# Machine evidence compiler
Source: https://kaustubhkr.github.io/projects/machine-evidence.html

← Flagship work (https://kaustubhkr.github.io/work.html) 06 / AviRob / industrial systems 2025–2026

# 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.
System Machine evidence compiler
My contribution Founder · architecture, implementation & industrial discovery
Access Private 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.

- 01

#### Preserve

raw bytes + source identity Retain source recordings before protocol decoding or interpretation.

- 02

#### Decode

frames → canonical values Map fields, track sequence gaps, duplicates, reordering, resets and incomplete fragments.

- 03

#### Align

time basis + source authority Carry timestamp quality, source class, confidence and derivation into the timeline.

- 04

#### Compile

run bundle + replay Package canonical records, quality summaries and provenance for repeatable analysis.

↖ Preserved source → versioned interpretation → reproducible bundle. A new mapping can revisit the same recording without rewriting what was observed.
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.

↗ (https://kaustubhkr.github.io/projects/verification-engine.html) Geometric verification engine

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