1. A method for generating a threat response, related to threat posed to a mechanical device, comprising the steps of: a. using a model of the device, and an objective function, generating an optimal sequence of predicted device controller inputs, generated so as to optimize predicted performance of the model over a time horizon over which the device model is simulated and satisfy device dynamic constraints, device input constraints, and environmental constraints; b. generating an optimal sequence of predicted device states resulting from applying the sequence of optimal device inputs to a model of the device; c. combining at least one of: the predicted states and the predicted inputs, into a scalar threat assessment metric; and, d. using the scalar threat assessment metric determining a type and degree of operator assistance to provide as the threat response and executing the operator assistance.