{ "downloads": [ { "label": "Engineering results report", "path": "GHOST_PUBLIC_RESULTS_REPORT.md" }, { "label": "Guided hardware validation JSON", "path": "GHOST_GUIDED_HARDWARE_VALIDATION_20260716.json" }, { "label": "Controlled-truth validation JSON", "path": "GHOST_X_G4_VALIDATION.json" }, { "label": "Estimator trade-study JSON", "path": "GHOST_X_G7_TRADE_STUDY.json" }, { "label": "Estimator trade-study CSV", "path": "GHOST_X_G7_TRADE_STUDY.csv" }, { "label": "Fault report JSON", "path": "GHOST_X_G8_FAULT_REPORT.json" }, { "label": "Fault report CSV", "path": "GHOST_X_G8_FAULT_REPORT.csv" }, { "label": "Runtime report JSON", "path": "GHOST_X_G9_RUNTIME_REPORT.json" }, { "label": "Runtime report CSV", "path": "GHOST_X_G9_RUNTIME_REPORT.csv" }, { "label": "Regression report JSON", "path": "GHOST_X_G10_CI_REPORT.json" }, { "label": "Requirements traceability CSV", "path": "GHOST_X_FINAL_TRACEABILITY.csv" }, { "label": "Release manifest", "path": "GHOST_X_RELEASE_MANIFEST.json" }, { "label": "Interactive evidence checklist", "path": "GHOST_INTERACTIVE_EVIDENCE_CHECKLIST.md" }, { "label": "Interactive page data", "path": "data/GHOST_INTERACTIVE_SHOWCASE_DATA_V2.json" }, { "label": "Compact hardware replay data", "path": "data/GHOST_HARDWARE_REPLAY_20260716.json" } ], "estimator_comparison": { "badge": "SYNTHETIC_SOFTWARE", "estimators": [ { "hidden_rmse_m": 0.18211336358696475, "id": "cv_kalman", "max_runtime_ms": 0.845263, "name": "CV Kalman", "observation": "Under the 24-trial deterministic software campaign, CV had higher overall and hidden-period RMSE than formal IMM but lower RMSE than GHOST-MH, while recording the lowest Python-reference runtime in the matched no-stress rows.", "overall_rmse_m": 0.05010579701434604, "p99_runtime_ms": 0.65228025, "reacquisition_time_s": null, "reacquisition_time_unavailable_reason": "No symmetric retained reacquisition-time metric exists for all three estimators on the same campaign.", "reset_count": null, "reset_count_unavailable_reason": "No symmetric retained reset-count metric exists for all three estimators on the same final comparison campaign." }, { "hidden_rmse_m": 0.13049749093036478, "id": "formal_imm", "max_runtime_ms": 11.256582, "name": "Formal IMM", "observation": "Under the same 24-trial deterministic software campaign, formal IMM had the lowest overall and hidden-period RMSE, with the highest Python-reference runtime cost of the three matched rows.", "overall_rmse_m": 0.03442351202869739, "p99_runtime_ms": 6.813437550000001, "reacquisition_time_s": null, "reacquisition_time_unavailable_reason": "No symmetric retained reacquisition-time metric exists for all three estimators on the same campaign.", "reset_count": null, "reset_count_unavailable_reason": "No symmetric retained reset-count metric exists for all three estimators on the same final comparison campaign." }, { "hidden_rmse_m": 0.4666416857961139, "id": "ghost_mh", "max_runtime_ms": 4.746566, "name": "GHOST-MH", "observation": "Under the 24-trial deterministic software campaign, GHOST-MH had the highest overall and hidden-period RMSE. In the one measured stationary short-dropout proxy it beat constant velocity but not the last-seen hold.", "overall_rmse_m": 0.12414750666117878, "p99_runtime_ms": 3.7876160000000008, "reacquisition_time_s": null, "reacquisition_time_unavailable_reason": "No symmetric retained reacquisition-time metric exists for all three estimators on the same campaign.", "reset_count": null, "reset_count_unavailable_reason": "No symmetric retained reset-count metric exists for all three estimators on the same final comparison campaign." } ], "input_fairness": "All three estimators received identical input streams in all 24 trials.", "runtime_basis": { "implementation": "python_reference", "platform": "Raspberry Pi 4 Model B Rev 1.5", "stress_workers": 0 }, "selected_trade_study_status": "SYNTHETIC_CANDIDATE_CONFIGURATION_PENDING_PHYSICAL_CONFIRMATION", "trial_basis": "N=24 deterministic analytic-truth trials across 8 scenario families", "unavailable_symmetric_metrics": [ "Reacquisition time for CV, formal IMM, and GHOST-MH on one common retained campaign", "Reset count for CV, formal IMM, and GHOST-MH on one common retained final campaign" ] }, "evidence_map": { "architecture.hardware_identity": [ "GHOST_X_BASELINE_MANIFEST.json" ], "claim_boundaries": [ "GHOST_X_CLAIM_BOUNDARIES.md", "GHOST_X_APPROVED_CLAIMS.json", "GHOST_X_FAILURE_GALLERY.json" ], "estimators.symmetric_rmse": [ "GHOST_X_G10_CI_REPORT.json" ], "estimators.symmetric_runtime": [ "GHOST_X_G9_RUNTIME_REPORT.json" ], "faults": [ "GHOST_X_G8_FAULT_REPORT.json", "GHOST_X_G8_FAULT_REPORT.csv" ], "hero.controlled_trials": [ "GHOST_X_G4_VALIDATION.json" ], "hero.fault_cases": [ "GHOST_X_G8_FAULT_REPORT.json" ], "hero.hardware_dropout": [ "GHOST_GUIDED_HARDWARE_VALIDATION_20260716.json" ], "hero.rt002_failure": [ "GHOST_X_G9_RUNTIME_REPORT.json" ], "mission.drone_follow_simulation": [ "GHOST_DRONE_MISSION_VALIDATION.json" ], "occlusion.hardware": [ "GHOST_GUIDED_HARDWARE_VALIDATION_20260716.json" ], "occlusion.synthetic_long_hide": [ "GHOST_DRONE_MISSION_VALIDATION.json" ], "replay.measurements_and_events": [ "data/GHOST_HARDWARE_REPLAY_20260716.json", "guided_hardware_evidence/20260716_guided_sequence_summary.json" ], "runtime": [ "GHOST_X_G9_RUNTIME_REPORT.json", "GHOST_X_G9_RUNTIME_REPORT.csv" ], "traceability": [ "GHOST_X_FINAL_TRACEABILITY.csv" ] }, "fault_testing": { "badge": "SYNTHETIC_SOFTWARE", "claim_boundary": "DETERMINISTIC_SOFTWARE_FAULT_INJECTION_ACTUAL_HARDWARE_AND_DDS_FAULT_EVIDENCE_PENDING", "failed_faults": 0, "fault_count": 12, "faults": [ { "detected": true, "detected_at_s": 5.0, "expected_status": "FAULT_CAMERA_DISCONNECTED", "fault": "camera_disconnect", "isolated": true, "passed": true, "position_error_rmse_m": { "cv_kalman": 0.13118667352827276, "formal_imm": 0.041537461838539506, "ghost_mh": 0.667294212920655 }, "recovery_ok": true, "recovery_time_s": 1.4000000000000004 }, { "detected": true, "detected_at_s": 5.2, "expected_status": "FAULT_FROZEN_MEASUREMENT", "fault": "frozen_measurement", "isolated": true, "passed": true, "position_error_rmse_m": { "cv_kalman": 0.45090939440856276, "formal_imm": 0.48108154152725774, "ghost_mh": 0.58037734703256 }, "recovery_ok": true, "recovery_time_s": 1.4000000000000004 }, { "detected": true, "detected_at_s": 5.0, "expected_status": "FAULT_DUPLICATE_MEASUREMENT", "fault": "duplicate_measurement", "isolated": true, "passed": true, "position_error_rmse_m": { "cv_kalman": 0.13118667352827276, "formal_imm": 0.041537461838539506, "ghost_mh": 0.667294212920655 }, "recovery_ok": true, "recovery_time_s": 1.4000000000000004 }, { "detected": true, "detected_at_s": 5.0, "expected_status": "FAULT_FALSE_DETECTION_REJECTED", "fault": "false_detection", "isolated": true, "passed": true, "position_error_rmse_m": { "cv_kalman": 0.03139329356774393, "formal_imm": 0.01784351252542667, "ghost_mh": 0.08363725483074735 }, "recovery_ok": true, "recovery_time_s": 1.1999999999999993 }, { "detected": true, "detected_at_s": 5.0, "expected_status": "FAULT_COVARIANCE_INVALID_FALLBACK", "fault": "covariance_corruption", "isolated": true, "passed": true, "position_error_rmse_m": { "cv_kalman": 0.029078210381168017, "formal_imm": 0.01631785576533458, "ghost_mh": 0.04755774548975078 }, "recovery_ok": true, "recovery_time_s": 1.1999999999999993 }, { "detected": true, "detected_at_s": 5.0, "expected_status": "FAULT_STALE_MEASUREMENT_REJECTED", "fault": "latency", "isolated": true, "passed": true, "position_error_rmse_m": { "cv_kalman": 0.13118667352827276, "formal_imm": 0.041537461838539506, "ghost_mh": 0.667294212920655 }, "recovery_ok": true, "recovery_time_s": 1.4000000000000004 }, { "detected": true, "detected_at_s": 5.0, "expected_status": "FAULT_OUT_OF_SEQUENCE_REJECTED", "fault": "out_of_sequence_data", "isolated": true, "passed": true, "position_error_rmse_m": { "cv_kalman": 0.13118667352827276, "formal_imm": 0.041537461838539506, "ghost_mh": 0.667294212920655 }, "recovery_ok": true, "recovery_time_s": 1.4000000000000004 }, { "detected": true, "detected_at_s": 5.0, "expected_status": "FAULT_NODE_RESTART", "fault": "node_restart", "isolated": true, "passed": true, "position_error_rmse_m": { "cv_kalman": 0.029092016611554857, "formal_imm": 0.01740560791292069, "ghost_mh": 0.047557593402331975 }, "recovery_ok": true, "recovery_time_s": 1.1999999999999993 }, { "detected": true, "detected_at_s": 5.0, "expected_status": "FAULT_DEADLINE_MISS", "fault": "cpu_saturation", "isolated": true, "passed": true, "position_error_rmse_m": { "cv_kalman": 0.029078210381168017, "formal_imm": 0.01631785576533458, "ghost_mh": 0.04755774548975078 }, "recovery_ok": true, "recovery_time_s": 1.1999999999999993 }, { "detected": true, "detected_at_s": 5.0, "expected_status": "FAULT_NETWORK_DEGRADED", "fault": "network_degradation", "isolated": true, "passed": true, "position_error_rmse_m": { "cv_kalman": 0.03214377299411351, "formal_imm": 0.016869323823009052, "ghost_mh": 0.050878838189256904 }, "recovery_ok": true, "recovery_time_s": 1.1999999999999993 }, { "detected": true, "detected_at_s": 5.0, "expected_status": "FAULT_CONFIGURATION_MISMATCH", "fault": "parameter_mismatch", "isolated": true, "passed": true, "position_error_rmse_m": { "cv_kalman": 0.13118667352827276, "formal_imm": 0.041537461838539506, "ghost_mh": 0.667294212920655 }, "recovery_ok": true, "recovery_time_s": 1.4000000000000004 }, { "detected": true, "detected_at_s": 5.0, "expected_status": "FAULT_LOW_VISUAL_QUALITY", "fault": "lighting_degradation", "isolated": true, "passed": true, "position_error_rmse_m": { "cv_kalman": 0.13118667352827276, "formal_imm": 0.041537461838539506, "ghost_mh": 0.667294212920655 }, "recovery_ok": true, "recovery_time_s": 1.4000000000000004 } ], "metric_interpretation": "All twelve injections reuse one shared canonical evaluation stream. The RMSE and recovery-time columns are outputs of that shared-stream campaign and should not be interpreted as twelve independently measured physical degradation profiles.", "pass_definition": "Each case passed only when the injected fault was detected, isolated to the expected subsystem/status path, and returned to nominal or the predeclared accepted recovery state.", "passed_faults": 12, "recovery_time_groups": [ { "count": 5, "faults": [ "false_detection", "covariance_corruption", "node_restart", "cpu_saturation", "network_degradation" ], "recovery_time_s": 1.1999999999999993 }, { "count": 7, "faults": [ "camera_disconnect", "frozen_measurement", "duplicate_measurement", "latency", "out_of_sequence_data", "parameter_mismatch", "lighting_degradation" ], "recovery_time_s": 1.4000000000000004 } ], "rmse_profile_groups": [ { "count": 2, "faults": [ "covariance_corruption", "cpu_saturation" ], "position_error_rmse_m": { "cv_kalman": 0.029078210381168017, "formal_imm": 0.01631785576533458, "ghost_mh": 0.04755774548975078 } }, { "count": 1, "faults": [ "node_restart" ], "position_error_rmse_m": { "cv_kalman": 0.029092016611554857, "formal_imm": 0.01740560791292069, "ghost_mh": 0.047557593402331975 } }, { "count": 1, "faults": [ "false_detection" ], "position_error_rmse_m": { "cv_kalman": 0.03139329356774393, "formal_imm": 0.01784351252542667, "ghost_mh": 0.08363725483074735 } }, { "count": 1, "faults": [ "network_degradation" ], "position_error_rmse_m": { "cv_kalman": 0.03214377299411351, "formal_imm": 0.016869323823009052, "ghost_mh": 0.050878838189256904 } }, { "count": 6, "faults": [ "camera_disconnect", "duplicate_measurement", "latency", "out_of_sequence_data", "parameter_mismatch", "lighting_degradation" ], "position_error_rmse_m": { "cv_kalman": 0.13118667352827276, "formal_imm": 0.041537461838539506, "ghost_mh": 0.667294212920655 } }, { "count": 1, "faults": [ "frozen_measurement" ], "position_error_rmse_m": { "cv_kalman": 0.45090939440856276, "formal_imm": 0.48108154152725774, "ghost_mh": 0.58037734703256 } } ], "source": "GHOST_X_G8_FAULT_REPORT.json", "source_stream": "canonical_streams/g4_repeated_reentry_rep01.jsonl", "unique_recovery_time_count": 2, "unique_rmse_profile_count": 6 }, "framing": { "headline": "Autonomous Object Tracking for Follower-Drone Applications", "scope_statement": "Hardware validation covers the Raspberry Pi vision/tracking backbone under guided tabletop conditions. Drone following was evaluated only in deterministic local-frame software simulation; no physical drone was flown.", "subheadline": "An AprilTag-based perception and estimation backbone that detects a tagged target, estimates camera-frame pose, maintains tracker state through visibility loss, and exposes state suitable for downstream follow behavior." }, "hardware": { "approved_photos_available": false, "badge": "MEASURED_HARDWARE", "calibration_rms_reprojection_error_px": 0.6484223428868449, "camera": "HD Webcam eMeet C960: HD Webcam", "camera_interface": "USB UVC / V4L2", "camera_pose_hz": 13.57, "compute": "Raspberry Pi 4 Model B Rev 1.5", "imm_output_hz": 30.01, "kernel": "6.8.0-1060-raspi", "machine": "aarch64", "max_estimator_benchmark_rss_mb": 70.33984375, "max_process_rss_mb": 69.8203125, "max_temperature_c": 47.225, "mh_output_hz": 29.99, "os": "Ubuntu 24.04.4 LTS", "photo_note": "No privacy-reviewed setup photographs were retained in the repository.", "raspberry_pi_model": "Raspberry Pi 4 Model B Rev 1.5", "ros_distro": "jazzy", "tag_family": "tag36h11", "tag_id": 0, "tag_size_m": 0.1, "throttled_status_final": "throttled=0x0" }, "hero_metrics": [ { "badge": "MEASURED_HARDWARE", "display": "2.4510 s", "id": "hardware_dropout", "label": "Measured tag occlusion; reacquired without reset", "sample_basis": "N=1 intended hardware dropout", "source": "GHOST_GUIDED_HARDWARE_VALIDATION_20260716.json", "status": "PASS_UNDER_TESTED_CONDITIONS", "value": 2.45097017288208 }, { "badge": "SYNTHETIC_SOFTWARE", "display": "24 / 24", "id": "controlled_trials", "label": "Accepted deterministic controlled-truth trials", "sample_basis": "N=24 trials across 8 scenario families", "source": "GHOST_X_G4_VALIDATION.json", "status": "PASS", "value": 24 }, { "badge": "SYNTHETIC_SOFTWARE", "display": "12 / 12", "id": "fault_cases", "label": "Software-injected fault cases passed", "sample_basis": "N=12 distinct fault cases", "source": "GHOST_X_G8_FAULT_REPORT.json", "status": "PASS", "value": 12 }, { "badge": "MEASURED_HARDWARE", "display": "3.4433 Hz", "id": "rt002", "label": "Observed publication rate vs 29.7 Hz minimum", "sample_basis": "N=18 interarrival intervals", "source": "GHOST_X_G9_RUNTIME_REPORT.json", "status": "NOT_MET", "threshold": 29.7, "value": 3.4433068896378227 } ], "imu_status": { "implementation_evidence": [ "../src/imu_driver/icm42688p.cpp", "../src/imu_driver/icm42688p.hpp", "../src/ros2_nodes/imu_node.cpp" ], "statement": "ICM-42688-P driver/interface implemented; sensor identity, data rate, and measurement validation were not captured in a retained campaign artifact.", "status": "IMPLEMENTED_NOT_PHYSICALLY_EVIDENCED" }, "limitations": [ "No physical closed-loop drone flight was performed.", "The follower-drone mission result is deterministic local-frame software simulation with a known observer pose and map.", "No independent metrology-grade ground truth was available for the guided hardware movements.", "The original floor-grid capture was rejected because the camera/tag geometry was not moved between nominal grid positions.", "The intended measured hardware dropout result is one event (N=1).", "The lateral and range results are guided sequences with correlated video samples, not large sets of independent trials.", "No universal CV, formal IMM, or GHOST-MH superiority claim is supported.", "RT-001 latency and RT-002 publication-rate requirements were not met.", "A C++ CV maximum execution-time row exceeded the declared 33.333 ms deadline.", "Hard-real-time certification, production readiness, flight worthiness, and autonomous-flight qualification are not claimed.", "No retained outdoor or adversarial visual-target hardware campaign was found.", "The lighting-degradation fault case was software-injected, not a physical outdoor lighting trial.", "No approved camera video or image frames were retained for the interactive replay.", "ICM-42688-P driver/interface code is implemented, but sensor identity, rate, and data validation were not captured in a retained campaign artifact." ], "mission": { "badge": "SYNTHETIC_SOFTWARE", "claim_boundary": "Deterministic local-frame software simulation with camera LOS gating. It demonstrates tracking, prediction, navigation, and reacquisition logic; it does not claim GPS-denied self-localization or real autonomous flight.", "collision_count": 0, "elapsed_s": 32.094144105911255, "final_target_observer_separation_m": 2.1816106537648716, "imm_rms_all_m": 0.5919507096633713, "imm_rms_hidden_m": 1.4938990550040254, "measurement_count": 2561, "mh_rms_all_m": 0.6172677018238238, "mh_rms_hidden_m": 1.5374320629834288, "mission_completed": true, "observer_distance_traveled_m": 12.898967896528557, "obstacle_occlusion_count": 2, "occlusion_durations_s": [ 10.06984806060791, 5.8019843101501465 ], "out_of_bounds_count": 0, "passed": true, "reacquisition_count": 2, "source": "GHOST_DRONE_MISSION_VALIDATION.json" }, "occlusion_scenarios": { "long_hide": { "badge": "SYNTHETIC_SOFTWARE", "conclusion": "The deterministic local-frame software mission reacquired after two obstacle occlusions. It does not represent physical flight or GPS-denied self-localization.", "metrics": { "first_frame_errors_m": null, "first_frame_errors_unavailable_reason": "First-frame post-reacquisition errors were not retained in the mission summary.", "hidden_drift_m": null, "hidden_drift_unavailable_reason": "A common hidden-period drift metric was not retained in the mission summary.", "occlusion_durations_s": [ 10.06984806060791, 5.8019843101501465 ], "reacquisition_count": 2 }, "sample_basis": "N=2 simulated obstacle occlusions in one mission execution", "source": "GHOST_DRONE_MISSION_VALIDATION.json", "title": "Obstacle occlusions in drone-follow simulation" }, "short_hide": { "badge": "MEASURED_HARDWARE", "conclusion": "This is the single stationary-target hardware dropout event; it is not counted again under a second scenario label. GHOST-MH beat constant velocity in this event but did not beat the last-seen hold.", "metrics": { "first_frame_errors_m": { "constant_velocity": 0.04840823234348344, "ghost_mh_top1": 0.002616434607344502, "last_seen_hold": 0.0006566815761033871 }, "hidden_drift_m": null, "hidden_drift_unavailable_reason": "A reviewed hidden-period drift metric was not retained for this event.", "occlusion_duration_s": 2.45097017288208, "reacquisition_time_s": 2.45097017288208, "reset_during_occlusion": false }, "sample_basis": "N=1 intended hardware dropout", "source": "GHOST_GUIDED_HARDWARE_VALIDATION_20260716.json", "title": "Short stationary-target tag hide" } }, "page_title": "GHOST-X — Autonomous Object Tracking for Follower-Drone Applications", "replay": { "badge": "MEASURED_HARDWARE", "data_path": "data/GHOST_HARDWARE_REPLAY_20260716.json", "scope": "BROWSER_CUE_WINDOW_ONLY", "video_available": false }, "response_scenarios": { "lateral_motion": { "badge": "MEASURED_HARDWARE", "conclusion": "Measured left and right holds moved in opposite camera-frame directions. The result supports directional relative response only; it is not an occlusion test.", "metrics": { "baseline_y_m": 0.026524043222367573, "left_hold_y_m": 0.4022069641056925, "right_hold_y_m": -0.4125736240958222 }, "sample_basis": "One guided browser sequence; correlated video samples", "source": "GHOST_GUIDED_HARDWARE_VALIDATION_20260716.json", "title": "Guided lateral response" }, "range_change": { "badge": "MEASURED_HARDWARE", "conclusion": "The focused retests produced the expected camera-frame range direction. These are guided relative-response results, not occlusion or absolute-accuracy trials.", "metrics": { "closer_delta_x_m": -0.34398661641281436, "closer_reset_count": 0, "closer_valid_samples": 32, "farther_delta_x_m": 0.24879806969111495, "farther_valid_samples": 89 }, "sample_basis": "One focused closer retest with 32 correlated pose samples and one focused farther run with 89 correlated pose samples", "source": "GHOST_GUIDED_HARDWARE_VALIDATION_20260716.json", "title": "Guided closer and farther response" } }, "runtime": { "badge": "MEASURED_HARDWARE", "deadline_anomaly_interpretation": "Eleven of twelve measured maximum-execution rows met the 33.333 ms deadline. The only miss was C++ CV with zero stress workers; the C++ CV stress=2 row met the deadline. This counterintuitive ordering is retained as an unresolved benchmark anomaly and does not show that CPU stress improves execution time.", "deadline_miss_rows": [ { "deadline_us": 33333.0, "estimator": "cv", "implementation": "cpp_production", "max_below_deadline": false, "max_execution_us": 78038.23826708074, "p99_execution_us": 70678.39724534165, "stress_workers": 0 } ], "deadline_rows_met": 11, "deadline_rows_not_met": 1, "deadline_rows_total": 12, "environment": { "cpu_count": 4, "machine": "aarch64", "max_process_rss_mb": 69.8203125, "platform": "Linux-6.8.0-1060-raspi-aarch64-with-glibc2.39", "python": "3.12.3", "rmw_implementation": "rmw_fastrtps_cpp", "ros_distro": "jazzy", "throttled_status_final": "throttled=0x0" }, "estimator_deadline": { "all_max_below_deadline": false, "deadline_ms": 33.333, "rows": [ { "deadline_us": 33333.0, "estimator": "cv_kalman", "implementation": "python_reference", "max_below_deadline": true, "max_execution_us": 845.263, "p99_execution_us": 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"process_cpu_fraction_of_one_core": 0.34147652875140805, "process_cpu_s": 1.8802221580000023, "publication_rate_hz": 49.94412229804021, "published": 275, "publisher_events": { "deadline": [], "incompatible_qos": [], "liveliness": [], "matched": [] }, "publisher_matches_after_warmup": 0, "receive_fraction": 0.0, "receive_rate_hz": 0.0, "received": 0, "resource_summary": { "cpu_frequency_mhz": { "count": 54, "max": 1800.0, "mean": 1181.4814814814815, "min": 700.0, "p50": 1000.0, "p90": 1800.0, "p95": 1800.0, "p99": 1800.0, "std": 375.7126933608722 }, "load_1m": { "count": 54, "max": 5.482421875, "mean": 5.459997106481482, "min": 5.443359375, "p50": 5.443359375, "p90": 5.482421875, "p95": 5.482421875, "p99": 5.482421875, "std": 0.01949709846137077 }, "memory_available_mb": { "count": 54, "max": 3182.890625, "mean": 3176.004267939815, "min": 3172.171875, "p50": 3174.55859375, "p90": 3182.890625, "p95": 3182.890625, "p99": 3182.890625, "std": 3.8584614593235567 }, "process_rss_mb": { "count": 54, "max": 69.19921875, "mean": 69.13831018518519, "min": 69.10546875, "p50": 69.12109375, "p90": 69.19921875, "p95": 69.19921875, "p99": 69.19921875, "std": 0.03623713878662986 }, "sample_count": 54, "temperature_c": { "count": 54, "max": 43.329, "mean": 41.66057407407406, "min": 40.407, "p50": 41.381, "p90": 42.355, "p95": 42.842, "p99": 43.07089, "std": 0.6318041433399906 } }, "sequence_gap_count": 0, "subscriber_events": { "deadline": [], "incompatible_qos": [], "liveliness": [], "matched": [], "message_lost": [] }, "subscriber_matches_after_warmup": 0, "throttled_after": "throttled=0x0", "throttled_before": "throttled=0x0", "wall_s": 5.506153423999422 } ], "real_time_claim_status": "HARD_REAL_TIME_NOT_CLAIMED_REQUIREMENTS_NOT_MET", "reporting_check_interpretation": "The G10 reporting check passed because the deadline miss was reported and the hard-real-time claim was withheld. It does not mean the timing requirement passed.", "requirements": { "RT-001": { "limits_ms": { "p95": 150.0, "p99": 250.0 }, "p95_ms": 233.1105807500001, "p99_ms": 365.87323451999987, "passed": false, "sample_count": 354, "summary": "Nominal source-to-receipt latency did not meet the predeclared bounds." }, "RT-002": { "deadline_miss_fraction": 0.5, "interarrival_ms": { "count": 18, "max": 1544.676094, "mean": 304.4672763888888, "min": 3.449755, "p50": 65.48179, "p90": 1095.4335808, "p95": 1191.9177937499994, "p99": 1474.1244339499992, "std": 487.5924722452495 }, "limits": { "maximum_deadline_miss_fraction": 0.01, "minimum_rate_hz": 29.7 }, "passed": false, "publication_rate_hz": 3.4433068896378227, "summary": "The 30 Hz publication/deadline requirement was not met on this bench run." }, "RT-003": { "passed": true, "summary": "Resource and thermal evidence was collected without a reported throttling flag.", "thermal_sample_count": 141, "throttling_clear": true } }, "requirements_all_passed": false, "rt002_interpretation": "The retained bench evidence establishes a severe publication-rate shortfall, but it does not establish the causal mechanism. No QoS, driver, scheduling, or startup explanation is claimed without a dedicated follow-up experiment.", "rt002_root_cause_status": "NOT_ESTABLISHED", "source": "GHOST_X_G9_RUNTIME_REPORT.json", "what_did_not_pass": [ "RT-001 nominal source-to-receipt latency exceeded the predeclared p95 and p99 limits.", "RT-002 publication rate was 3.4433 Hz versus a 29.7 Hz minimum.", "One of twelve rows—C++ CV with zero stress workers—exceeded 33.333 ms; its root cause is not established.", "The aggregate runtime requirements did not support a hard-real-time claim." ], "what_passed": [ "RT-003 resource and thermal evidence collection passed.", "No throttling flag was reported in the retained runtime campaign.", "Eight QoS scenarios met their scenario-specific acceptance logic.", "Eleven of twelve measured estimator maximum-execution rows remained below the 33.333 ms deadline." ] }, "schema_version": 2, "system_stages": [ { "badge": "MEASURED_HARDWARE", "evidence": [ "GHOST_GUIDED_HARDWARE_VALIDATION_20260716.json" ], "failure_modes": [ "Occlusion", "Blur", "Extreme viewing angle", "Print deformation" ], "id": "tag", "inputs": [ "Target object motion", "Lighting and line of sight" ], "name": "AprilTag target", "number": "01", "outputs": [ "High-contrast fiducial corners", "Known tag family, ID, and nominal size" ], "summary": "Printed tag36h11, ID 0, nominal 0.1 m target geometry." }, { "badge": "MEASURED_HARDWARE", "evidence": [ "GHOST_X_BASELINE_MANIFEST.json", "GHOST_PROJECT_REPORT.md" ], "failure_modes": [ "Frame loss", "Latency", "USB disconnect", "Lighting degradation" ], "id": "camera", "inputs": [ "Optical image of tagged target" ], "name": "USB camera", "number": "02", "outputs": [ "Timestamped image frames", "Software/arrival timing" ], "summary": "eMeet C960 through Linux V4L2/UVC on Raspberry Pi 4B." }, { "badge": "MEASURED_HARDWARE", "evidence": [ "GHOST_GUIDED_HARDWARE_VALIDATION_20260716.json" ], "failure_modes": [ "No detection", "Invalid geometry", "Calibration error", "Outlier pose" ], "id": "pose", "inputs": [ "Image frame", "Camera intrinsics", "Nominal tag size" ], "name": "Pose estimation", "number": "03", "outputs": [ "Position measurement", "Timestamp", "Covariance metadata" ], "summary": "Calibrated AprilTag detection and solvePnP camera-frame pose." }, { "badge": "MIXED_EVIDENCE", "evidence": [ "GHOST_X_G4_VALIDATION.json", "GHOST_GUIDED_HARDWARE_VALIDATION_20260716.json" ], "failure_modes": [ "Long dropout", "Model mismatch", "Stale/out-of-sequence data", "Reset" ], "id": "tracker", "inputs": [ "Pose measurements", "Timestamps", "Covariance", "Validity" ], "name": "Tracking layer", "number": "04", "outputs": [ "Estimated state", "Prediction-only state", "Status", "Future hypotheses" ], "summary": "CV Kalman, formal IMM, and GHOST-MH consume a common measurement contract." }, { "badge": "SYNTHETIC_SOFTWARE", "evidence": [ "GHOST_DRONE_MISSION_VALIDATION.json" ], "failure_modes": [ "No bounded target estimate", "Unknown vehicle pose", "Unsafe command" ], "id": "follow", "inputs": [ "Estimated relative target state", "Visibility/validity", "Prediction status" ], "name": "Drone-follow interface", "number": "05", "outputs": [ "Navigation/follow command inputs", "Reposition request in simulation" ], "summary": "Software output suitable for downstream follow/navigation logic." } ], "verification": { "deterministic_files": 123, "g10_checks_passed": 47, "g10_checks_total": 47, "release": "ghost-x-v1.0.0", "requirements_total": 34, "requirements_traceable": 34, "traceability_csv_rows": 34 } }