Safety on DNTD Dynamics https://dntddynamics.com/tags/safety/ Recent content in Safety on DNTD Dynamics DNTD Dynamics https://dntddynamics.com/images/og-card.png https://dntddynamics.com/images/og-card.png Hugo -- 0.124.0 en Thu, 21 May 2026 00:00:00 +0000 Micro-doppler classifier — not everything that moves is a person https://dntddynamics.com/lab-notes/mmwave-phase6-microdoppler-classifier/ Thu, 21 May 2026 00:00:00 +0000 https://dntddynamics.com/lab-notes/mmwave-phase6-microdoppler-classifier/ Phase 6 adds a DBSCAN cluster builder and a rule-based micro-doppler classifier to the pipeline. Novel returns are now labeled PERSON, OBJECT, or UNKNOWN before they reach the zone logic. UNKNOWN passes through as PERSON — the classifier can never make the system less safe than the baseline. Persistent background map — the sensor shouldn't relearn the room every boot https://dntddynamics.com/lab-notes/mmwave-phase5-persistent-background/ Thu, 21 May 2026 00:00:00 +0000 https://dntddynamics.com/lab-notes/mmwave-phase5-persistent-background/ The 15-second background learning phase is necessary — but only once. Phase 5 adds a persistent voxel map saved to disk after the first learn, reloaded on every subsequent boot. Also: a novelty-aware refresh gate that means a stationary person can never be silently absorbed into the background. Swept-volume workspace clipper — the sensor finally knows what the arm can reach https://dntddynamics.com/lab-notes/mmwave-phase7-swept-volume-clipper/ Thu, 21 May 2026 00:00:00 +0000 https://dntddynamics.com/lab-notes/mmwave-phase7-swept-volume-clipper/ Phase 7 adds a swept-volume workspace clipper to the pipeline. Detections outside the arm’s reachable envelope are suppressed before they reach zone logic. This is the primary technical differentiator over fixed-mount sensors — and the reason the hardware configuration locked at 3× IWR6843AOP on the forearm link. Full safety stack live — background learning, ego-motion compensation, and the motionless person problem https://dntddynamics.com/lab-notes/mmwave-full-safety-stack-live/ Sat, 16 May 2026 00:00:00 +0000 https://dntddynamics.com/lab-notes/mmwave-full-safety-stack-live/ The IWR6843AOP is now running a complete ROS 2 safety pipeline on the Jetson — CLEAR/CAUTION/STOP zone detection with ego-motion compensation, voxel background learning, fault handling, and a heartbeat watchdog. One non-obvious bug dominated the session: velocity filtering was silently eating motionless people.