is no place nor time for
to analyzeing data by a specialist. Decision about triggering
the structural health monitoring system must be taken
automatically and almost instantly. According to this, a
decision algorithm implemented in the management unit is
based on weighted voting system. This is a type of majority
voting system where not all voters are equal. In the decision
algorithm, weight of a vote will be same as a trust coefficient.
Fig. 2. A simplified block diagram illustrating the flow of information from
sensors to the measurement system
B. The method desctiption
Sensor reliability evaluation method consists of two parts,
directly correlated to each other:, parts:
 decision algorithm - where votes from Identification
Modules are analyzed;
 trust coefficient evaluation algorithm - where votes
weights are estimated based on last votes and last
results of the decision module.
The trust coefficient evaluation algorithm depends on
rating: positive (if the decision algorithm result is same as the
Identification Module vote) or negative (if the algorithm result
is opposite to the Identification Module vote). At the
beginning, by default, all sensors (in case of TULCEOMPA
project - Identification Modules) have the same value of the
trust coefficient, so the voting is majority. If all but one of
Identification Modules do react to approaching truck, the one
receive negative rating. It leads to drop its trust coefficient
and, in as a consequence, to lower meaning of votes in future
votings. The same situation is if the Module will report false-
positive vote, but it will be outvoted. Weight of a vote is a
percentage of positive ratings in all ratings. And soIn this way,
after some time, majority voting takes form of weighted
voting.
Fig. 3. Illustration of reliability evaluation process for a single sensor.
C. Preliminary tests
For this moment, the Identification Modules of the Truck
Recognition System, the application platform and the
structural health measurement monitoring system are in the
implementation phase. To perform tests of the sensor
reliability evaluation method, a simulation was proposed. to It
verify verifies effectiveness and assumptions of this described
method and its effectiveness. Basing on the results and
experience, adjustable parameters and some properties
necessary for proper working of the method were adapted to
was determined for the TULCOEMPA project requirements.
Simulations led also for to preliminary assessment of the
presented method.
In the preliminary tests of the sensor reliability evaluation
method Identification Modules with 4 different sensor types
was were simulated. The simulation assumed a one year of a
work with about 10 arriving vehicles, with total mass over 3.5
tons, per day. Each of the sensors had assigned a percentage
chance for of proper identification of the event. This parameter
for first two sensors has been set to 95% and 75% as a
constant value. For other sensors it was changing over the
year. Third sensor was able to properly report an event in 95%
of cases, but after some time this value falls to 60% and then
backs to 95%. For the last sensor, the chance for proper
identification has been changing between 30% and 80%.This
value is represented on charts by red curve. Blue one
represents the instantaneous value of the trust coefficient
estimated by the method. The aim of this simulation was to
check that estimated value of trust coefficient is approximated
to assigned percentage chance for proper identification of the
event.
 The method has few editable parameters that can effect on
influence the accuracy and the rate of changes of the trust
coefficient. First of them is a number of historical ratings of a
sensor. In presented case (fig. 4.) value of this parameter was
set to 200. It means that the trust coefficient was estimated
based on last 200 rates of a sensor. Lower values (from range
50-150) caused rugged curves and peaks on charts. On the
other hand, values higher than 250 make charts flat and
lengthen reaction time for a sensor capabilities. Next editable
parameter is a dominance factor and it can be a real number
from range -1 to 1. The domination factor increases (when
value is positive) or decreases (when value is negative) the
chances for to obtain positive result in the decision algorithm
in the case when the voting is near of nearly draw. On
presented simulations, domination factor was set to 0.1. Low,
positive value was not interfering significantly on voting result
and an extra run of measurement system has no negative
consequences in uncertainty situation. Simulations show that,
with help of the sensor reliability evaluation method, about
96.7% of events were detected correctly.
The presented method can be used for identification of
sensors with some malfunctions. When sensor reliability fall
to 0 or other declared value, alarm signal can be triggered.
Figure 5. shows simulation of exclusion of a sensor from
voting process after 18 days from occurrence of damage.
When it happens in real system, it is possible to generate
Fig. 4. Result of a simulation for testing the Sensor Reliability Evaluation Method. The simulation assumed a one year of a work with about 10 arriving vehicles,
with total mass over 3.5 ton, per day. Percentage chance for proper identification of the event is marked as red and trust coefficient estimated by the method - by
blue.
appropriate message for an expert or a conservator of a
system. Lengthened reaction time is caused by, described
before, parameter that determines number of a sensor
historical ratings.
IV. Summary
This paper describes the method for sensor reliability
evaluation method of a sensor working in multi-sensor control
systems, where communication between modules is based on a
binary information. Presented results of simulations show high
effectiveness of the method. Works on tThe presented method
are is still developed. in progress and their The aim of the
conducted work is mainly minimization of the delay
introduced to the system answer. Only after development of a
final form of the Truck Recognition System and installation it
on the target object, it will be possible The only possibility to
fully test the sensor reliability evaluation method is to
implement it in the real system. It will be possible after
installation of the TRS. Reason for that is that there are some
situations that are hard to predict or simulate are to be
expected. On Near to the target object will be installed weight
weighing scale which will help to evaluate effectiveness of the
method. Data collected from final version of the Truck
Recognition System will be analyzed and the results will be
presented in the further publications.
Fig. 5. Simulation of damaging one of sensors. After 18 days follows exclusion of a sensor from voting process.
[4]
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