HMAA AUTONOMY RESEARCH PLATFORM v3
DEMPSTER-SHAFER w/ SHAFER DISCOUNTING • FORMAL FSM w/ HYSTERESIS • PHYSICS SENSORS • PREDICTIVE TWIN • CROSS-SENSOR VALIDATION • MONTE CARLO
T+0.0s
◆ GOVERNANCE
⊞ CONTROL
⚡ EXPERIMENTS
🧠 EXPLAINABLE
◎ TWIN
📋 TRACE
∀ FORMAL
AUTHORITY (FORMAL FSM)
A3
FULL AUTHORITY
D-S FUSED TRUST (SHAFER DISCOUNTED)
0.94
COMMAND GATE
PER-SENSOR TRUST (D-S BELIEF + CROSS-VALIDATION)
CARA RECOVERY
ADVERSARIAL ENVIRONMENT
ΣD-S FUSION + CROSS-VALIDATION
EVENT LOG
📡TELEMETRY
TACTICAL MAP
MISSION CONTROL (INTERLOCKED)
🛡SAFETY ENVELOPE
SYSTEM HEALTH (WORKLOAD)
📊TRUST TIMELINE (PER-SENSOR)
CONTROL LOG
🧠DECISION TRACE
LIVE REASONING
CROSS-SENSOR VALIDATION
📈GOVERNANCE TIMELINE
🤖PHYSICAL ROVER
💻PREDICTIVE TWIN (INDEPENDENT MODEL)
ΔDIVERGENCE ANALYSIS (MEASURED vs PREDICTED)
REQUIREMENTS TRACEABILITY MATRIX
Requirement Design Element Implementation Verification
FAILURE MODE AND EFFECTS ANALYSIS (FMEA)
Failure Mode Detection Method Sev. Mitigation Residual Risk
GOAL STRUCTURING NOTATION (GSN) SAFETY CASE
Formal safety argument structure per MIL-STD-882E / DO-178C methodology
TLA+ FORMAL SPECIFICATION — AUTHORITY FSM
Model-checkable specification. Properties verifiable with TLC model checker.
STATE SPACE
-- Authority FSM state vector
level ∈ {0, 1, 2, 3}     -- 0=A3, 1=A2, 2=A1, 3=A0
dwellCounter ∈ ℕ       -- ticks at current level meeting upgrade conditions
locked ∈ {TRUE, FALSE}  -- oscillation lockout active
lockExpiry ∈ ℕ         -- tick at which lockout expires
transitionCount ∈ ℕ    -- transitions in current window
TRANSITION GUARDS
Downgrade(trust, anomCnt)
  target := IF trust < 0.25 ∨ anomCnt ≥ 3 THEN A0
            ELSE IF trust < 0.50 ∨ anomCnt ≥ 2 THEN A1
            ELSE IF trust < 0.80 THEN A2 ELSE A3
  ∧ target > level   -- only if more restrictive
  ∧ ¬locked
  ∧ level' = target   -- CAN SKIP LEVELS
  ∧ dwellCounter' = 0

Upgrade(trust, anomCnt, level, dwell)
  ∧ level > 0 ∧ anomCnt = 0 ∧ ¬locked
  ∧ trust ≥ UpgradeThreshold[level]   -- hysteresis: UP > DOWN
  ∧ dwell ≥ DwellTime[level]   -- temporal guard
  ∧ level' = level - 1   -- EXACTLY ONE STEP
  ∧ dwellCounter' = 0
VERIFIED PROPERTIES
TLA+ MODULE (DOWNLOADABLE)
Full specification available for TLC model checking. State space: |level|×|trust|×|anomaly|×|locked|×|dwell| = 4×101×7×2×N


TLC MODEL CHECKING RESULTS
Configuration: MaxTick=50, MaxDwell=120, OscMaxTransitions=3, OscLockoutTicks=20