Fixture
One controlled coordinate uses redundant actuator, sensing and communication resources. Configurations bind only resources that are currently available.
Research / EXP-03
Structural reconfiguration after failure
Matched executable experiment on a redundant single-axis system. Two irreversible faults test whether a supervisor can preserve a declared degraded mission using only resources that still exist.
EXP-03reproducible
Experiment at a glance
Experiment at a glance
Fault sequence
At 5.00 s Motor A is lost. At 12.00 s the nominal encoder is lost. Destroyed resources remain at zero.
Supervisor
An invalid configuration triggers ANALYZE → SELECT → APPLY → VERIFY. Candidate configurations are constrained by the declared directed graph.
Observed path
The supervisor selects c1 after actuator loss and c3 after encoder loss: c0 → c1 → c3.
Mission result
After the first fault Φ=1.00 remains possible through the backup actuator. After the second fault the declared degraded mission continues at Φ=0.70; the frozen branch falls to Φ=0.15 at 16 s.
Boundary discovered
EXP-03 closes the structural question but exposes three missing guarantees: model validity as a resource, switching-sequence stability, and horizon-aware trajectory selection.
MODEL / TRACE
Formal trace
\[
c_0\rightarrow c_1\rightarrow c_3,
\qquad \Phi(c_1)=1.00,\quad \Phi(c_3)=0.70,
\quad \Phi_{\mathrm{frozen}}(16\,\mathrm{s})=0.15.
\]
ARTEFACTS
Evidence & reproducibility
Raw data, code and audit artefacts remain directly inspectable for reproducibility and independent checking.