1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
cff-version: 1.2.0
message: "If you use this crate or reference its companion paper, please cite it as below."
title: "DSFB Structural Semiotics Engine for Robotics Health Monitoring — A Deterministic, Non-Intrusive Observer Layer for Typed Structural Interpretation of Kinematic, Balance, and PHM Residual Streams in Industrial and Legged Robotics"
authors:
- family-names: "de Beer"
given-names: "Riaan"
affiliation: "Invariant Forge LLC"
version: "0.1.0"
date-released: 2026-04-24
license: Apache-2.0
license-note: >-
Apache-2.0 for the reference implementation. Commercial deployment
requires a separate written license. Contact: licensing@invariantforge.net
url: "https://github.com/infinityabundance/dsfb/tree/main/crates/dsfb-robotics"
repository-code: "https://github.com/infinityabundance/dsfb"
doi: 10.5281/zenodo.19778382
identifiers:
- type: doi
value: 10.5281/zenodo.19778382
description: "Zenodo archive of the v1.0 release (crate + companion paper)."
- type: url
value: "https://doi.org/10.5281/zenodo.19778382"
description: "Resolvable DOI landing page for the v1.0 release."
type: software
keywords:
- dsfb
- robotics
- kinematics
- balancing
- phm
- fdd
- inverse-dynamics
- whole-body-control
- no-std
- deterministic
- observer
preferred-citation:
type: generic
title: "DSFB Structural Semiotics Engine for Robotics Health Monitoring: A Deterministic Augmentation Layer for Typed Residual Interpretation of Joint Degradation, Actuator Drift, and Kinematic Anomalies in Safety-Critical Robotic Systems"
authors:
- family-names: "de Beer"
given-names: "Riaan"
affiliation: "Invariant Forge LLC"
year: 2026
version: "v1.0"
doi: 10.5281/zenodo.19778382
url: "https://doi.org/10.5281/zenodo.19778382"
publisher:
name: "Zenodo"