0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
-0.06
-0.04
-0.02
0
0.02
0.04
0.06
time [s]
observations
stack elevation
AS pull-in
FM ramp-up
Unknown
AS off
FM off
Unknown
-5
-4
-3
-2
-1
0
1
2
3
4
5
0.04
0.05
0.06
0.07
0.08
0.09
0.1
0.11
time deviation [ms]
posterior
predicted time
Estimated
     time
Given continuous and discrete observations, determine
•  Sequence of modes the system passed through   (discrete faults)
•  Value of continuous parameters   (continuous faults)
•  Time of mode changes   (autonomous transition faults)
Challenge: Exponential Number of Hypotheses
•  Each mode introduces a new set of continuous behaviors
•  Observations dependent upon entire sequence and timing of modes
•
Challenge: Generally Cannot Factor Hypothesis Space
• Failures in autonomous transitions effect when each mode was in force
• Changes in continuous parameters may change transition timing
•
•
Hybrid Estimation