Point-in-polygon and clearance queries, bounded temporal alignment and evidence-gated interlock validators.
Private implementation. PASS, FAIL or NOT_VERIFIABLE findings; engineering analysis, not certification.
Technical deep dive Architecture, implementation & tradeoffs
State × time × geometry → finding
- 01
Align
bounded hold-lastBuild analysis ticks while retaining gaps, event windows and freshness.
- 02
Ground
site model + robot footprintCompute polygon membership, direction of travel and clearance to nearby structures.
- 03
Gate
required evidence → validatorResolve dependencies before evaluating speed, warnings, restart or interlocks.
- 04
Explain
verdict + source windowAttach reason codes, severity and provenance to PASS, FAIL or NOT_VERIFIABLE.
Missing, stale or insufficient observations propagate to NOT_VERIFIABLE. The finding preserves the exact physical context that made the rule applicable.
- Geometry
- Versioned site model and robot specification
- Temporal rule
- A stale sample cannot silently become fresh evidence
- Output
- Finding + evidence window + original source pointers
Temporal and geometric context
- Constructed analysis timelines with bounded hold-last behaviour, stale-gap handling and event attachment.
- Derived motion, standstill and transition context while retaining timing and evidence quality.
- Implemented deterministic polygon-based zone membership, direction-of-travel context, directional clearances and nearest-structure distance.
- Bound geometry to declared site-model and robot-specification versions.
Behavioural checks
- Implemented validator dependencies and central evidence gating.
- Built checks for muting speed, zone-dependent speed, restart discipline, prestart/motion warnings, charging interlocks and load-secure motion prevention.
- Assembled findings with evidence windows, reason codes, severity and provenance pointers.
Missing evidence has a defined result
- Distinguished directly observed state from inferred state in the validator inputs.
- Carried missingness, staleness and integrity status through the analysis rather than manufacturing a successful result.
- Used PASS, FAIL and NOT_VERIFIABLE to keep the conclusion consistent with the available evidence.
Geometry and timing change the meaning of the same speed.
A velocity sample is only one input. The relevant zone, the direction of travel, the active machine state and the freshness of each observation determine whether a specific behaviour can be evaluated. The engine composes these contexts and retains the original source window for review.
Engineering evidence analysis. It does not confer certification or replace an independent machine-safety assessment.