Control Package
A manufacturer-facing control blueprint for the proposed recovery machine. It defines the supervisory state machine, local module interface, sensor contract, manipulation primitives and fault handling without pretending that untested values are production limits.
Supervisory state machine
Every state transition should be logged with timestamp, sensor confidence, action ID, module ownership and verification result.
Sensor contract
- RGB/depth frame + timestamp
- Endpoint/crossing candidates
- Module position and encoder state
- Grip/contact state
- Tension/force estimate
- Motor current / fault state
Line-state record
- Segment IDs
- Endpoint confidence
- Crossing relationships
- Loop candidates
- Local tension class
- Module ownership
- Last verified state ID
Action primitives
- ACQUIRE
- SLIDE
- CREATE_SLACK
- LIFT
- SEPARATE
- TRANSFER
- REVERSE
- RELEASE
Verification gates
- Expected geometry change
- Expected motion response
- Grip/contact consistency
- Tension within configured envelope
- No new unsafe crossing
- Confidence threshold met
Module interface
COMMAND module_id action_id target_position motion_profile contact_mode verification_required FEEDBACK position velocity grip_state contact_force motor_current fault_code timestamp SAFETY enable limit_state emergency_release watchdog safe_stop
Failure handling
Preserve state
Freeze or move to a predefined safe state. Do not commit an uncertain line-state transition.
Rollback
Return to the last verified state when physically safe, then select an alternate action.
Release / retreat
Stop the current manipulation and reduce stored load according to the physical safety design.
Safe stop
Remove motion authority and require an explicit recovery sequence before re-enabling movement.
Data record for every action
RUN_ID STATE_BEFORE ACTION_ID MODULES_USED TARGET_SEGMENT SENSOR_CONFIDENCE EXPECTED_CHANGE OBSERVED_CHANGE TENSION_RESPONSE VERIFICATION_RESULT STATE_AFTER FAULT_CODE ROLLBACK_STATE OPERATOR_INTERVENTION TIMESTAMP