Kaustubh Krishna

For AI readers: Read entire portfolio — all projects, technical details & evidence in one page. Plain text · GitHub fallback

← Flagship work
06 / AviRob / industrial systems2025–2026

Robot logs into traceable evidence

Built a compiler that reconciles fragmented robot and controller logs into one replayable timeline, with each observation traceable to its source.

SystemMachine evidence compiler
My contributionFounder · architecture, implementation & industrial discovery
AccessPrivate implementation
Engineering & evidence

VDA 5050/MQTT, OPC UA, SICK scan3 UDP and MCAP/rosbag2; datagram reassembly and clock alignment.

Private implementation. The ROSCon India 2025 talk explains the AMR/AGV evidence architecture.

Technical deep dive Architecture, implementation & tradeoffs
System architecture
Industrial recordings / compilation

Every value carries its origin.

  1. 01

    Preserve

    raw bytes + source identity

    Retain source recordings before protocol decoding or interpretation.

  2. 02

    Decode

    frames → canonical values

    Map fields, track sequence gaps, duplicates, reordering, resets and incomplete fragments.

  3. 03

    Align

    time basis + source authority

    Carry timestamp quality, source class, confidence and derivation into the timeline.

  4. 04

    Compile

    run bundle + replay

    Package canonical records, quality summaries and provenance for repeatable analysis.

Inputs
File logs · MCAP / rosbag2 · MQTT / OPC UA intake
Value contract
Observed value + timing + quality + provenance
Failure path
Integrity failures remain visible through quarantine and quality state
01 / Implementation

Source ingestion

  • Implemented file intake, raw recording storage and queued ingest/compile workflows.
  • Built source-pack and mapping contracts for robot context, scanners, controller diagnostics and reference measurements.
  • Built VDA 5050/MQTT and read-only OPC UA intake, SICK scan3 UDP datagram parsing and reassembly, picoScan REST capture, Flexi Soft gateway inputs, and MCAP/rosbag2 file ingestion.
02 / Implementation

Temporal integrity

  • Tracked sequence gaps, duplicate events, reordering, resets, incomplete fragments and stale data.
  • Preserved timing basis and alignment quality rather than treating every received timestamp as equivalent.
  • Retained source class, confidence, derivation and provenance alongside canonical observed values.
03 / Implementation

Compilation and replay

  • Compiled run bundles with canonical timelines, events, quality summaries and reference-channel assessments.
  • Separated raw recording from interpretation so an episode can be revisited as mappings evolve.
  • Built integrity/quarantine handling, stable export surfaces and operational reports for downstream analysis.
Engineering note

A value without its origin can be the wrong evidence.

A fleet report, a diagnostic channel and an independent physical measurement can all describe motion while supporting different conclusions. The compiler keeps the source semantics and transformation history attached to the value so downstream analysis can decide what the observation is sufficient to establish.

Project context

Selected technical description of private work. The compiler produces canonical evidence bundles; behavioural verdicts belong to the downstream engine.

Keep exploring

Make the conclusion traceable.

Geometric verification engine