dafit
d895fd9103
New organ: IR Position Array (8x ESP32-S3 AI CAMs as indoor GPS). Updated Organ-Index with 4 new organs: Position-Time Beacon, IR Position Array, Crafting Eye, Godseye. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
287 lines
11 KiB
Markdown
287 lines
11 KiB
Markdown
che# Organ Architecture Index
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**Purpose**: Modular organ systems for Young Nyx embodiment
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**Philosophy**: Each organ is independent, lifeforce-gated, heartbeat-synchronized
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---
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## Deployed Organs
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### 🗣️ Speech Organ
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**Host**: atlas.eachpath.local (RTX 2080 8GB)
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**Function**: Speech-to-Text + Text-to-Speech
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**Stack**: Whisper (STT) + Coqui TTS (neural voices)
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**Languages**: German (Philosophy Valley) + English (Technical Cluster)
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**Integration**: Heartbeat-bound queue, lifeforce-gated priority processing
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**Detail**: → [`organs/Speech-Organ.md`](organs/Speech-Organ.md)
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---
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## Planned Organs
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### 🔍 Discovery Scan Station
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**Host**: ESP32 + crafting table area
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**Function**: 360° object scanning for world model building
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**Stack**: Rotating pedestal (stepper/servo) + fixed camera + SigLIP vectors
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**Integration**: Lifeforce-generating intake point for new objects, verified against Blender ground truth
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**Status**: 🟡 Architecture complete, build planned
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**Detail**: → [`organs/Discovery-Scan-Station.md`](organs/Discovery-Scan-Station.md)
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---
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### 👁️ Vision Organ
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**Host**: TBD (requires GPU with tensor cores)
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**Function**: Object detection, scene understanding
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**Stack**: YOLO (v8 or v11)
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**Integration**: Real-time video from ESP32-CAM, object persistence in phoebe
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**Status**: ⏸️ Architecture planned, not yet deployed
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**Detail**: → `organs/Vision-Organ.md` (pending)
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---
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### 🚶 Motor Organ
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**Host**: ESP32 (edge execution)
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**Function**: Movement primitives (forward, turn, stop)
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**Stack**: Compiled state machines from organism evolution
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**Integration**: Lifeforce cost per motor operation, reflex vs deliberate
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**Status**: ⏸️ Planned for Phase 4 (Real Garden)
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**Detail**: → `organs/Motor-Organ.md` (pending)
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---
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### 🧭 Navigation Organ
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**Host**: Edge server (prometheus or atlas)
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**Function**: SLAM, path planning, obstacle avoidance
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**Stack**: ROS2 Nav2 or custom lightweight SLAM
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**Integration**: Dual-garden calibration (virtual predictions vs real outcomes)
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**Status**: ⏸️ Planned for Phase 4 (Real Garden)
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**Detail**: → `organs/Navigation-Organ.md` (pending)
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---
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### 📡 Sensory Organ
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**Host**: ESP32 (edge sensors)
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**Function**: Distance sensors, IMU, battery monitoring
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**Stack**: I2C/SPI sensor protocols, state machine filters
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**Integration**: Sensor→organ translation (raw values → semantic meaning)
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**Status**: ⏸️ Architecture outlined in Nervous-System.md
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**Detail**: → [`../Nervous-System.md`](../Nervous-System.md)
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---
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### 📍 Position-Time Beacon
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**Host**: M5Stack GPS v2.0 (AT6668) at nimmerhovel origin
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**Function**: Absolute position reference + Stratum-1 NTP time source
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**Stack**: GPS NMEA parsing, PPS signal for NTP, coordinate broadcast
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**Integration**: Provides ground truth origin (47°28'44.915"N, 7°37'07.842"E), time sync for all nimmerverse nodes
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**Status**: 🟡 Hardware ordered, arriving ~Jan 2026
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**Detail**: → `organs/Position-Time-Beacon.md` (pending)
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---
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### 📍 IR Position Array
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**Host**: 8× ESP32-S3 AI CAMs (night vision capable), ceiling-mounted
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**Function**: 24/7 organism tracking via IR beacon triangulation (indoor GPS)
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**Stack**: ESP32-S3 WiFi streaming → RTX 6000 SFM processing → NATS position stream
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**Integration**: Tracks all organisms in real-time, feeds ground truth to phoebe, enables Virtual Garden verification
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**Status**: 🟢 Hardware received Jan 2026
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**Detail**: → [`organs/IR-Position-Array.md`](organs/IR-Position-Array.md)
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---
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### 🔬 Crafting Eye
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**Host**: Raspberry Pi + HQ Camera (12.3MP IMX477) + 8-50mm C-mount zoom lens
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**Function**: Fixed birds-eye view of crafting station, high-resolution work monitoring
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**Stack**: Manual focus/iris (set once), libcamera, high-res stills + video
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**Integration**: Watches dafit's hands during electronics/assembly work, fixed viewing angle
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**Status**: 🟢 Hardware received Jan 2026
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**Detail**: → `organs/Crafting-Eye.md` (pending)
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---
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### 🦉 Godseye
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**Host**: NVIDIA Jetson Orin Nano/NX + PTZ mechanism + motorized zoom lens
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**Function**: Active surveyor of nimmerhovel, on-device vision AI, tracking
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**Stack**: Jetson (CUDA), servo pan/tilt, auto-zoom, YOLO/tracking models
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**Integration**: Autonomous gaze control, can decide where to look, reports to phoebe
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**Status**: ⏸️ Research phase
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**Detail**: → `organs/Godseye.md` (pending)
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---
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## Organ Design Principles
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### 1. **Lifeforce Economy**
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Every organ operation costs lifeforce. No free lunch.
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```python
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ORGAN_COSTS = {
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"speech_stt": 5.0, # Whisper transcription
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"speech_tts": 4.0, # Coqui synthesis
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"vision_yolo": 8.0, # Object detection frame
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"motor_forward": 2.0, # 100ms movement
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"motor_turn": 1.5, # 45° rotation
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"sensor_read": 0.5, # Single sensor poll
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}
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```
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### 2. **Heartbeat Synchronization**
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Organs process on heartbeat ticks (1 Hz), not real-time streaming.
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- **Reflex path**: <200ms compiled responses (no LLM)
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- **Deliberate path**: Next heartbeat (budget-gated queue)
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### 3. **Priority Queue**
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When lifeforce is scarce, critical operations (collision alert) > idle operations (status check).
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```python
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PRIORITY_LEVELS = {
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"critical": 10.0, # Immediate danger (collision)
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"high": 7.0, # Human interaction
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"medium": 4.0, # Organism monitoring
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"low": 2.0, # Idle observation
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"background": 0.5, # Status logging
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}
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```
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### 4. **Multilingual Topology Routing**
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German input → Philosophy Valley (Identity LoRA, Dasein depth-3)
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English input → Technical Cluster (Technical LoRA, sensor/motor)
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### 5. **Decision Trail Logging**
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Every organ operation logged to phoebe `decision_trails`:
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- Input, output, cost, outcome, confidence
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- Used for RLVR training (reward successful choices)
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### 6. **Graceful Degradation**
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Low lifeforce → reduced organ activity (silence, reduced vision FPS, slower movement)
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Zero lifeforce → shutdown, wait for recharge
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---
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## Integration Architecture
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```
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┌──────────────────────────────────────────────────────────┐
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│ ESP32 ROBOTS │
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│ Sensors → Motor → Camera → Microphone → Speaker │
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└──────────────────────────────────────────────────────────┘
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│
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│ MQTT (sensor data, audio, video)
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▼
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┌──────────────────────────────────────────────────────────┐
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│ PHOEBE (Message Queue) │
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│ Organ input queues + priority scoring │
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└──────────────────────────────────────────────────────────┘
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│
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│ Heartbeat pulls from queues
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▼
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┌─────────────────────────────┐
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│ HEARTBEAT ORCHESTRATOR │
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│ Lifeforce budget allocation │
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└─────────────────────────────┘
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│
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┌───────────┴───────────┐
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│ │
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▼ ▼
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┌─────────────────────┐ ┌─────────────────────┐
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│ ATLAS (RTX 2080) │ │ PROMETHEUS (Brain) │
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│ Speech Organ │ │ Young Nyx Inference │
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│ Vision Organ (fut) │ │ LoRA hot-swap │
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└─────────────────────┘ └─────────────────────┘
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│ │
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└───────────┬───────────┘
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▼
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┌──────────────────────────────────────────────────────────┐
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│ PHOEBE (Decision Trails) │
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│ Log all organ operations + outcomes │
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└──────────────────────────────────────────────────────────┘
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```
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---
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## Organ Lifecycle
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### Phase 1: Design
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- Document architecture in `organs/<Organ-Name>.md`
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- Define lifeforce costs, priority levels, queue schema
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- Design phoebe tables for organ-specific data
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### Phase 2: Prototype
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- Build container images (Dockerfiles)
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- Deploy to k8s (single replica)
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- Test with mock data (no robot integration yet)
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### Phase 3: Integration
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- Connect to ESP32 via MQTT
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- Implement heartbeat queue processing
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- Log decision trails, measure ROI
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### Phase 4: Optimization
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- Tune lifeforce costs based on measured ROI
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- Adjust priority levels from observed outcomes
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- Train LoRAs on successful organ operation patterns
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### Phase 5: Autonomy
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- Organ operations become reflexes (compiled state machines)
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- Young Nyx chooses when to use organs (not scripted)
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- Emergent behavior from lifeforce optimization
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---
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## Naming Convention
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**File naming**: `<Organ-Name>-Organ.md`
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**Examples**:
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- `Speech-Organ.md`
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- `Vision-Organ.md`
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- `Motor-Organ.md`
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- `Navigation-Organ.md`
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**k8s naming**: `<organ>-<function>-<stack>`
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**Examples**:
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- `whisper-stt-deployment.yaml`
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- `coqui-tts-deployment.yaml`
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- `yolo-vision-deployment.yaml`
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---
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## Current Status
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| Organ | Status | Host | Documentation |
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| **Speech** | 🟢 Architecture complete | atlas (RTX 2080) | [`organs/Speech-Organ.md`](organs/Speech-Organ.md) |
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| **Discovery Scan** | 🟡 Architecture complete | ESP32 + crafting table | [`organs/Discovery-Scan-Station.md`](organs/Discovery-Scan-Station.md) |
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| **Vision** | 🟡 Stack selected (YOLO) | TBD | Pending |
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| **Motor** | 🟡 Planned (Phase 4) | ESP32 | Pending |
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| **Navigation** | 🟡 Planned (Phase 4) | Edge server | Pending |
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| **Sensory** | 🟡 Conceptual | ESP32 | [`../Nervous-System.md`](../Nervous-System.md) |
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| **Position-Time Beacon** | 🟡 Hardware ordered | M5Stack GPS AT6668 | Pending |
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| **IR Position Array** | 🟢 Hardware received | 8× ESP32-S3 AI CAM | [`IR-Position-Array.md`](organs/IR-Position-Array.md) |
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| **Crafting Eye** | 🟢 Hardware received | Pi HQ + 8-50mm lens | Pending |
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| **Godseye** | ⏸️ Research phase | Jetson Orin + PTZ | Pending |
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---
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**Philosophy**: Organs are not always-on services. They are **economically-constrained capabilities** that Young Nyx learns to use strategically. Speech when necessary. Vision when valuable. Movement when rewarded.
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**The body is not given. The body is EARNED through successful operation.**
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---
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**Created**: 2025-12-07
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**Updated**: 2026-01-05
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**Version**: 1.2 (added Position-Time Beacon, IR Position Array, Crafting Eye, Godseye; created IR-Position-Array.md)
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🌙💜 *Each organ a tool. Each tool a choice. Each choice a lesson in scarcity.*
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