{
  "controller": "actuator_guard",
  "name": "Aerospace actuator band guard (FPGA \u2014 Arty A7)",
  "kind": "controller",
  "label": "",
  "source": {
    "eml": "examples/actuator_guard.eml",
    "sha256": "adaa434e2a58679c"
  },
  "emitted": [
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      "target": "c",
      "category": "software",
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      "ok": true,
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    },
    {
      "target": "cpp",
      "category": "software",
      "file": "emit/actuator_guard.cpp",
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      "ok": true,
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    },
    {
      "target": "csharp",
      "category": "software",
      "file": "emit/ActuatorGuard.cs",
      "lines": 42,
      "ok": true,
      "tier": "LOCAL"
    },
    {
      "target": "gdscript",
      "category": "software",
      "file": "emit/actuator_guard.gd",
      "lines": 18,
      "ok": true,
      "tier": "LOCAL"
    },
    {
      "target": "go",
      "category": "software",
      "file": "emit/actuator_guard.go",
      "lines": 22,
      "ok": true,
      "tier": "LOCAL"
    },
    {
      "target": "java",
      "category": "software",
      "file": "emit/ActuatorGuard.java",
      "lines": 33,
      "ok": true,
      "tier": "LOCAL"
    },
    {
      "target": "javascript",
      "category": "software",
      "file": "emit/actuator_guard.mjs",
      "lines": 29,
      "ok": true,
      "tier": "LOCAL"
    },
    {
      "target": "kotlin",
      "category": "software",
      "file": "emit/actuator_guard.kt",
      "lines": 23,
      "ok": true,
      "tier": "LOCAL"
    },
    {
      "target": "luau",
      "category": "software",
      "file": "emit/actuator_guard.luau",
      "lines": 20,
      "ok": true,
      "tier": "LOCAL"
    },
    {
      "target": "matlab",
      "category": "software",
      "file": "emit/actuator_guard.m",
      "lines": 23,
      "ok": true,
      "tier": "LOCAL"
    },
    {
      "target": "python",
      "category": "software",
      "file": "emit/actuator_guard.py",
      "lines": 17,
      "ok": true,
      "tier": "LOCAL"
    },
    {
      "target": "rust",
      "category": "software",
      "file": "emit/actuator_guard.rs",
      "lines": 19,
      "ok": true,
      "tier": "LOCAL"
    },
    {
      "target": "swift",
      "category": "software",
      "file": "emit/actuator_guard.swift",
      "lines": 18,
      "ok": true,
      "tier": "LOCAL"
    },
    {
      "target": "wasm",
      "category": "software",
      "file": "emit/actuator_guard.wasm.ll",
      "lines": 46,
      "ok": true,
      "tier": "LOCAL"
    },
    {
      "target": "glsl",
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    {
      "target": "glsl-es",
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      "file": "emit/actuator_guard.glsles",
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      "ok": true,
      "tier": "LOCAL"
    },
    {
      "target": "hlsl",
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      "ok": true,
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    {
      "target": "metal",
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    {
      "target": "wgsl",
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      "file": "emit/actuator_guard.wgsl",
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      "ok": true,
      "tier": "LOCAL"
    },
    {
      "target": "chisel",
      "category": "fpga rtl",
      "file": "emit/actuator_guard_fpga.scala",
      "lines": 55,
      "ok": true,
      "tier": "LOCAL"
    },
    {
      "target": "verilog",
      "category": "fpga rtl",
      "file": "emit/actuator_guard_fpga.v",
      "lines": 136,
      "ok": true,
      "tier": "LOCAL"
    },
    {
      "target": "vhdl",
      "category": "fpga rtl",
      "file": "emit/actuator_guard_fpga.vhd",
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      "ok": true,
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    {
      "target": "llvm",
      "category": "compiler IR",
      "file": "emit/actuator_guard.ll",
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      "ok": true,
      "tier": "LOCAL"
    },
    {
      "target": "coq",
      "category": "proof",
      "file": "emit/actuator_guard.v",
      "lines": 136,
      "ok": true,
      "tier": "LOCAL"
    },
    {
      "target": "isabelle",
      "category": "proof",
      "file": "emit/actuator_guard.thy",
      "lines": 21,
      "ok": true,
      "tier": "LOCAL"
    },
    {
      "target": "lean",
      "category": "proof",
      "file": "emit/actuator_guard.lean",
      "lines": 33,
      "ok": true,
      "tier": "LOCAL"
    },
    {
      "target": "aadl",
      "category": "safety-critical",
      "file": "emit/actuator_guard.aadl",
      "lines": 51,
      "ok": true,
      "tier": "LOCAL"
    },
    {
      "target": "ada/spark",
      "category": "safety-critical",
      "file": "emit/actuator_guard.adb",
      "lines": 20,
      "ok": true,
      "tier": "LOCAL"
    },
    {
      "target": "autosar",
      "category": "safety-critical",
      "file": "emit/actuator_guard.autosar.c",
      "lines": 70,
      "ok": true,
      "tier": "LOCAL"
    },
    {
      "target": "ros2",
      "category": "safety-critical",
      "file": "emit/aerospace_actuator_guard_band_pkg",
      "lines": 0,
      "ok": true,
      "tier": "LOCAL"
    },
    {
      "target": "solidity",
      "category": "blockchain",
      "file": "emit/actuator_guard.sol",
      "lines": 36,
      "ok": true,
      "tier": "LOCAL"
    },
    {
      "target": "zkproof",
      "category": "blockchain",
      "file": "emit/actuator_guard.zk.json",
      "lines": 138,
      "ok": true,
      "tier": "LOCAL"
    }
  ],
  "proof": {
    "theorem": "actuator_command_within_band",
    "claim": "the guarded actuator command is always within the certified flight-envelope band [u_min, u_max], for any controller inputs",
    "trail_file": "proof/actuator_command_within_band.axioms.txt",
    "clean": true,
    "forbidden_axioms_found": [],
    "rederived": "2026-07-02T04:37:24Z",
    "source_artifact": "examples/actuator_guard.eml  ->  eml-compile --target lean   (the artifact the zoo ships; NOT a probe)",
    "reverify": "make verify-proof",
    "tier": "REPLAY (re-derive: TOOLCHAIN \u2014 Lean)"
  },
  "sim": {
    "band": "[-1.0, 1.0]",
    "gains": "kp=1.5, ki=0.4, kd=0.05",
    "raw_peak": 4.532,
    "samples": 400,
    "trace_csv": "trace.csv",
    "plot_png": "actuator_band.png",
    "check": {
      "quantity": "guarded-output samples outside the certified band [-1,1]",
      "value": 0,
      "relation": "=",
      "bound": 0,
      "holds": true,
      "context": "the raw command peaks at \u00b14.53 (well past the band) yet the guarded output never leaves [-1.0,1.0] \u2014 the clamp the theorem proves and the RTL/silicon runs"
    },
    "tier": "LOCAL"
  },
  "hardware": {
    "tier": "replay",
    "note": "this guard carries @target(fpga, board=arty_a7, clock_mhz=100) \u2014 the same source emits synthesizable Verilog/VHDL/Chisel (6-stage pipeline, ~300 LUTs / 6 DSPs, 16.7 Msamples/s @ 100 MHz) and has been placed-and-routed to an Arty A7-100T bitstream. Replayed from the synthesis/PnR evidence.",
    "evidence_ref": "monogate-research/electronics_intake (aerospace_actuator_guard_v1; verilog_simulation_v0 Arty PnR)"
  }
}