Methods
How the experiments are measured
Each experiment has its own frozen contract, measurement definitions and limits.
CP-001 measurement method ยท PF-001 numerical method and reproduction
CP-001 revision 2
The entries below come from its frozen contract and identity-bound plan.
Time
- Unit
- ns
- Epoch
- scenario-start
- Tick semantics
- Integer ticks denote left-closed scheduler release instants from scenario start.
- Sample semantics
- Sensor and plant values at tick k are sampled before commands released at tick k are applied.
- Jitter bound
- 0
Signals
| Signal | Kind | Unit | Frame |
|---|---|---|---|
q-bi-w | state | 1 | body-frd |
q-bi-x | state | 1 | body-frd |
q-bi-y | state | 1 | body-frd |
q-bi-z | state | 1 | body-frd |
omega-b-x | state | rad/s | body-frd |
omega-b-y | state | rad/s | body-frd |
omega-b-z | state | rad/s | body-frd |
firmware-wheel-torque-command | command | N*m | body-frd |
plant-wheel-torque-input | command | N*m | body-frd |
gyro-rate | sensor | rad/s | body-frd |
physical-sensor-valid | sensor | 1 | dimensionless |
firmware-sensor-valid-sampled | sensor | 1 | dimensionless |
controller-mode | mode | 1 | dimensionless |
watchdog-expired | fault | 1 | dimensionless |
wheel-saturated | fault | 1 | dimensionless |
attitude-error | property | rad | body-frd |
Mappings
| Mapping | Source | Target | Transformation | Information loss |
|---|---|---|---|---|
MAP-TORQUE | firmware-wheel-torque-command | plant-wheel-torque-input | componentwise identity in N*m at the same nanosecond tick | none declared |
MAP-SENSOR-VALID | physical-sensor-valid | firmware-sensor-valid-sampled | sample at each 10000000 ns sensor release | Physical validity changes between sample instants are not represented. |
Assumptions
- ASM-001: The rigid body has diagonal constant inertia within the declared uncertainty envelope.
- ASM-002: External torque is piecewise constant per plant step and remains within its declared component bound.
- ASM-003: The software clock and physical trace share scenario-start epoch and exact nanosecond ticks.
- ASM-004: Quatopsy and the independent baseline consume active wxyz body-to-ECI quaternions.
Guarantees
- OBL-DEADLINE: Every required controller job completes before its next declared release.
- OBL-WATCHDOG: Three consecutive invalid sensor samples enter safe mode no later than the watchdog timeout.
- OBL-TORQUE: Every commanded reaction-wheel torque remains within 0.002 N*m per body axis.
- OBL-MOMENTUM: Reaction-wheel momentum magnitude remains within 0.02 N*m*s per wheel.
- OBL-ATTITUDE: Attitude error remains at or below 0.05 rad over the registered horizon.
- OBL-RATE: Body-rate magnitude remains at or below 0.1 rad/s over the registered horizon.
Execution
- Stopping rule
- Qualify historical inputs, then execute each declared revision2 scenario once in order. Retain refusal and incomplete resource-bound evidence and continue to the next declared scenario. Unexpected arithmetic, identity, time, or output-bound failure aborts without emitting a canonical result. No retries or hidden repeat trials.
- Primary executions per scenario
- 1
- Retries
- 0
- Seed use
- scenario-label-only; no random generator or stochastic uncertainty sampling
- Step
- 10000000 ns
- Horizon
- 1000 steps
- Scope
- Single-axis X rotation from rest and identity attitude; zero gyro bias, noise, and wheel scale error. Integer midpoint rigid-body plant with unclipped wheel momentum and momentum-limit safe mode. Independent floating-point RK4 quaternion replay uses the same applied torque, inertia, initial state, epoch, and step. Inertia sensitivity is a separate open-loop replay, not implementation disagreement. Watchdog latches safe mode after the second consecutive invalid sample and records expiration on the third. All physical maxima include the terminal state.