System and method for autonomous actuation of safety control system components

Abstract

A system for actuating a safety control for a device including: (1) at least one sensor adapted to measure a parameter of the device and provide an output; (2) a Kalman filter adapted to receive the output of the at least one sensor and provide a state estimate and covariance value of the device; (3) a Lyapunov function adapted to receive the state estimate and covariance value from the Kalman filter and provide a time derivative; and (4) a comparator adapted to compare the time derivative to a reference value and provide a command decision to the device.

What is claimed is: 
     
         1 . A system for actuating a safety control for a device comprising:
 at least one sensor adapted to measure a parameter of the device and provide an output;   a Kalman filter adapted to receive the output of the at least one sensor and provide a state estimate and covariance value of the device;   a Lyapunov function adapted to receive the state estimate and covariance value from the Kalman filter and provide a time derivative; and   a comparator adapted to compare the time derivative to a reference value and provide a command decision to the device.   
     
     
         2 . The system of  claim 1  wherein the output includes measured noise. 
     
     
         3 . The system of  claim 1  wherein the command decision initiates a mitigation strategy. 
     
     
         4 . The system of  claim 1  wherein the comparator compares the time derivative to the reference value only if the time derivative is positive. 
     
     
         5 . The system of  claim 1  wherein the at least one sensor includes a plurality of sensors. 
     
     
         6 . The system of  claim 1  further comprising the device. 
     
     
         7 . The system of  claim 5  wherein the device further comprises a braking system. 
     
     
         8 . The system of  claim 6  wherein the command decision initiates a safe braking operation of the device. 
     
     
         9 . The system of  claim 5  wherein the device further comprises a mobile explosive device. 
     
     
         10 . The system of  claim 8  wherein the command decision initiates a self-destruct operation of the device. 
     
     
         11 . A system for actuating a safety control for a device comprising:
 a first sensor adapted to measure a first performance parameter of the device and provide a first output;   a second sensor adapted to measure a second performance parameter of the device and provide a second output;   a Kalman filter adapted to receive the first output of the first sensor and the second output of the second sensor and provide a state estimate and covariance value of the device;   a Lyapunov function adapted to receive the state estimate and covariance value from the Kalman filter and provide a time derivative; and   a comparator adapted to compare the time derivative to a reference value and provide a command decision to the device.   
     
     
         12 . The system of  claim 11  wherein the first output includes a first measured noise and the second output includes a second measured noise. 
     
     
         13 . The system of  claim 10  further comprising the device. 
     
     
         14 . The system of  claim 8  wherein the device further comprises a braking system. 
     
     
         15 . The system of  claim 12  wherein the command decision initiates a safe braking operation of the device. 
     
     
         16 . The system of  claim 11  wherein the device further comprises a mobile explosive device. 
     
     
         17 . The system of  claim 15  wherein the command decision initiates a self-destruct operation of the device. 
     
     
         18 . A system for actuating a safety control for a device comprising:
 the device;   a first sensor adapted to measure a first performance parameter of the device and provide a first output including a first measured noise;   a second sensor adapted to measure a second performance parameter of the device and provide a second output including a second measure noise;   a Kalman filter adapted to receive the first output of the first sensor and the second output of the second sensor and provide a state estimate and covariance value of the device;   a Lyapunov function adapted to receive the state estimate and covariance value from the Kalman filter and provide a time derivative; and   a comparator adapted to compare the time derivative to a reference value and provide a command decision to the device.   
     
     
         19 . The system of  claim 18  wherein the device comprises a braking system and the command decision initiates a safe braking operation of the device. 
     
     
         20 . The system of  claim 18  wherein the device comprises a mobile explosive device and the command decision initiates a self-destruct operation of the device.