Cobot Cell Witness Shared-family mapped

Cycle Ledger

Cycle Conformance & Drift: The Arm's Rhythm Against Its Takt

Counts the robot arm's work cycles from the outside, and notices when its rhythm starts to creep.

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Readiness Shared-family mapped

Mapped to a shared offline runtime family and usable with a recording or compatible ESP32 CSI stream.

Evidence Supported hypothesis

Published physics or adjacent results support the hypothesis; capability-specific product and site validation are still required.

Runtime family Machine vibration

Spectral energy and drift tracking for repeatable machine vibration signatures.

When no ESP32 is connected

No compatible ESP32 stream is connected. Use the bundled Cobot recording; it demonstrates the shared Machine vibration runtime, not independent proof of this capability.

Intended capability

Pilot this intended outcome through the shared Machine vibration family, then validate it against site-specific ground truth: Counts the arm's work cycles and tracks their period, settle time, and audio signature over weeks — conformance when the observed rhythm matches the declared program and takt, a maintenance cue when the same program's rhythm creeps. The robot's own cycle counter is self-report; this count is taken from the outside.

This describes the intended outcome. Readiness is shared-family mapped, evidence is class B, and a catalog mapping or recording is not proof of this outcome at a real site.

Solution blueprint

See the environment before installing it.

This exact kit is one of 191 first-class designs. It includes geometry, objects, nodes, wording, scenarios, installation, limitations, and catalog-bound readiness.

Shared-family mapped

No rendered revision is available yet.

Bundled recording

A related Cobot scene

This is one recorded vertical scenario. It is not separate validation of every capability in the catalog.

01 The physics

A cycling arm writes a machine-regular motion envelope into the CSI field — metronomic period, near-zero jitter — and envelope autocorrelation recovers task periods from ~1 s to minutes, well under the 3.3 Hz Nyquist limit of the 6.6 Hz ambient rate. True micro-Doppler and joint vibration alias hopelessly at that rate and are not claimed; the honest observables are period, count, duty, and settle-interval length. The PDM mic carries what CSI cannot: servo-whine band energy (drive PWM carriers, commonly 4-16 kHz) and impact transients, whose slow centroid trends are the vibration-side drift channel.

02 Shared processing path

Per-slot CSI motion-envelope energy -> autocorrelation period tracker + cycle counter with jitter statistic -> per-cell EWMA baselines on period, duty, settle interval -> PDM band-energy centroid trend on the servo-whine band -> CUSUM on residual creep after reasoning-tier normalization against declared task mix (estate read-only) -> conformance/drift row with trend confidence.

This is a capability design path. Components may be shared with other catalog entries; it is not presented as a unique algorithm.

03 Validation plan

Own-rig protocol: metronome-driven arm proxy at fixed programs; count accuracy against ground truth over 1,000+ cycles; injected period drift (+2% per day) with detection latency measured; mic centroid tracked across artificial load changes; a scheduled correlation study against real maintenance outcomes is the gate for any predictive phrasing.

04 Commercial hypothesis

'Cycle Ledger' — for the line's maintenance planner: the arm's rhythm counted from outside, so takt conformance and creep no longer rest on the robot's own counter.