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N-Step Mode Estimation Example

N-Step Mode Estimation Example. Martin Sachenbacher February 25, 2004. Example. Adapted from Jim Kurien’s thesis t0: Cmd1 = on , Cmd2 = idl t1: E = lo , Cmd1 = idl , Cmd2 = on t2: E = lo. S1. O1. Assume switches are more likely to fail than Or-Gate. A. C. hi. E. ≥ 1. B. D.

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N-Step Mode Estimation Example

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  1. N-Step Mode Estimation Example Martin Sachenbacher February 25, 2004

  2. Example • Adapted from Jim Kurien’s thesis • t0: Cmd1 = on, Cmd2 = idl • t1: E = lo, Cmd1 = idl, Cmd2 = on • t2: E = lo S1 O1 Assume switches are more likely to fail than Or-Gate A C hi E ≥ 1 B D hi S2

  3. Example • Switch Model cmd=on,idl cmd=off,idl 0.95 0.95 0.95 t1 t2 cmd=off t1 t2 lo lo lo hihi lohi hi on off lo lo hi hi cmd=on 0.95 0.05 0.05 fty true 1.0

  4. Example • Switch Model xt cmd xt+1 f on on onon off offon idl onon * ftyoff on onoff off offoff idl offoff * ftyfty * fty 0.950.950.950.050.950.950.950.051.0 xt t1 t2 f on lo loon hi hioff * *fty * * 1.01.01.01.0

  5. Example • Or-Gate Model xt in1 in2 out f ok lo lo look lo hi hiok hi lo hiok hi hi hifty * * * 1.01.01.01.01.0 0.99 in1 in2 out lo lo lolo hi hihi lo hihi hi hi ok 0.01 xt xt+1 f true fty ok okok ftyfty fty 0.990.011.0 1.0

  6. Results for Example • Initial state: • Sw1=off, Sw2=off, Or=nominal • Observations/Commands: • t0: Sw1.cmd=on, Sw2.cmd=idl • t1: E=lo, Sw1.cmd=idl, Sw2.cmd=on • t2: E=lo • Leading Solution for 1-Step Estimation • t1: Sw1=broken, Sw2=broken, Or=nominal • Leading Solution for 2-Step Estimation • t1: Sw1=on, Sw2=off, Or=broken

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