multimodal-fusion-pdm

:::warning [UNTESTED] — v0.9 paper-correct The fusion_health core is host-unit-tested on native_sim/native/64; the full app runs end-to-end on native_sim with synthetic per-modality data covering every scenario. No model ships (stub + deterministic fusion-rule fallback). HiL with the three real sensors + a trained model is bench-gated. :::

A multi-sensor motor-health monitor that fuses vibration (ICM-42670), current (INA236), and temperature (BME280) into one fault hypothesis plus a confidence-weighted health score via cross-modal corroboration.

Source: examples/ai/multimodal-fusion-pdm/.

Why fusion

A real fault corroborates across modalities — bearing wear raises vibration AND temperature; an overload raises all three. An isolated single-modality blip (a sensor knock, a transient) does not corroborate, so it is flagged UNCORROBORATED at low confidence instead of crying wolf.

Pattern (vibration / current / temperature anomalous)	Hypothesis
none	HEALTHY
vibration + temperature	BEARING_WEAR
current (vibration normal)	ELECTRICAL_FAULT
all three	MECHANICAL_OVERLOAD
a single modality	UNCORROBORATED (low confidence)

Pipeline

ICM-42670 + INA236 + BME280 --summary--> fusion_health (sub-scores ->
  corroboration -> hypothesis + health) -> <alp/inference.h> fused model
  (deterministic fusion-rule fallback) -> FUSE record

board.yaml

som:
  sku: E1M-AEN701

preset: e1m-evk
supported_boards:
  - e1m-evk
  - e1m-x-evk

pins:
  - { e1m: E1M_I2C0, macro: EVK_I2C_BUS_SENSORS, doc: "ICM-42670 + INA236 + BME280 shared bus" }

cores:
  a32_cluster:
    os: "off"
  m55_hp:
    app: ./src
    inference:
      default_arena_kib: 64
    libraries:
      - tflite_micro
    peripherals:
      - i2c                   # all three sensors

chips:
  - icm42670                  # vibration (accel)
  - ina236                    # current/voltage/power
  - bme280                    # temperature/humidity/pressure

diagnostics:
  log_level: info

Flip som.sku to E1M-V2M101 for the DEEPX DX-M1 path.

Expected output

# FUSE,t_s,hypothesis,health,vib,cur,temp,corroboration
FUSE,2.0,BEARING_WEAR,1.00,3.0,0.0,3.0,2
FUSE,5.0,UNCORROBORATED,0.50,3.0,0.0,0.0,1

See also

• <alp/inference.h> · <alp/chips.h>
• motor-current-signature — the electrical modality standalone
• ai-anomaly-detection-vibration — the vibration modality standalone
• Examples overview