Navigation Control of Agent Automobiles Using Wireless Sensor Network

Navigation Control of Agent Automobiles Using
Wireless Sensor Network
Supervisor:
Prof. Dr. Sohrab Khanmohammadi
Advisor:
Dr. Majid Haghparast
Presenter:
Mohammad Samadi Gharajeh
February 2013
Islamic Azad University
Tabriz Branch
Department of Computer Engineering

Contents
• Introduction
• Wireless Sensor Networks
• Classic Logic and Fuzzy Logic
• The Proposed Smart Fire System
• Conclusions
• Future Works
• Publications
• References
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Introduction
Wireless communication is one of the main fundamentals
of wireless sensor networks that are considered by
researchers in the last decades. Furthermore, fuzzy logic
is a useful tool to design and control the complex and
unpredicted systems. A smart fire system is proposed in
this thesis to monitor, control, and report fire events. This
system uses several fuzzy controllers to conduct data
routing, make appropriate decision, event detection, etc. It
is worth to noting that navigation control of agent
automobiles is one of the main elements of this system.
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Wireless Sensor Networks
Wireless sensor networks are composed of low-energy, low-cost,
large-scale sensor nodes. The nodes can communicate with each other
without any initial structure. They have some constraints such as
processing power, memory storage, and energy power. These
constraints cause to some of the big challenges in these networks that
should be attended by researchers.
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Structure of Sensor Network/Wireless Actuator
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Structure of a Sensor Node Inside a
Sensor Network
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Applications of Wireless Sensor Networks
Military
Enterprise
Medical
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Classic Logic
In classic logic, an statement is true or false. True statement is
indicated by T(P)=1 and false statement is indicated by T(P)=0.
Membership degree of element x in set A with universe of
discourse U is represented by µA(x) as the below:
µA(x)=
Example:
U={1, 2, 3, 4, 5}, A={1, 3, 4}
µA(1)=1 and µA(5)=0
1 if x∈A
0 if x∉A
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Fuzzy Logic
In this logic, like classic logic, membership degree of
elements is represented by µA(x) where x is an element of
set A and µ is a membership function that determines
belongingness degree of x to A.
Example:
U={1, 2, 3, 4, 5}
A={(0.4/1), (1.0/2), (0.5/3), (0.0/4), (0.0/5)}
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Steps of Fuzzy Sets
Determine membership functions
Split the minimum and maximum values to several parts
Define linguistic terms
Specify the minimum and maximum values of the
universe of discourse
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An Example of Linguistic Terms in Fuzzy Logic
0
1
T0 T1 T2 T3 T4 T5 T6 T7 T8 T9
INPUT VARIABLE: TEMPERATURE
Cold Cool Nice Warm Hot
U={-40, -10, 5, 20, 30, 50}
Warm={(0.0/-40), (0.0/-10), (0.0/5), (0.4/20), (1.0/30), (0.5/50)}
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Some of the Fuzzy Rules in a Detection
System of Automobile Speed
Output parameterInput parameters
Speed
(km/h)
Brake line
(meter)
Weight
(ton)
Very lowVery shortVery light
LowShortLight
MediumModerateNormal
HighLongHeavy
Very highToo longVery heavy
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Fuzzy Logic System (FLS)
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The Proposed Smart Fire System
Elements of the proposed smart fire system to monitor, control, and report fire events based on fuzzy
decision making are listed as the followings:
• System architecture
 The considered environments
o Indoor environment
o Outdoor environment
o Data transmission methods in the environments
 Network identifier (NI)
• Packet format
• 3D fuzzy routing
• Determining the state of sensor nodes
• Data aggregation methods
• Event detection
• Fire fighting operations
• Determining the fault probability of sensor nodes
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Indoor Environment
 This environment can be composed of multiple stages.
 Every stage can be divided to several parts denoted by section.
 Common spaces between sections at every stage (e.g., hallway) is denoted
by common section.
 3D static fuzzy routing is used for data transmissions into common sections.
 Every section includes various boundary nodes to communicate data packets
between the manager of sections and the nodes of common sections.
 Every stage has a stage manager that makes relation between the manager of
common sections and the environment manager.
 The managers of common sections communicate with each other and also
with the environment manager via the wireless or wired communications.
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Schematic of a Stage in the Indoor Environment
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Outdoor Environment
 Every outdoor environment is composed of various
parts, denoted by section. Every section has a
manager.
 Common paths between several sections at each level
is denoted by interface way that has a unique
identifier.
 Data transmissions between the nodes of interface
ways are conducted by 3D fuzzy routing.
 Initial decision to detect various events and/or perform
operations is made by the environment manager.
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Data Transmission Process in the Environments
Data transmission process is determined based on a
feature namely ‘SendDataType’. This feature is stored in
sensor nodes of the section, stage, and environment
managers. Nodes of every section transmit all the sensing
data to the section manager without any data aggregation
mechanism. In contrast, section manager can transmit all
of the gathered data or only the data packets aggregated
by a fuzzy process to the top-level manager.
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Network Identifier (NI)
All elements of the system are identified by a network identifier
(NI). This identifier is composed of five segments as the below:
• Environment No. or fire department No.
• Section No.
• Stage No. in the indoor environment
• Section No. or common section No.
• Node No.
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3D Fuzzy Routing
• Static 3D fuzzy routing protocols
o Static 3D fuzzy routing based on receiving probability (SFRRP)
o Static 3D fuzzy routing based on traffic probability (SFRTP)
o Static 3D fuzzy routing based on the receiving and traffic
probabilities (SFRRTP)
• Dynamic 3D fuzzy routing protocols
o Dynamic 3D fuzzy routing based on receiving probability
(DFRRP)
o Dynamic 3D fuzzy routing based on traffic probability (DFRTP)
o Dynamic 3D fuzzy routing based on the receiving and traffic
probabilities (DFRRTP)
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To Select an Appropriate Neighbor in
3D Fuzzy Routing
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Geographical Coordinates of the Points in 3D
Fuzzy Routing
• Geographical coordinates of the base station
o BSx : axis x of the base station
o BSy : axis y of the base station
o BSz : axis z of the base station
• Geographical coordinates of the sender node
o Nodex : axis x of the sender node
o Nodey : axis y of the sender node
o Nodez : axis z of the sender node
• Geographical coordinates of the neighbor node
o Neighborx : axis x of the neighbor node
o Neighbory : axis y of the neighbor node
o Neighborz : axis z of the neighbor node
• Geographical coordinates of the nearest point on the
sender node’s signal range
o Px : axis x of the nearest point
o Py : axis y of the nearest point
o Pz : axis z of the nearest point
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Vx = BSx – Nodex
Vy = BSy – Nodey
Vz = BSz – Nodez
magV =
Px = Nodex + [(Vx/magV) * R]
Py = Nodey + [(Vy/magV) * R]
Pz = Nodez + [(Vz/magV) * R]
Distance =
Distance Between Sender Node and the Base
Station in 3D Fuzzy Routing
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Linguistic Terms of the 3D Fuzzy Routing
The receiving,
traffic, and success
probabilities
• Very low
• Low
• Medium
• High
• Very high
The number of
neighbors
• Feeble
• Few
• Normal
• Many
• Lots
Distance
• Very near
• Near
• Moderate
• Away
• Far away
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Fuzzy Decision Making in the 3D Fuzzy Routing
Protocol
Input parameters
Output parameter
First parameter Second parameter
SFRRP Distance
The number of
neighbors
Receiving probability
SFRTP Distance
The number of
neighbors
Traffic probability
SFRRTP Receiving probability Traffic probability Success probability
DFRRP Distance
The number of
neighbors
Receiving probability
DFRTP Distance
The number of
neighbors
Traffic probability
DFRRTP Receiving probability Traffic probability Success probability
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Some of the Fuzzy Rules in SFRRP and SFRTP
Input parameters Output parameters
Distance
The
number of
neighbors
Receiving
probability in
SFRRP
Traffic probability
in SFRTP
Away Many Low High
Near Few Medium Low
Very near Lots High High
Far away Feeble Very low High
Moderate Lots Medium High
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Some of the Values in SFRRP and SFRTP
Node
No.
Input parameters Output parameters
Distance
The number
of neighbors
Receiving
probability in
SFRRP
Traffic
probability in
SFRTP
1 140 5 46.225 53.153
2 120 10 41.572 58.167
3 65 3 48.311 47.668
4 90 7 45.212 52.916
5 15 1 47.962 42.043
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Some of the Fuzzy Rules in SFRRTP
Input parameters Output parameter
Receiving
probability
Traffic
probability
Success probability
Very low Medium Very low
Low Medium Low
Medium Medium Low
High Low Medium
Very high Low Very high
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Membership Functions in SFRRTP
0
20
40
60
80
100
0
50
100
0
0.2
0.4
0.6
0.8
1
Success Probability (%)
Rule R Based on the Success Probability and Traffic Probability
Traffic Probability (%)
RuleR
0
20
40
60
80
100
0
50
100
0
0.2
0.4
0.6
0.8
1
Success Probability (%)
Rule R Based on the Success Probability and Receive Probability
Receive Probability (%)
RuleR
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Some of the Values in SFRRTP
Node No.
Receiving
probability
Traffic
probability
Success probability
1 46.225 53.153 42.571
2 41.572 58.167 46.207
3 48.311 47.668 41.895
4 45.212 52.916 42.549
5 47.962 42.043 42.453
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Work Flow of the Protocol SFRRP
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Simulation Parameters in Static 3D Fuzzy
Routing Protocols
Parameter Default value
Topographical area (m3) 300×300×300
The number of nodes 50
Radio range of nodes (m) 75
Initial energy of nodes (J) 5
Data packet size (bit) 104
Geographical coordinates of the base
station (m)
(0,150,150)
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Total Energy Consumption in Static 3D Fuzzy
Routing Protocols
0
5
10
15
20
25
1 2 3 4 5 6 7 8 9 10 11 12
TotalEnergyConsumption(J)
Cycle Number
Flooding
SFRRP
SFRTP
SFRRTP
32 of 77

The Number of Live nodes in Static 3D Fuzzy
Routing Protocols
0
10
20
30
40
50
60
1 2 3 4 5 6 7 8 9 10 11 12
TheNumberofLiveNodes
Cycle Number
Flooding
SFRRP
SFRTP
SFRRTP
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The Number of Delivered Data in Static 3D
Fuzzy Routing Protocols
0
20
40
60
80
100
120
140
1 2 3 4 5 6 7 8 9 10 11 12
NumberofDeliveredData
Cycle Number
Flooding
SFRRP
SFRTP
SFRRTP
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The Effect of Data Generation Rate on the
Static 3D Fuzzy Routing Protocols
Data
generation
rate
Packet delivery ratio Packet delivery time
Flooding SFRRP SFRTP SFRRTP Flooding SFRRP SFRTP SFRRTP
1000 0.37931 0.9913793 0.982759 0.9913793 7.2273 3.2348 2.9035 3.2522
900 0.34483 0.977612 0.9925373 0.977612 7.95 2.8168 2.9248 2.8321
800 0.33083 0.986667 1 0.986667 7.2273 3.2297 3.5 3.2838
700 0.27957 0.985782 0.976303 0.985782 6.1154 3.3894 3.2233 3.4135
600 0.32353 1 0.9933333 1 7.2273 2.7133 2.7047 2.76
500 0.26818 0.9918367 0.9918367 0.9918367 5.3898 3.3128 3.1893 3.3169
400 0.24055 0.987879 0.984848 0.987879 4.5429 3.3681 3.3015 3.3742
300 0.27244 0.982558 0.997093 0.982558 279 2.8018 2.8921 2.8373
200 0.23282 0.9918301 0.996732 0.9918301 150.69 3.2751 3.1344 3.29
100 0.22068 0.988067 0.9968178 0.988067 211.75 3.2987 3.3081 3.3132
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Work Flow of the Protocol DFRTP
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Simulation Parameters in Dynamic 3D Fuzzy
Routing Protocols
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Topographical area (m3) 200×200×200
Radio range of nodes (m) 80
Data packet size (bit) 104
Geographical coordinates of the base
station (m)
(0,200,200)

Total Energy Consumption in Dynamic 3D
0
2
4
6
8
10
12
14
16
18
1 2 3 4 5 6 7 8 9 10 11 12
TotalEnergyConsumption(J)
Cycle Number
DSR
DPG
A-star and Fuzzy
DFRRP
DFRTP
DFRRTP
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The Number of Live nodes in Dynamic 3D
0
5
10
15
20
25
30
1 2 3 4 5 6 7 8 9 10 11 12
TheNumberofLiveNodes
Cycle Number
DSR
DPG
A-star and Fuzzy
DFRRP
DFRTP
DFRRTP
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The Number of Delivered Data in Dynamic 3D
0
5
10
15
20
25
1 2 3 4 5 6 7 8 9 10 11 12
NumberofDeliveredData
Cycle Number
DSR
DPG
A-star and Fuzzy
DFRRP
DFRTP
DFRRTP
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The Effect of Data Generation Rate on the
Dynamic 3D Fuzzy Routing Protocols
Data
generation
rate
Packet delivery ratio Packet delivery time
DSR DFRRP DFRTP DFRRTP DSR DFRRP DFRTP DFRRTP
1000 0.125 1 0.875 1 163.5 1.6875 1.0714 1.5
900 0.07692 0.28571 0.42857 0.14286 163.5 0.875 2.0833 0.75
800 0.08 0.52 0.52 0.48 163.5 1.0769 1 1.0833
700 0.08 0.74074 0.7037 0.62963 163.5 1.6 1.7368 1.7059
600 0.07407 0.51852 0.55556 0.51852 163.5 1.0714 2.0667 1.0714
500 0.05556 0.55556 0.61111 0.41667 163.5 1.7 2.1364 1.8
400 0.04651 0.62222 0.64444 0.6 163.5 0.92857 1.3103 0.92593
300 0.0339 0.5 0.54839 0.40323 163.5 1.0968 1.8529 1.04
200 0.02667 0.58974 0.61538 0.5641 163.5 1.4783 1.8125 1.4318
100 0.02 0.52597 0.55195 0.44805 109 1.4321 1.6 1.4493
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Determining the State of Sensor Nodes by
Fuzzy Decision Making (FAS)
• Very low
• Low
• Medium
• High
• Very high
Selection
priority
• Feeble
• Few
• Medium
• Many
• Lots
The number
of previous
active states
• Very low
• Low
• Medium
• High
• Very high
Remaining
energy of
nodes
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Some of the Fuzzy Rules in FAS
Rule #
Remaining energy of nodes
The number of previous
active states
Selection priority
1 Very low Feeble Very low
2 High Few High
3 Medium Medium Medium
4 Very high Lots Low
5 High Many Low
Node No.
Remaining energy of
nodes
The number of previous
active states
Selection priority
1 2 11 44.913
2 1.2 15 42.027
3 0.3 5 50.843
4 0.8 2 54.757
5 1.6 8 48.058
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Simulation Parameters in FAS
Topographical area (m2) 200×200
Buffer size of the sink 104
Data generation rate 5
Period of time to transmit
data from sink to base
station
20
Geographical coordinates of
the sink (m)
(100 , 100)
Geographical coordinates of
the base station (m)
(500,500)
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The Effect of Initial Energy in FAS
0
500
1000
1500
2000
2500
3000
3500
4000
4500
0.1 0.3 1 1.1 1.2 1.3 1.4 2.2
NetworkLife(Rounds)
Initial Energy (J)
All Active
RAS
FAS
Initial
energy
All
Active
RAS FAS
0.1 20 195 195
0.3 60 580 590
1 195 1800 1950
1.1 215 2150 2260
1.2 235 2130 2375
1.3 255 2275 2425
1.4 270 2470 2665
2.2 425 4000 4000
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The Effect of Data Generation Rate in FAS
Data
generation
rate
All
Active
RAS FAS
10 780 4000 4000
9 702 4000 4000
8 624 4000 4000
7 546 4000 4000
6 468 4000 4000
5 390 3420 3510
4 312 3008 3032
3 234 2136 2397
2 156 1540 1628
1 78 778 811
0
500
1000
1500
2000
2500
3000
3500
4000
4500
10 9 8 7 6 5 4 3 2 1
NetworkLife(Rounds)
Data Generation Rate
All Active
RAS
FAS
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Data Aggregation Methods
 Individual data aggregation based on fuzzy logic: selecting data packets of
the linguistic term which has the most data packets
 Improved, individual data aggregation based on fuzzy logic: transmitting
only the minimum, average, and maximum values of the selected data in
previous method
 Fuzzy data aggregation: transmitting the identifier number or name of the
selected linguistic term
Linguistic
terms
Very
low
Low
MediumHigh
Very
high
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Event Detection
Managers of the sections and common sections are the
first nodes to detect various events including fire,
suffocation, and burning. Period of time to discover the
events is stored in the storage memory of these nodes.
This process is conducted by using the individual or fuzzy
methods of data aggregation. It uses sensing data of the
temperature, photocell, and smoke sensors.
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Some of the Fuzzy Rules Used in Event Detection
Output parametersInput parameters
Burning
probability
Suffocation
probability
Fire probabilitySmokeLight intensityTemperature
Very lowVery lowVery lowVery lightVery darkVery cold
Very highMediumHighNormalVery brightWarm
Very lowLowLowHeavyVery darkCold
Very lowLowVery lowLightOrdinaryCool
MediumMediumMediumNormalVery brightNice
HighHighHighHeavyDarkHot
Output parametersInput parameters
Burning
probability
Suffocation
probability
Fire probabilitySmokeLight intensityTemperature
40.62540.62540.625270035
7562.5751020020
81.2576.2276.78671450150
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Membership Functions of the Variables in
Event Detection
-40 -15 5 15 200
Ti
VC CD CL N H
μ
1
0 50 200 900 1500
Li
VL L M H VH
μ
1
0 2 5 8 10
Si
VL L M U VU
μ
1
0 25 50 75 100
FPi
SPi
BPi
VL L M H VH
μ
1
50
W
100 150
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Simulation Parameters to Determine the Fire,
Suffocation, and Burning Probabilities
Default valueParameter
200×200Topographical area (m2)
40The number of nodes
10Initial energy of nodes (J)
5Data generation rate
50Threshold value of the temperature sensor (°C)
8Threshold value of the smoke sensor (mg/m3)
900Threshold value of the photocell sensor (lx)
(100 , 100)Geographical coordinates of the base station (m)
51 of 77

The Effect of Data Generation Rate in
Fire Probability
0
1000
2000
3000
4000
5000
6000
10 9 8 7 6 5 4 3 2 1
NetworkLife(Rounds)
Threshold
FPFL
0
100
200
300
400
500
600
700
10 9 8 7 6 5 4 3 2 1
NumberofWrongAlerts
Threshold
FPFL
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Suffocation Probability
0
1000
2000
3000
4000
5000
6000
10 9 8 7 6 5 4 3 2 1
NetworkLife(Rounds)
Threshold
SPFL
0
50
100
150
200
250
300
10 9 8 7 6 5 4 3 2 1
NumberofWrongAlerts
Threshold
SPFL
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Burning Probability
0
1000
2000
3000
4000
5000
6000
10 9 8 7 6 5 4 3 2 1
NetworkLife(Rounds)
Threshold
BPFL
0
50
100
150
200
250
300
350
10 9 8 7 6 5 4 3 2 1
NumberofWrongAlerts
Threshold
BPFL
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Fire Fighting Operations
•Indoor navigation based on fuzzy logic
•Categorizes of the operations
oTo determine the fire volume
oTo determine the fire progress
oTo select the rescue members
oTo determine the number of rescue teams
oTo dispatch the rescue and support teams (agent
automobiles)
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Indoor Navigation Based on Fuzzy Logic (INFL)
Indoor navigation is one of the main requirements in fire
operations. All sections and common sections should be
controlled into the environment in order to select the best
path to guide all people and appliances to the exit
direction. Every path can be composed of several common
sections. A fuzzy system is applied to select an appropriate
path for this purpose. The ‘passing rate’, ‘distance to event
place’ and ‘the number of people’ are the inputs and ‘safe
probability’ is the output of this fuzzy system.
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Some of Fuzzy Rules in INFL
Output
parameter
Input parameters
Safe
probability
The number of
people
Distance to
event place
Passing rate
Very lowLotsFar awayVery limited
MediumManyAwayNormal
HighFewNearHeavy
LowFeebleVery nearVery heavy
LowFeebleVery nearLimited
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How to Select the Best Path by INFL
P1 = {C1, C3, C4}
P2 = {C1, C4, C5}
P3 = {C2, C3, C4, C5}
Safe probability of each path can be measured by calculating the average of safe
probabilities of all the common sections existing into the path. Therefore, safe
probability of Path 1 is 54.32, safe probability of Path 2 is 57.117, and safe
probability of Path 3 is 52.99975. Finally, Path 2 will be selected as the best path
due to have the highest safe probability.
Common sections
Parameter
C5C4C3C2C1
601101019060Passing rate
10090501030Distance to event place
501403513165The number of people
57.06556.2548.6845058.036Safe probability
58 of 77

To Determine the Fire Volume Based
on Fuzzy Logic (FVFL)
Fire volumeSmokeLight intensityTemperature
MediumHeavyBrightCold
HighHeavyOrdinaryHot
LowNormalVery darkWarm
LowNormalOrdinaryVery cold
HighNormalVery brightNice
LowVery heavyVery darkCool
Fire volumeSmokeLight intensityTemperature
50370010-
74.286590025
81.42971400140
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To Determine the Fire Progress Based on
Fuzzy Logic (FPFL)
Fire progressInterval timeThe difference of fire volume
DecreasingVery lowDecreasing
Very highLowNormal
IncreasingMediumPartial
Very highHighConsiderable
StableHighNo change
Fire progressInterval timeThe difference of fire volume
164.73555-
227.16520
268.521040
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To Select Members of the Rescue Team Based
on Fuzzy Logic (SRTFL)
Output
parameter
Input parameters
Success
probability
Fire volumeExperienceAge
Very highVery lowBeginnerYoung
HighLow
Low
experience
Young
HighVery highNormalMiddle-aged
Very highHigh
High
experience
Middle-aged
Very highMediumExpertOld
Output
parameter
Input parameters
Member
No. Success
probability
Fire volumeExperienceAge
40608301
55.4354515402
52.3352525503
20 35 60
AGj
Y M A
μ
1
0 5 15 20 30
EXj
N L M EI ET
μ
1
1 20 40 60 100
EDj
VL L M H VH
μ
1
0 25 50 75 100
SPj
VL L M H VH
μ
1
30 5040
25
80
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To Determine the Number of Rescue Teams
Based on Fuzzy Logic (DNRTFL)
The number of teamsFire progressFire volume
NormalDecreasingVery low
EmergencyStableLow
CriticalIncreasingMedium
ManyVery highHigh
LotsDecreasingVery high
The number of teamsFire progressFire volume
1016450
1022774
726825
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Dispatching Method of the Rescue Teams
Based on Fuzzy Logic (DMRTFL)
There are various paths from local fire department or main
fire department to event place. Hence, an appropriate path
should be selected to dispatch the rescue agent
automobiles. This method can also be used to dispatch
rescue teams of the other fire departments toward the
event place. It uses ‘path length’, ‘path traffic’, ‘passage
probability’ and ‘arrival time’ to select the best path from
among a list of all possible paths.
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Dispatching Method of the Rescue Teams
Based on Fuzzy Logic (DMRTFL)
Linguistic terms for ‘path length’ and ‘arrival time’ are ‘feeble’, ‘few’,
‘normal’, ‘many’ and ‘lots’. Moreover, linguistic terms for ‘path traffic’
and ‘passage probability’ are ‘very low’, ‘low’, ‘medium’, ‘high’ and
‘very high’.
Output
parameter
Input parameters
Arrival
time
Passage
probability
Path trafficPath length
NormalHighHighNormal
FeebleLowMediumFeeble
ManyMediumLowLots
NormalMediumMediumFew
FeebleVery lowHighMany
0 50 100 150 300
PLi
VL L M H VH
μ
1
0 25 50 75 100
PTi
VL L M H VH
μ
1
0 25 50 75 100
PPi
VL L M H VH
μ
1
0 15 30 45 60
ATi
VL L M H VH
μ
1
64 of 77

Simulation and Evaluation of the
Dispatching Methods
1 5
2 6
4 7
3 8
9
10
11
12
13
14
15
Output
parameter
Input parameters
DestinationSource Arrival
time
(min)
Passage
probability
(%)
Path traffic
(%)
Path length
(m)
30395121
30585651
32.40427635995
34.682355574106
33.03263291641110
32.40465271701310
34.46945478938
37.510012951415
3019713834
307519195912
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Simulation and Evaluation of the
Dispatching Methods
Output
parameter
Input parameters
DestinationSource
Arrival time
(min)
Passage
probability
(min)
Path traffic
(min)
Path length
(min)
64.68264.68264.68264.682102
95.26895.268100.5395.268154
95.3297.80195.3297.801513
99.591156.87170.27156.8798
103.36124.47205.59124.4758
93.03298.16998.49798.1691112
64.778127.21138.4127.21810
98.371161.56110.27161.56138
107.24131.97139.18131.97615
136.09156.33165.58156.33155
124.78186.38136186.38812
30
30
30
30
30
30
30
30
30
30.3582
31.0623
31.746
32.4044
33.0324
33.6247
34.1763
34.6821
34.8489
35.2678
34.9039
34.4693
34.4693
34.9039
35.2678
35.3203
35.137
34.6821
34.1763
33.6247
33.0324
32.4044
31.746
31.0623
30.3582
30
30
30
30 30.9969
37.5
37.5
37.5
37.5
37.5
Node 1
Node 2
Node 3
Node 4
Node 5
Node 6
Node 7
Node 8
Node 9
Node 10
Node 11
Node 12
Node 13
Node 14
Node 15
66 of 77

Determining the Fault Probability of Nodes
Based on Fuzzy Logic (FPNFL)
Fault probabilityRemaining energy of nodesMaximum volume of the eventsThe number of events
MediumHighNoticeableOrdinary
HighLowNormalFeeble
LowMediumNormalFew
HighLowSlightMany
Very highVery lowPartialLots
Node No.
Fault probability
Remaining energy of
nodes
Maximum volume of the
events
The number of events
43.8782855151
503415252
37.9184865503
37.52345454
46.934460275
67 of 77

A Case Study to Evaluate the Proposed Fire System
68 of 77

Financial and Human Losses in Dispatching Not Enough Agent
Automobiles to the Event Place
69 of 77
Event # Fire
volume
(m2)
Fire
progress The number of required
teams
Financial
losses
(per
minute)
Total
financial
losses
Human losses
(per hour)
Total human losses
Random
method
The
proposed
DNRTFL
The number
of dead
humans
The number
of injured
humans
The number
of dead
humans
The
number of
injured
humans
1 50 164 6 10 $4,000 $480,000 1 2 2 4
2 25 268 4 7 $3,000 $360,000 5 6 10 12
3 55 360 8 9 $6,000 $720,000 4 3 8 6
4 70 700 12 16 $4,000 $480,000 2 8 4 16
5 80 560 10 14 $5,000 $600,000 3 4 6 8

Selecting an Appropriate Fire Department to Dispatch Support Agent
Automobiles to the Event Place
70 of 77
Fire
department
Dispatching methods
Path length Path traffic Passage probability The proposed
DMRTFL
Arrival
time
(min)
Path Arrival
time
(min)
Path Arrival time
(min)
Path Arrival
time
(min)
Path
Main Fire
Department
94.682 10-6-2-1 97.541 10-9-5-1 94.682 10-6-2-1 94.682 10-6-2-1
Fire
Department 1
129.15 10-6-2-3-8 140.27 10-13-14-15-8 129.15 10-6-2-3-8 65.966 10-11-8
Fire
Department 2
124.68 10-6-2-3-4 100.31 10-6-7-4 124.68 10-6-2-3-4 100.31 10-6-7-4

Conclusions
In this thesis, a smart fire system was proposed that can monitor,
control, report, and perform the required operations in the indoor
and outdoor environments. Static 3D fuzzy routing protocols were
used to transmit data packets between stationary sensor nodes
placed in the environment. Data transmissions between agent
automobiles and rescue members were done by dynamic 3D fuzzy
routing protocols. Moreover, agent automobiles can dispatch from
fire departments to event places through appropriate paths by using
the proposed fuzzy system. Members of the agent automobiles and
rescue teams could also be selected by fuzzy system. Determining
the fire probability, suffocation probability, burning probability, and
fault probability of nodes are other features of this system.
71 of 77

Future Works
To enhance fault tolerance of sensor nodes
Data transmission between mobile nodes via the base
station
Data transmission from sensor nodes to the base station
via multiple paths based on fuzzy logic
72 of 77

Publications
• M.S. Gharajeh, S. Khanmohammadi. Static Three-Dimensional Fuzzy Routing Based on the
Receiving Probability in Wireless Sensor Networks. Computers, 2013, Vol. 2, No. 4, pp. 152-175.
• M.S. Gharajeh. Determining the State of the Sensor Nodes Based on Fuzzy Theory in
WSNs. International Journal of Computers Communications & Control (Impact Factor: 0.694),
2014, Vol. 9, No. 4, pp. 419-429.
• M.S. Gharajeh. SFRRP: 3D Fuzzy Routing for Wireless Sensor Networks, in: Advances in
Control and Mechatronic Systems, Volume: I. United Scholars Publications, January 18, 2016, pp.
87-108.
• M.S. Gharajeh, S. Khanmohammadi. Dispatching Rescue and Support Teams to Events
Using Ad Hoc Networks and Fuzzy Decision Making in Rescue Applications. Journal of Control
and Systems Engineering, 2015, Vol. 3, No. 1, pp. 35-50.
• M.S. Gharajeh, S. Khanmohammadi. DFRTP: Dynamic 3D Fuzzy Routing Based on Traffic
Probability in Wireless Sensor Networks. IET Wireless Sensor Systems, 2016, Vol. 6, No. 6, pp.
211-219.
• M.S. Gharajeh. FSB-System: A Detection System for Fire, Suffocation, and Burn Based on
Fuzzy Decision Making, MCDM, and RGB Model in Wireless Sensor Networks. International
Journal of Sensor Networks, 2017 (under review).
73 of 77

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