you can't directly make a pressure plate/lever send the opposite signal, no. activated pressure plate = on signal. you can however make use of the fact that different objects do different things when they receive an 'on' signal.
you could use a 'triggers once' pressure plate linked to a raising bridge, rather than a door. bridges operate opposite from doors/floodgates, in that an ON signal makes them raise (close) instead of lowering/opening. bridges however have a 100 step activation delay versus doors which are instant
http://df.magmawiki.com/index.php/40d:Lever#On.2FOff_states lists all the objects that can be linked to a lever/pressure plate and how they react to each signal.
if you wanted to use water, you could just build a setup like this:
side view:
_ _
XhX floor hatch, linked to your invader-sensing-pressure-plate
XpX water pressure plate, set to 0-0, linked to emergency doors
XXX
dump in some water on top of the floor hatch (with a pond zone above), then when an invader hits the pressure plate, the hatch will open, drop some water on the lower plate, which will de-activate (since anything but completely dry = OFF) and slam shut your doors, until you drain the tile with the plate (or open the doors manually with a seperate lever). this will however incur a minimum 100 step delay, as pressure plates activate instantly, but take 100 steps to 'deactivate' once the selected conditions are no longer met, plus the small delay of the water falling