{ "schema": "kinwit.report.v1", "case_id": "SIM-2026-0003", "generated_by": "kinwit-facts/0.1.0 deterministic template (no AI)", "banner": "SYNTHETIC DEMONSTRATION · SIMULATED DATA · NOT A REAL INCIDENT", "sections": [ { "id": "scope", "title": "Scope of analysis", "paragraphs": [ "Case SIM-2026-0003 (scenario s01-large-offset). Window: 14000.032 ms of robot recording on the ROBOT_ROS_TIME clock.", "Sources: 9 robot topics (kinesim/0.1.0) and 72 facility controller records. Both sources are synthetic and were generated by logically separate components; neither is a physically independent witness." ] }, { "id": "chronology", "title": "Recorded chronology", "rows": [ { "event_id": "E-002", "t_ms": { "lo": 199.953, "mid": 200.003, "hi": 200.053 }, "source_id": "robot-controller-sim", "label": "Navigation goal executing", "basis": "status publish time ± robot timestamp jitter" }, { "event_id": "E-003", "t_ms": { "lo": 10997.461, "mid": 11000.022, "hi": 11002.583 }, "source_id": "facility-controller-sim", "label": "Facility controller records zone safety input ESTOP-ZONE-B2 open", "basis": "PLC scan timestamp: the input change happened up to one 4 ms scan earlier; mapped to the robot clock through the evidence-derived clock model" }, { "event_id": "E-004", "t_ms": { "lo": 11002.074, "mid": 11002.635, "hi": 11003.196 }, "source_id": "facility-controller-sim", "label": "Facility controller broadcasts stop request to zone approach group", "basis": "send timestamp ± facility jitter and resolution; mapped to the robot clock through the evidence-derived clock model" }, { "event_id": "E-005", "t_ms": { "lo": 11014.95, "mid": 11017.5, "hi": 11020.05 }, "source_id": "robot-controller-sim", "label": "Robot safety I/O registers external stop input", "basis": "input sampled by a 200 Hz poll: true arrival within one poll period before the stamp, ± jitter" }, { "event_id": "E-006", "t_ms": { "lo": 11020.05, "mid": 11020.1, "hi": 11020.15 }, "source_id": "robot-controller-sim", "label": "Robot safety controller starts Category-1 controlled stop", "basis": "header stamp ± robot timestamp jitter" }, { "event_id": "E-007", "t_ms": { "lo": 11049.945, "mid": 11049.995, "hi": 11050.045 }, "source_id": "robot-controller-sim", "label": "Navigation goal aborted", "basis": "status publish time ± robot timestamp jitter" }, { "event_id": "E-008", "t_ms": { "lo": 11050, "mid": 11050, "hi": 11050 }, "source_id": "robot-controller-sim", "label": "Zero velocity command recorded on /cmd_vel", "basis": "MCAP publish time (Twist carries no header stamp)" }, { "event_id": "E-009", "t_ms": { "lo": 11919.926, "mid": 11929.973, "hi": 11940.019 }, "source_id": "robot-controller-sim", "label": "Odometry reports speed < 0.01 m/s held ≥ 200 ms", "basis": "threshold crossing lies between the previous odometry sample and this one, ± jitter" }, { "event_id": "E-010", "t_ms": { "lo": 12139.95, "mid": 12140, "hi": 12140.05 }, "source_id": "robot-controller-sim", "label": "Robot safety controller reports drive power removed", "basis": "header stamp ± robot timestamp jitter" } ] }, { "id": "facts", "title": "Measured and derived facts", "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. Each step is ordered within its stated uncertainty.", "variables": { "E-003→E-004": "BEFORE", "E-004→E-005": "BEFORE", "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": "bounded_interval_under_assumptions", "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 facility stop broadcast (E-004) precedes the robot's recorded stop input (E-005) by 11.754 to 17.976 ms on the aligned timeline.", "variables": { "relation": "BEFORE", "delta_lo_ms": 11.754, "delta_hi_ms": 17.976 }, "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": "bounded_interval_under_assumptions", "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): 12.367 to 22.589 ms (before).", "variables": { "relation": "BEFORE", "delta_lo_ms": 12.367, "delta_hi_ms": 22.589 }, "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 1.196 m/s when the stop input is registered (E-005), interpolated between /odom samples #550 (1.202 m/s) and #551 (1.196 m/s).", "variables": { "speed_mps": 1.196, "before_sample_mps": 1.202, "after_sample_mps": 1.196, "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 30 ms after the stop input (E-005), same robot clock.", "variables": { "latency_ms": 30, "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) 899.876 to 925.069 ms after the stop input (E-005). Reported travel in that window: 0.561 m; mean reported deceleration 1.3 m/s².", "variables": { "delta_lo_ms": 899.876, "delta_hi_ms": 925.069, "reported_distance_m": 0.561, "mean_decel_mps2": 1.3, "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 3.675 m, bearing -135° (robot frame).", "variables": { "min_range_m": 3.675, "bearing_deg": -135, "scan_index": 119, "scan_byte_start": 1107637 }, "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 (9.243, 5.291) m, 1.957 m outside the mapped boundary of ZONE-B2.", "variables": { "odom_x_m": 9.243, "odom_y_m": 5.291, "zone_id": "ZONE-B2", "distance_to_zone_m": 1.957, "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 56 logged sync exchanges, the facility clock is -1813.217 to -1812.117 ms ahead of the robot clock at the stop input (width 1.1 ms); skew -111.039 to 99.017 ppm.", "variables": { "offset_lo_ms": -1813.217, "offset_hi_ms": -1812.117, "width_ms": 1.1, "skew_lo_ppm": -111.039, "skew_hi_ppm": 99.017, "ls_offset_ms": -1812.623, "samples": 56 }, "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-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" } ] }, { "id": "gaps", "title": "Gaps and limitations", "findings": [ { "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: 72 records, sequence contiguous, hash chain checked separately by the verifier.", "variables": { "odom_messages": 701, "odom_max_gap_ms": 20.095, "facility_records": 72, "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" } ], "unknowns": [ "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." ] }, { "id": "questions", "title": "Questions for a human reviewer", "items": [ "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?" ] }, { "id": "non_attribution", "title": "Non-attribution statement", "paragraphs": [ "This report orders and measures recorded events. It does not determine cause, fault, liability, regulatory compliance or the accuracy of the underlying sensors. Event order is not causation." ] } ] }