{ "schema": "kinwit.facts.v1", "case_id": "SIM-2026-0002", "engine": "kinwit-facts/0.1.0", "analysis_status": "COMPLETE", "cross_source_ordering": "INDETERMINATE", "findings": [ { "finding_id": "F-001", "category": "observed_sequence", "title": "Recorded sequence", "statement": "E-003 Facility controller records zone safety input ESTOP-ZONE-B2 open → E-004 Facility controller broadcasts stop request to zone approach group → E-005 Robot safety I/O registers external stop input → E-008 Zero velocity command recorded on /cmd_vel → E-009 Odometry reports speed < 0.01 m/s held ≥ 200 ms. At least one step's order is not determinate within clock uncertainty.", "variables": { "E-003→E-004": "BEFORE", "E-004→E-005": "INDETERMINATE", "E-005→E-008": "BEFORE", "E-008→E-009": "BEFORE" }, "formula": "pairwise interval relations along the chain", "supporting_event_ids": [ "E-003", "E-004", "E-005", "E-008", "E-009" ], "confidence_kind": "ordering_indeterminate", "limitations": [ "event_order_is_not_causation", "both_sources_are_synthetic" ], "derived_by": "kinwit-facts/0.1.0" }, { "finding_id": "F-002", "category": "cross_source", "title": "Facility stop broadcast vs. robot stop input", "statement": "The order of the facility stop broadcast (E-004) and the robot stop input (E-005) cannot be determined: the delta interval [-11.954, 21.046] ms spans zero.", "variables": { "relation": "INDETERMINATE", "delta_lo_ms": -11.954, "delta_hi_ms": 21.046 }, "formula": "Δ = [SI.lo − FB.hi, SI.hi − FB.lo] on the robot clock; BEFORE iff FB.hi < SI.lo (Allen 1983, interval 'before')", "supporting_event_ids": [ "E-004", "E-005" ], "confidence_kind": "ordering_indeterminate", "limitations": [ "clock_alignment_depends_on_assumptions_A1_A3", "event_order_is_not_causation", "both_sources_are_synthetic" ], "derived_by": "kinwit-facts/0.1.0" }, { "finding_id": "F-003", "category": "cross_source", "title": "Facility input change to robot stop input", "statement": "Between the facility zone input change (E-003) and the robot stop input (E-005): -11.15 to 25.851 ms (indeterminate).", "variables": { "relation": "INDETERMINATE", "delta_lo_ms": -11.15, "delta_hi_ms": 25.851 }, "formula": "Δ = [SI.lo − FI.hi, SI.hi − FI.lo]; FI interval includes one PLC scan of detection latency", "supporting_event_ids": [ "E-003", "E-005" ], "confidence_kind": "bounded_interval_under_assumptions", "limitations": [ "clock_alignment_depends_on_assumptions_A1_A3", "plc_scan_latency_bound_is_declared_by_the_facility_source" ], "derived_by": "kinwit-facts/0.1.0" }, { "finding_id": "F-004", "category": "derived_measurement", "title": "Reported speed at stop input", "statement": "Wheel odometry reports 1.2 m/s when the stop input is registered (E-005), interpolated between /odom samples #550 (1.202 m/s) and #551 (1.198 m/s).", "variables": { "speed_mps": 1.2, "before_sample_mps": 1.202, "after_sample_mps": 1.198, "odom_before_index": 550, "odom_after_index": 551 }, "formula": "linear interpolation of /odom twist.linear.x at the stop-input stamp", "supporting_event_ids": [ "E-005" ], "confidence_kind": "derived_from_recorded_values", "limitations": [ "odometry_reports_wheel_motion_not_ground_truth", "simulated_sensor_noise" ], "derived_by": "kinwit-facts/0.1.0" }, { "finding_id": "F-005", "category": "derived_measurement", "title": "Stop input to zero velocity command", "statement": "The first zero velocity command (E-008) is recorded 40 ms after the stop input (E-005), same robot clock.", "variables": { "latency_ms": 40, "robot_jitter_bound_ms": 0.05 }, "formula": "ZC.publish_time − SI.header.stamp (single clock domain; ± one jitter bound)", "supporting_event_ids": [ "E-005", "E-008" ], "confidence_kind": "derived_from_recorded_values", "limitations": [ "cmd_vel_has_no_header_stamp_publish_time_used", "a_zero_command_is_not_physical_braking" ], "derived_by": "kinwit-facts/0.1.0" }, { "finding_id": "F-006", "category": "derived_measurement", "title": "Stop input to reported stationary", "statement": "Odometry reports the robot stationary (E-009) 909.857 to 935.058 ms after the stop input (E-005). Reported travel in that window: 0.549 m; mean reported deceleration 1.29 m/s².", "variables": { "delta_lo_ms": 909.857, "delta_hi_ms": 935.058, "reported_distance_m": 0.549, "mean_decel_mps2": 1.29, "odom_samples": 47 }, "formula": "Δ = [ST.lo − SI.hi, ST.hi − SI.lo]; distance = Σ‖pᵢ − pᵢ₋₁‖ over /odom poses in [SI, ST]; decel = v(SI) / (ST − SI)", "supporting_event_ids": [ "E-005", "E-009" ], "confidence_kind": "derived_from_recorded_values", "limitations": [ "reported_by_odometry_not_physical_stopping_distance", "stationary_threshold_is_a_configured_parameter", "simulated_sensor_noise" ], "derived_by": "kinwit-facts/0.1.0" }, { "finding_id": "F-007", "category": "derived_measurement", "title": "Nearest lidar return when stationary", "statement": "The /scan message nearest the reported stop (#119) has its closest return at 3.646 m, bearing -135° (robot frame).", "variables": { "min_range_m": 3.646, "bearing_deg": -135, "scan_index": 119, "scan_byte_start": 1104445 }, "formula": "argmin over LaserScan.ranges; bearing = angle_min + i·angle_increment", "supporting_event_ids": [ "E-009" ], "confidence_kind": "recorded_value", "limitations": [ "simulated_lidar_ray_cast_not_a_real_sensor", "a_return_is_not_an_identified_object", "no_contact_sensor_present" ], "derived_by": "kinwit-facts/0.1.0" }, { "finding_id": "F-008", "category": "context", "title": "Robot position relative to the facility zone", "statement": "At the stop input the odometry pose is (9.24, 5.304) m, 1.96 m outside the mapped boundary of ZONE-B2.", "variables": { "odom_x_m": 9.24, "odom_y_m": 5.304, "zone_id": "ZONE-B2", "distance_to_zone_m": 1.96, "inside_zone": false }, "formula": "Euclidean distance from /odom position to the zone rectangle in the recorded map attachment", "supporting_event_ids": [ "E-005" ], "confidence_kind": "derived_from_recorded_values", "limitations": [ "no_localization_stack_odom_frame_assumed_equal_to_map_frame", "zone_geometry_is_synthetic" ], "derived_by": "kinwit-facts/0.1.0" }, { "finding_id": "F-009", "category": "clock", "title": "Facility-to-robot clock offset (derived from evidence)", "statement": "From 7 logged sync exchanges, the facility clock is 28.28 to 56.153 ms ahead of the robot clock at the stop input (width 27.873 ms); skew -200 to 200 ppm.", "variables": { "offset_lo_ms": 28.28, "offset_hi_ms": 56.153, "width_ms": 27.873, "skew_lo_ppm": -200, "skew_hi_ppm": 200, "ls_offset_ms": 45.291, "samples": 7 }, "formula": "feasible region of θ(t)=a+b·t from strips θ(t0) ≤ t1−t0+ε, θ(t3) ≥ t2−t3−ε (RFC 5905 on-wire, Marzullo intersection); interval = min/max over polygon at t*", "supporting_event_ids": [ "E-005" ], "confidence_kind": "bounded_interval_under_assumptions", "limitations": [ "assumes_A1_nonnegative_delay_A2_linear_drift_A3_declared_jitter", "sync_exchanges_are_synthetic" ], "derived_by": "kinwit-facts/0.1.0" }, { "finding_id": "F-010", "category": "coverage", "title": "Source coverage and evidence gaps", "statement": "2 of 2 expected sources present. Not present in this case: camera, physical contact sensor, person detection, and the identity of whatever opened the facility input.", "variables": { "sources_present": 2, "sources_expected": 2, "camera": false, "contact_sensor": false, "person_detection": false }, "formula": "count of manifest sources vs. scenario expectation; absence list is fixed per source kinds", "supporting_event_ids": [ "E-003", "E-005" ], "confidence_kind": "absence_of_signal", "limitations": [ "coverage_is_not_completeness" ], "derived_by": "kinwit-facts/0.1.0" }, { "finding_id": "F-011", "category": "integrity", "title": "Record continuity", "statement": "/odom: 701 messages, largest gap 20.095 ms (nominal 20 ms). Facility log: 23 records, sequence contiguous, hash chain checked separately by the verifier.", "variables": { "odom_messages": 701, "odom_max_gap_ms": 20.095, "facility_records": 23, "facility_sequence_contiguous": true, "mcap_crc_validated": true }, "formula": "max consecutive header-stamp difference; facility seq[i] == i", "supporting_event_ids": [], "confidence_kind": "recorded_value", "limitations": [ "continuity_does_not_prove_nothing_was_omitted_before_recording" ], "derived_by": "kinwit-facts/0.1.0" }, { "finding_id": "F-012", "category": "observed_sequence", "title": "Navigation goal outcome", "statement": "The navigation goal is recorded as ABORTED (E-007); drive power removal is reported at E-010.", "variables": { "goal_status": "ABORTED" }, "formula": "action_msgs/GoalStatus.status == 6", "supporting_event_ids": [ "E-007", "E-010" ], "confidence_kind": "recorded_value", "limitations": [ "status_codes_do_not_explain_why" ], "derived_by": "kinwit-facts/0.1.0" } ], "unknowns": [ "Whether the facility broadcast preceded the robot stop input: the clock uncertainty is larger than the gap.", "What opened the facility zone safety input (a person, a test, an equipment fault): the facility source records the input change, not its cause.", "Whether any person or object was in the zone: no camera or person-detection source is present.", "Whether physical contact occurred: no contact sensor is present, and a speed drop does not imply a collision.", "Whether odometry matches the robot's true motion: there is no external ground-truth tracking source.", "The true clock relationship outside assumptions A1–A3.", "Cause, fault or responsibility. These are not assessed by KINWIT." ], "questions_for_reviewer": [ "Was the zone safety input opened by a person, an automated test, or an equipment fault? A separate source (door sensor, camera, operator log) is needed.", "Is the declared PLC scan cycle (and therefore the detection latency bound) correct for the real controller?", "Is the safety-link path facility → robot I/O the only path that could have produced the robot's stop input?", "Would a measured clock reference (PTP / GNSS) be available on site to tighten the alignment interval?" ], "banned_claims_checked": [ "root cause", "liable", "fault", "certified", "admissible", "100%" ] }