Command monitor

Patent metadata

Field	Value
Publication number	US-11175649-B2
Application number	US-201816026266-A
Country	US
Kind code	B2
Filing date	Jul 3, 2018
Priority date	Jul 3, 2018
Publication date	Nov 16, 2021
Grant date	Nov 16, 2021

Abstract

A method for mediating an interaction between a control station and a remote system includes maintaining, at a command monitor, data characterizing an operation of the remote system in response to execution of commands at the remote system, receiving, at the command monitor, state information from the remote system, updating the data characterizing the operation of the remote system based on the received state information, receiving, at the command monitor, one or more commands sent from the control station, determining a predicted set of one or more outcomes that would result from execution of the one or more commands at the remote system based at least in part on the data characterizing the operation of the remote system, and preventing issuance of at least one command of the one or more commands at the remote system based on the predicted set of one or more outcomes.

First claim

What is claimed is:

1. A method for mediating an interaction between a control station and a remote system using a command monitor located on a communication path between the control station and the remote system, the method comprising:
maintaining, at the command monitor, data characterizing an operation of the remote system in response to execution of one or more commands at the remote system;
receiving, at the command monitor, state information from the remote system;
updating the data characterizing the operation of the remote system based on the received state information;
receiving, at the command monitor, one or more commands issued from the control station, the one or more commands including at least one command whose further issuance from the command monitor to the remote system would cause the remote system to execute an operation at a future time that the control station is unable to communicate with the remote system;
determining a predicted set of one or more outcomes that would result from execution of the one or more commands at the remote system based at least in part on the data characterizing the operation of the remote system; and
preventing further issuance of at least one command of the one or more commands from the command monitor to the remote system based on the predicted set of one or more outcomes.

2. The method of claim 1 wherein maintaining the data characterizing an operation of the remote system includes maintaining state information for the remote system and maintaining an operational model of the remote system.

3. The method of claim 2 further comprising determining the operational model of the remote system, including modeling a physical and logical state of the remote system.

4. The method of claim 2 wherein the operational model of the remote system comprises a physical model of the remote system.

5. The method of claim 2 wherein receiving the state information from the remote system includes receiving one or more state variables from the remote system, and updating the data characterizing the operation of the remote system includes updating the state information of the data characterizing an operation of the remote system using the received state information.

6. The method of claim 2 wherein determining the predicted set of one or more outcomes includes simulating operation of the remote system executing the one or more commands using the operational model of the remote system and the state information for the remote system.

7. The method of claim 1 wherein preventing issuance of the at least one command of the one or more commands includes determining that at least some of the predicted set of one or more outcomes violates a permitted operating state of the remote system.

8. The method of claim 1 wherein the command monitor is implemented on a computing device separate from the control station and the remote system.

9. The method of claim 1 wherein the command monitor is implemented at the remote system.

10. The method of claim 1 wherein the command monitor is implemented at the control station.

11. The method of claim 1 further comprising receiving, at the command monitor, one or more attributes associated with the control station from the control station, wherein preventing issuance of at least one command of the one or more commands to the remote system is further based on the one or more attributes associated with the control station.

12. The method of claim 11 wherein preventing issuance of at least one command of the one or more commands to the remote system includes determining that the at least one command would cause the remote system to enter a prohibited state.

13. The method of claim 11 wherein preventing issuance of at least one command of the one or more commands to the remote system includes applying a set of one or more rules to the one or more attributes and determining, based on the applying, to prevent issuance of the one or more commands to the remote system.

14. The method of claim 1 further comprising receiving second state information from the control station, wherein determining the predicted set of one or more outcomes that would result from execution of the one or more commands at the remote system is further based on the second state information.

15. The method of claim 1 wherein the remote system includes a satellite.

16. The method of claim 1 wherein the remote system includes an unmanned vehicle.

17. The method of claim 1 wherein the remote system includes an industrial control system.

18. The method of claim 1 wherein the state information includes one or more of a battery level, a fuel level, a position, an orientation, information characterizing a motion of the remote system, and a physical configuration of the remote system including a configuration of a camera, a configuration of a power source, or a configuration of telemetry hardware, a bearing of the remote system, a heading of the remote system, a delivery status of a package, a power output of the remote system, environmental information, temperature information, humidity information, wind speed information, road condition information, weather information, photographic information, and video information.

19. The method of claim 18 wherein the state information includes two or more of a battery level, a fuel level, a position, an orientation, information characterizing a motion of the remote system, and a physical configuration of the remote system including a configuration of a camera, a configuration of a power source, or a configuration of telemetry hardware, a bearing of the remote system, a heading of the remote system, a delivery status of a package, a power output of the remote system, environmental information, temperature information, humidity information, wind speed information, road condition information, weather information, photographic information, and video information.

20. The method of claim 1 further comprising receiving, at the command monitor, second state information characterizing a state of the remote system, the second state information obtained from a sensor independent from the remote system.

21. The method of claim 1 further comprising mutually authenticating two or more of the command monitor, the control station, and the remote system.

22. The method of claim 21 wherein the mutual authenticating includes using one or more of pre-shared keys, a public key infrastructure, and quantum key distribution.

23. The method of claim 1 further comprising mutually authenticating one or more users at one or more of the command monitor, the control station, and the remote system.

24. The method of claim 23 wherein the mutual authenticating includes using one or more of pre-shared keys, a public key infrastructure, and quantum key distribution.

25. The method of claim 1 wherein one or more commands include commands for causing the remote system to perform sequence of operations.

26. The method of claim 1 wherein determining a predicted set of one or more outcomes includes predicting that execution of the one or more commands while the control station is unable to communication with the remote system would result in at least one or both of resources being exhausted and causing the remote system to enter an incorrect navigational state.

27. A system for mediating an interaction between a control station and a remote system, th

Assignees

• Massachusetts Inst Technology

Inventors

• Cunningham Robert
• Kaiser Benjamin
• Boning Margaret
• Brandon Jeffrey
• Lee Alice

Classifications

• B64G1/428

  Power distribution and management · CPC title

• Y02P90/02

  Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS] · CPC title

• G05B2219/25274

  Communication processor, link interface · CPC title

• G05B19/41855

  by local area network [LAN], network structure · CPC title

• H04L9/3273 Primary

  for mutual authentication (network architectures or network communication protocols for achieving mutual authentication in a packet data network H04L63/0869) · CPC title