{"title":"The Autonomy Stack","subtitle":"How an ORIJO space anywhere powers, waters, builds, maintains, feeds, closes and governs itself - a synthesis of seven verified v4 layer dossiers and the v3 concept","version":"v4.0 synthesis, 2026-10-29","thesis":"A fully automated space is not one machine but eight layers that trade energy, water, nutrients, labour and information through standard sockets on one 910 x 1820 mm grid. The folded ORIJO shell is the fixture: its creases are gutters, rails and robot datums. It becomes self-powering with fold-out PV on a 48-60 V DC spine that banks most surplus as heat and encodes survival priority in bus voltage; self-watering by recycling 90-98% and making only the residual from rain, saline water or - last - air, preferably the farm's own humid air; self-closing by separating every stream, capturing urine nitrogen in a solid zeolite battery and exporting the surplus as product; self-feeding by growing calories in daylight and greens under LEDs whose photoperiod follows the sun; self-building because factories fabricate and robots only mark, anchor and unfold; self-maintaining because captive robots on building rails swap whole organs with one handle standard; and self-governing through a local, deterministic safety kernel that lets optimisers propose and humans answer questions from a remote desk. The evidence says each piece exists somewhere at TRL 6-9, the integration is TRL 3-5, food is the energy problem and nitrogen the loop problem, and every large failure on the way here (vertical farms, Katerra, Boxabl deliveries, Henn-na, SOURCE, Biosphere 2) was a failure of capital structure, siting, service or sealing - not of physics.","stack":[{"key":"structure","kanji":"形","title":"Shell: the folded ORIJO body","one_line":"A thick-panel rigid-origami shell on the 910 x 1820 mm jo grid is the fixture every other layer docks into: creases are gutters, rails and datums.","core_mechanism":"Rigid-foldable thick panels on membrane hinges (KASANE M01) unfold on one degree of freedom from road-legal packs into a YOSHI barrel vault (M02) standing on self-levelling screw-pile legs (ASHI M03); every 910 mm a ridge datum socket gives robots a building-relative coordinate, and every floor jo is a JO-PORT utility socket (M04). Unfolding a 1.1 t half-shell stores only about 0.0045 kWh of potential energy, so the engineering problem is control, sealing and stiction, not power.","hero_numbers":[{"label":"YOSHI-4 floor area / volume","value":"26.5 / about 48","unit":"m2 / m3","basis":"calculated","sources":["v3:concept"]},{"label":"MUTOIS 1 m origami column: tested load (precedent for uniform-thickness load-bearing origami)","value":"21","unit":"kN on a 7.4 kg column (about 280x self-weight)","basis":"measured","sources":["build:p-zhu2024"]},{"label":"Potential energy to raise one YOSHI-4 half-shell (1,100 kg, 1.5 m CoG lift)","value":"about 0.0045","unit":"kWh","basis":"calculated","sources":["build:src-concept-v3"]}],"maturity_mix":{"COMMERCIAL":1,"PILOT":3,"EXPERIMENTAL":1,"SPECULATIVE":0},"maturity_note":"Counted over BUILD-S5 deployable-shell options (TenFold, Boxabl, thick-panel origami, softgoods, LUNARK); the ORIJO shell itself is EXPERIMENTAL, TRL 4 (metre-scale lab demonstrators, v3 M01/M02).","orijo_modules":["M01 KASANE","M02 YOSHI","M03 ASHI","M04 JO-PORT","M10 FLIP-FOLD","YOSHI-4","YOSHI-6G","HOSHI-2","KURA-3","MUTO-D","ASHI-4","new: KUSABI latch (build)","new: AMA-TSUYU rain-and-dew roof (water)"]},{"key":"energy","kanji":"力","title":"Energy: self-powering","one_line":"Fold-out PV, heat-first storage and a DC spine whose voltage itself enforces survival priorities.","core_mechanism":"Fold-out c-Si PV (MIURA-W wings, BYOBU-PV vertical bifacial fences) feeds a 48-60 V DC spine through MPPT; LFP covers 1-2 days of firm load and a sodium-ion locker covers cold keep-alive; surplus goes first to a CO2 heat-pump tank (about 3 kWh of heat per PV kWh) and to deferrable loads, above all the farm LEDs, whose photoperiod follows the sun (HIKARI-DOKI). Each JO-PORT sheds and restores at its own bus voltage (DENATSU-ROPE), so survival priority holds even with every computer off.","hero_numbers":[{"label":"One HATA-4 LED farm cassette vs a whole efficient 4-person home","value":"14.4-19.2 vs about 14.5","unit":"kWh/day","basis":"calculated","sources":["v3:concept","energy:src-v3-concept"]},{"label":"Stationary battery pack price 2025 (-45% y/y)","value":"70","unit":"USD/kWh","basis":"reported","sources":["energy:src-bnef2025"]},{"label":"Heat banked in a 500 L tank across 40 K (about 8 kWh_e at COP 3)","value":"about 23","unit":"kWh_th","basis":"calculated","sources":["energy:src-v3-concept"]}],"maturity_mix":{"COMMERCIAL":15,"PILOT":5,"EXPERIMENTAL":4,"SPECULATIVE":0},"orijo_modules":["M08 IRORI","MIURA-W","BYOBU-PV","DENCHI-B","IRORI-H","KRES-7 (wind only after measurement)","new: HIKARI-DOKI","new: DENATSU-ROPE","new: IRORI-KURA tank","new: BYOBU-MAKI"]},{"key":"water","kanji":"水","title":"Water: self-watering","one_line":"Recycle first, sense everything, and make only the residual from rain, sea or air.","core_mechanism":"Separate grey, yellow, brown and condensate at the source; regenerate grey water in a MIZU organ (biology > UF > RO > UV-C > residual chlorine) released only by a fail-closed soft-sensor verdict (MIZU-MAMORI); make up only the 5-10% loss plus drinking water, ranked by kWh per litre: rain and fog first, any saline water by PV-RO/ED (0.003-0.0055 kWh/L), atmospheric water only where nothing liquid exists, and then preferably from the humid farm air (KUMO-NAE) and with waste heat.","hero_numbers":[{"label":"ISS total water recovery with Brine Processor","value":"98","unit":"%","basis":"measured","sources":["water:src-nasa-98","water:src-ntrs-iss-2026"]},{"label":"Make-up water for a 4-person home at 80 L/person/day and 90% net recovery","value":"44","unit":"L/day","basis":"calculated","sources":["water:src-anyground-v3"]},{"label":"Energy to make those 44 L/day: sorption AWH vs seawater RO","value":"18-220 vs 0.13-0.24","unit":"kWh/day","basis":"calculated","sources":["water:src-lord-2021","water:src-wiki-desal"]}],"maturity_mix":{"COMMERCIAL":14,"PILOT":9,"EXPERIMENTAL":4,"SPECULATIVE":0},"orijo_modules":["M05 KUMO","M06 MOTTAINAI","MIZU-1","KUMO-12","KRES-7 tank","KAWAYA-U","new: KUMO-NAE farm cloud","new: SHIO-BUKURO brine bag","new: MIZU-MAMORI release guard","new: AMA-TSUYU roof"]},{"key":"loop","kanji":"環","title":"Loop: self-closing","one_line":"Separate every stream, measure every gram, turn urine, scraps and residue into fertiliser, feed and carbon, export the rest.","core_mechanism":"A per-element ledger (BVAD-anchored: O2, CO2, water, N, P, K, Na) reconciles every stream daily. Urine is stored, struvite-settled for P and passed through clinoptilolite cartridges that capture about 86% of N (TSUBO-Z), food scraps are dried, fed to black soldier fly larvae, and frass plus faeces are hygienised at 55 C for 3 days; dry residue becomes biochar or mycelium infill. The house is not sealed: only grow zones are, fed with living-room CO2 through a bellows lung (FUIGO), and plant CO2 drawdown becomes a crop-health sensor. Surplus nitrogen leaves as a product, not as sewage.","hero_numbers":[{"label":"Lunar Palace 365 material closure / urine recovery / solid-waste recovery","value":"98.2 / 99.7 / 67","unit":"%","basis":"reported","sources":["loop:src-fu-2021-biorxiv"]},{"label":"Urine nitrogen of 4 people (design value 8.8 g N/person/day)","value":"12.8","unit":"kg N/yr","basis":"calculated","sources":["loop:src-fumasoli-2016","loop:src-bvad-2022"]},{"label":"Overall urine N recovery on clinoptilolite (97% transfer x 88% elution)","value":"86","unit":"%","basis":"measured","sources":["loop:src-beler-baykal-2011"]}],"maturity_mix":{"COMMERCIAL":6,"PILOT":7,"EXPERIMENTAL":3,"SPECULATIVE":0},"orijo_modules":["M06 MOTTAINAI","KAWAYA-U","KAMADO-B","UKI-P","new: TSUBO-Z zeolite N battery","new: KAMADO-2 dry-buffer larvae + hot box","new: FUIGO lung","new: WARA-ITA straw-mycelium infill"]},{"key":"grow","kanji":"農","title":"Grow: self-feeding","one_line":"Sunlight grows calories, LEDs grow greens, robots move trays and scout at night; humans still pick fruit.","core_mechanism":"Plants ride half-jo carriers (910 x 455 mm) on passive rollers past fixed stations (seed, space, inspect, cut), so robots stay stationary and cheap (KAGO-MICHI); a local crop twin (MPC, AGC-proven) sets climate and a daily light integral rather than a clock, and the energy layer fills that DLI from daylight first, PV-hour LEDs second. Calories and fruit go to daylight vaults (YOSHI-6G) and beds; LEDs only grow greens, herbs and strawberries. Night robots dose UV-C and scout from the ridge rail (YOAKE-UV); humans still pick fruit until robots exceed 90% success.","hero_numbers":[{"label":"Best independently tested LED fixture efficacy (practical ceiling 3.4-4.1)","value":"about 3.0","unit":"umol/J","basis":"measured","sources":["grow:src-kusuma2020"]},{"label":"LED electricity to grow a full human diet indoors","value":"167-208","unit":"kWh/person/day","basis":"calculated","sources":["grow:src-johnson2021","grow:src-kusuma2020"]},{"label":"Autonomous Greenhouse Challenge 2018: AI team vs expert growers, net profit","value":"24.78 vs 21.18","unit":"EUR/m2 (4-month cucumber)","basis":"measured","sources":["grow:src-hemming2019"]}],"maturity_mix":{"COMMERCIAL":10,"PILOT":11,"EXPERIMENTAL":1,"SPECULATIVE":0},"orijo_modules":["M07 HATA","HATA-4","YOSHI-6G","BYOBU-G","UKI-P","KAMADO-B","new: HI-NO-WAKE sun split","new: KAGO-MICHI carrier path","new: YOAKE-UV bar","new: TSUBO-KABE fruit wall","new: MUSHI-DAI insect bench"]},{"key":"build","kanji":"建","title":"Build: self-building","one_line":"Factories fabricate, robots mark and anchor, shells unfold themselves under closed-loop control; humans only approve gates.","core_mechanism":"A licensed container micro-factory (TATAMI-KOUJOU) CNC-cuts, laminates, wires and fold-tests panels; on site only three robotic acts remain: mark (RTK staking rover), anchor (helical piles with logged torque-depth curves, SUMI-ITO) and unfold (ORI-SEQ closed-loop sequencer with sensor-gated KUSABI latches). The as-built survey of datum sockets becomes the map every later robot uses.","hero_numbers":[{"label":"Robotic layout labour-hour reduction (rework 6.42% -> 0.25%)","value":"68","unit":"%","basis":"measured","sources":["build:p-kam2025"]},{"label":"Boxabl fold-out homes manufactured vs delivered (to 2025-08-19)","value":"744 vs 285","unit":"units","basis":"reported","sources":["build:src-boxabl-hw","build:src-boxabl-bo"]},{"label":"Autonomous solar pile driver vs conventional, 2-person crew","value":"about 300 vs about 100","unit":"piles/day","basis":"claimed","sources":["build:src-rpd-pvmag"]}],"maturity_mix":{"COMMERCIAL":10,"PILOT":6,"EXPERIMENTAL":8,"SPECULATIVE":0},"orijo_modules":["M11 FOLD-TO-ORDER","M01/M02 unfold","M03 ASHI","ASHI-4","new: ORI-SEQ fold sequencer","new: SUMI-ITO anchoring rover","new: KUSABI wedge latch","new: TATAMI-KOUJOU micro-factory cell"]},{"key":"care","kanji":"守","title":"Care: self-maintaining","one_line":"Make the building the robot's map and fixture, swap whole organs, and keep a remote human for exceptions.","core_mechanism":"Few, captive robots on fixtures the building provides: TSURU walks the crease rails twice a day with a thermal/acoustic/gas head (MIMAMORI), HOKI cleans PV and glazing waterlessly along the wing hinge rail, and every swappable organ, cartridge and robot wear part shares one robot handle (KAWARI). Repair is replacement at organ level (one JO-PORT organ = one ORU); a fleet Bayesian ledger (DAICHO) learns real failure rates; a remote desk (MADOGUCHI) handles the few percent of exceptions.","hero_numbers":[{"label":"Ecoppia row-captive waterless PV robots, cumulative panels cleaned","value":"3.89 billion","unit":"panel cleanings","basis":"claimed","sources":["care:src-ecoppia-site"]},{"label":"Astrobee console time without crew (>1,200 console h vs ~220 crew h)","value":"about 80","unit":"%","basis":"calculated","sources":["care:src-astrobee-tfr"]},{"label":"ISS ECLSS ORUs that failed more often than predicted (6% by >4x)","value":"18","unit":"%","basis":"measured","sources":["care:src-owens-iss"]}],"maturity_mix":{"COMMERCIAL":11,"PILOT":13,"EXPERIMENTAL":4,"SPECULATIVE":0},"orijo_modules":["M09 TSURU","M12 SHIKINEN","TSURU-1","M04 JO-PORT as ORU socket","new: KAWARI handle","new: HOKI crease broom","new: DAICHO ledger","new: MADOGUCHI desk","new: MIMAMORI head"]},{"key":"mind","kanji":"心","title":"Mind: self-governing","one_line":"A local, verifiable mind that runs every module, asks humans only for judgement, and survives being cut off.","core_mechanism":"Field devices (Modbus/CAN/BACnet) publish to an MQTT Sparkplug bus on the KURA-3 edge; each module ships its Brick/223P graph and emulator in its fold passport (KIROKU), so docking merges the model. Rules are the baseline, grey-box MPC and warm-started RL propose setpoints, an LLM only translates intent into constraints, and a deterministic safety kernel (BANSHO) on its own microcontroller owns every actuator and accepts only signed, bounded envelopes. Robots share rails and docks through Open-RMF; humans answer questions from a remote queue (YOBIDASHI); island mode (FUYU-GOMORI) coasts 4-14 days without network.","hero_numbers":[{"label":"Reliable-protocol MPC/RL field savings, residential / commercial (duration-weighted)","value":"16 / 13","unit":"%","basis":"measured","sources":["mind:src-khabbazi2025"]},{"label":"Waymo remote-assistance agents on duty vs fleet","value":"70 per about 3,000 (about 1:43)","unit":"agents : vehicles","basis":"reported","sources":["mind:src-waymo-futurism"]},{"label":"Unattended Antarctic observatory battery coast at ~50 W","value":"about 4","unit":"days","basis":"reported","sources":["mind:src-melville2014"]}],"maturity_mix":{"COMMERCIAL":13,"PILOT":11,"EXPERIMENTAL":5,"SPECULATIVE":0},"orijo_modules":["KURA-3 edge + DC hub","M11 configurator (semantic graph origin)","new: BANSHO safety kernel","new: KIROKU fold passport graph","new: YOBIDASHI remote-assistance queue","new: FUYU-GOMORI island mode"]}],"interfaces":[{"from":"structure","to":"energy","flow":"PV mounting area on MIURA-W wings and BYOBU fences; DC harness through hinges","unit":"kWp per wing","typical_value":"about 4.5 (MIURA-W); about 4 (BYOBU-PV)","basis":"target","design_rule":"Every fold carries its own DC harness through the hinge with a strain-relieved service loop; battery mass sits on ASHI pads, not floor cassettes."},{"from":"structure","to":"water","flow":"Roof catchment and fall lines from every facet to a gutter","unit":"L/yr","typical_value":"3,200 at 100 mm/yr desert; 25,600 at 800 mm/yr (40 m2 YOSHI-4 roof, C 0.8)","basis":"calculated","design_rule":"Deployed geometry must keep a continuous fall line from every facet to a first-flush gutter; tanks sit on ASHI-rated nodes."},{"from":"structure","to":"loop","flow":"Airtight grow envelope and lung volume for FUIGO; no fresh cement inside sealed volumes","unit":"% of grow-zone volume","typical_value":"5-10 (bellows lung)","basis":"target","design_rule":"Seal only grow zones; no exposed fresh cementitious surfaces inside sealed volumes (Biosphere 2 carbonation)."},{"from":"structure","to":"grow","flow":"Glazed daylight vault (YOSHI-6G) and ridge rails at fixed jo heights","unit":"m2 daylight floor","typical_value":"39.7 per YOSHI-6G","basis":"calculated","design_rule":"Fruit walls hang from ridge rails at fixed jo coordinates so the harvest arm and UV bar share one rail."},{"from":"structure","to":"build","flow":"Fold kinematics, latch lines, pile reactions","unit":"kN per leg; mm datum tolerance","typical_value":"datum +/-10 mm target; JO-PORT float +/-3 mm","basis":"target","design_rule":"Every module must refold to its shipping envelope; refold sequence is part of factory acceptance."},{"from":"structure","to":"care","flow":"Datum sockets every 910 mm, crease rails, robot-readable latch flags","unit":"sockets per YOSHI-4 ridge","typical_value":"about 8 per 7.28 m ridge line","basis":"calculated","design_rule":"Install rails and sockets at the micro-factory and survey them after unfolding; the as-built survey is the robot map."},{"from":"structure","to":"mind","flow":"Strain, tilt, leg settlement, latch state, hinge temperature","unit":"sensor points","typical_value":"about 120 in KURA-3 + about 25 per other module","basis":"assumed","design_rule":"Structural alarms freeze all non-essential robot motion and raise evacuation-grade notifications."},{"from":"energy","to":"structure","flow":"Heat to the envelope; FLIP-FOLD and radiant floors","unit":"kWh_th/day","typical_value":"0-15+ (desert summer 0; arctic 15+)","basis":"assumed","design_rule":"Envelope first, PV second: U-values set the heat load, not the heater."},{"from":"energy","to":"water","flow":"Electricity for MIZU treatment, pumps, UV; low-grade heat for sorbent regeneration","unit":"kWh/day","typical_value":"2-4.3 MIZU (home) + 1.4 KUMO fans; heat 2.7-4.7 kWh_th per AWH litre","basis":"calculated","design_rule":"Potable path stays under 1 kWh/person/day from battery; AWH desorption, brine drying and distillation run only on PV surplus or free heat."},{"from":"energy","to":"loop","flow":"Heat for larvae/compost/AD; power for dosing pumps and blowers","unit":"kWh/day","typical_value":"about 1.6 (KAMADO-B 40 W + KAWAYA-U 25 W)","basis":"calculated","design_rule":"Loop loads are deferrable; zeolite/struvite chemistry (watts) beats urine distillation (71 + 13 W/capita primary) at household scale."},{"from":"energy","to":"grow","flow":"LED, fan and pump electricity; photoperiod scheduled into PV hours","unit":"kWh/day per HATA-4","typical_value":"14.4-19.2 full cassette (9.2 lighting at DLI 15)","basis":"calculated","design_rule":"Photoperiod follows the sun; dark period stays continuous at night; never grow staple calories under LEDs."},{"from":"energy","to":"build","flow":"Pre-charged unfold buffer for winches and robots","unit":"kWh per unfold","typical_value":"<0.01 potential energy; peak power is the sizing case","basis":"calculated","design_rule":"Unfolding draws from the module's own DENCHI pack so commissioning never drains life-safety storage."},{"from":"energy","to":"care","flow":"Robot charging on JO-PORT docks","unit":"kWh/week","typical_value":"about 0.25 (TSURU-class patrol at 60 W)","basis":"calculated","design_rule":"Docks charge only on PV surplus; clean PV when soiling loss x remaining-day yield exceeds cleaning energy and wear."},{"from":"energy","to":"mind","flow":"SOC, PV forecast, bus voltage as public priority signal","unit":"telemetry points","typical_value":"about 40 (DENCHI, MPPT, tank, ports)","basis":"assumed","design_rule":"Mind sends a 24-48 h dispatch plan; any plan violating the 4-island-day reserve is rejected locally."},{"from":"water","to":"structure","flow":"Wet-zone loads and leak risk at JO-PORT","unit":"kg tank mass","typical_value":"about 2,000 (KRES-7 tank on mast)","basis":"target","design_rule":"Dry-break couplers at every port; leak tests are part of docking."},{"from":"water","to":"energy","flow":"Thermal storage in water tanks; recycler waste heat","unit":"kWh_th","typical_value":"14-23 per 300-500 L tank","basis":"calculated","design_rule":"Hot tank doubles as the heat battery; recycler and compressor reject heat dump into its cold bottom."},{"from":"water","to":"loop","flow":"Separated urine, RO reject and brine, sludge","unit":"L/day","typical_value":"urine 5.9 (4 people); brine to SHIO-BUKURO","basis":"calculated","design_rule":"Keep urine out of the greywater organ; every residual has a named product or regulated export, none ends in a drain."},{"from":"water","to":"grow","flow":"Recycled grey and make-up water for nutrient solution","unit":"L/day per HATA-4","typical_value":"about 10 gross, 1.8-3.1 net with 90% condensate recapture","basis":"calculated","design_rule":"Nutrient solution isolated per cassette so a Pythium outbreak cannot cross."},{"from":"water","to":"build","flow":"Drainage routing before pile layout","unit":"-","typical_value":"pile layout generated after water routing","basis":"design rule","design_rule":"Creases drain to collection before the first unfold rain event."},{"from":"water","to":"care","flow":"Cartridge swaps (filters, UV, membranes, sorbent, pump tubing)","unit":"swaps/week","typical_value":"about 1.5 (12 consumables, mean 8-week interval)","basis":"target","design_rule":"Every MIZU/KUMO consumable is a front-loading cartridge <15 kg with the KAWARI handle; no tool inside the wet zone."},{"from":"water","to":"mind","flow":"Free Cl, ORP, EC, turbidity, UVT, level, flow streams; release verdicts","unit":"false-positive ceiling","typical_value":"<= 2%","basis":"measured","design_rule":"Soft-sensor release runs at the edge; mind may schedule but never override a quality trip."},{"from":"loop","to":"structure","flow":"Mycelium infill cassettes, biochar, material passports","unit":"kg infill per renewal","typical_value":"not yet quantified","basis":"unknown","design_rule":"Every panel and hinge carries a QR/RFID passport; infill is regrown at SHIKINEN renewal."},{"from":"loop","to":"energy","flow":"Exothermic heat (larvae, compost, digesters) into the hydronic tank","unit":"W","typical_value":"20-60 (compost/BSF heating demand, reversible in summer)","basis":"reported","design_rule":"Every exothermic loop dumps into the IRORI-KURA tank before venting."},{"from":"loop","to":"water","flow":"Plant condensate and urine-derived distillate back to the grey intake","unit":"L/m2/day","typical_value":"3.9 (NASA BPC transpiration condensate)","basis":"calculated","design_rule":"Count plant condensate as recovered water; bleed recirculating nutrient solution on a sodium set point."},{"from":"loop","to":"grow","flow":"Nitrate/ammonium liquor, charged zeolite, struvite, frass, biochar; CO2-rich air","unit":"g N/day","typical_value":"35 available (4 people) vs about 0.7-1.4 taken up by one HATA-4","basis":"calculated","design_rule":"Size urine N to crop uptake; never dose edible crops without the safety gate (hygienisation log + Na/NO2 + quarterly panel)."},{"from":"loop","to":"build","flow":"End-of-life panels, offcuts, refold-return logistics","unit":"-","typical_value":"all modules refoldable","basis":"design rule","design_rule":"Material loop is a logistics contract, not a site process."},{"from":"loop","to":"care","flow":"Sealed waste cassettes to swap (zeolite, BSF trays, compost bins)","unit":"kg zeolite/week","typical_value":"12-25","basis":"calculated","design_rule":"Waste organs are sealed swap cassettes; the robot never opens a waste stream."},{"from":"loop","to":"mind","flow":"Mass, pH, EC, NH4, NO2, NO3, Na, CO2, O2 per stream; ledger residuals","unit":"ledger tolerance","typical_value":"+/- 10% per element per day","basis":"target","design_rule":"Residual beyond tolerance or a missing hygienisation log automatically blocks edible-crop release."},{"from":"grow","to":"structure","flow":"Floor loads and glazing demands","unit":"kg per HATA-4","typical_value":"380","basis":"target","design_rule":"Farm racks dock to the same kinematic datums as the shell; no on-site rail alignment."},{"from":"grow","to":"energy","flow":"Deferrable load and reject heat from LEDs and dehumidifiers","unit":"kWh/day","typical_value":"9.2 lighting per HATA-4, almost all leaves as heat","basis":"calculated","design_rule":"LED heat goes into the IRORI hot-water loop via water-cooled fixtures or the heat pump."},{"from":"grow","to":"water","flow":"Transpiration condensate, recoverable as the cleanest water on site","unit":"L/day per HATA-4","typical_value":"13-26 transpired at 2-4 L/m2/day ET on 6.6 m2 (assumption)","basis":"calculated","design_rule":"Treat the farm as the primary atmospheric water source: dehumidify 70-90% RH grow air before pulling desert air (KUMO-NAE)."},{"from":"grow","to":"loop","flow":"Crop residue, roots, spent substrate","unit":"kg/day","typical_value":"about 0.1-0.2 (home greens, assumed harvest index); 6.66 kg fresh/person/day if a full diet were grown","basis":"calculated","design_rule":"Only plant residues go to KAMADO in the EU; residue, not excreta, dominates solids once real crops are grown."},{"from":"grow","to":"build","flow":"Half-jo carriers, rails, cassettes made to the 910 mm pitch","unit":"mm","typical_value":"910 x 455 carrier","basis":"design rule","design_rule":"One coordinate system for every station, rail and rack."},{"from":"grow","to":"care","flow":"Rail arm and cassette service; shared dock and rail profile","unit":"human min/week per cassette","typical_value":"30-45 at L3 (target <= 30)","basis":"target","design_rule":"Farm and care robots share one rail profile, one dock and one cartridge handle."},{"from":"grow","to":"mind","flow":"Images, climate, setpoints, harvest forecasts","unit":"MB/day","typical_value":"about 96 raw images per 4-cassette farm, features only uplinked","basis":"calculated","design_rule":"AGC pattern: setpoint API between AI grower and local process computer, which keeps crop-safe limits."},{"from":"build","to":"structure","flow":"Logged pile positions and torques; registered datum frame","unit":"mm / Nm","typical_value":"+/-10 mm position target; torque-depth curve per pile","basis":"target","design_rule":"Shell datum frame is registered once to the pile set; later robots use the shell, not GNSS."},{"from":"build","to":"energy","flow":"Commissioning order and unfold power peaks","unit":"person-h","typical_value":"PV wing unfold about 1 h of attendance","basis":"target","design_rule":"Energize DENCHI and DC spine before any other organ docks."},{"from":"build","to":"water","flow":"First-flush and leak test at docking","unit":"-","typical_value":"pressure-decay test per port","basis":"design rule","design_rule":"MIZU biology starts only after the leak test passes."},{"from":"build","to":"loop","flow":"Factory offcuts, packaging returns","unit":"-","typical_value":"not quantified","basis":"unknown","design_rule":"Kit packaging is reusable and returns with the carrier."},{"from":"build","to":"grow","flow":"HATA cassettes docked on JO-PORT datums","unit":"h per cassette","typical_value":"about 2 (v3 deploy target)","basis":"target","design_rule":"No on-site alignment of farm rails."},{"from":"build","to":"care","flow":"Installs rails, sockets, docks; hands over as-built point cloud","unit":"-","typical_value":"one survey per deployment","basis":"design rule","design_rule":"Post-deployment inspection is robot-first; humans only sign off."},{"from":"build","to":"mind","flow":"Fold scripts, IMU/load-cell telemetry, module passports (cycles, dwell, latch torque)","unit":"-","typical_value":"every latch confirmed before next step","basis":"design rule","design_rule":"Wind and temperature lockouts in firmware; fold motions only in commissioning mode with a human present or on camera."},{"from":"care","to":"structure","flow":"Latch audits, seal and hinge thermal scans, leg re-levelling","unit":"patrols/day","typical_value":"2 x 15 min","basis":"target","design_rule":"Latches have robot-readable state and are actuable from the ridge rail."},{"from":"care","to":"energy","flow":"PV cleaning (recovered yield), battery/inverter organ swaps","unit":"% of PV yield","typical_value":"3-4 global soiling loss average (more in deserts)","basis":"calculated","design_rule":"Clean on a value rule, not a timer; waterless only."},{"from":"care","to":"water","flow":"Filter/membrane/UV/sorbent cartridge swaps","unit":"robot min/swap","typical_value":"10","basis":"target","design_rule":"Spare kit sized from fleet posteriors (DAICHO), never from vendor MTBF alone."},{"from":"care","to":"loop","flow":"Zeolite and BSF cassette swaps; odour patrol (NH3/VOC)","unit":"swaps/week","typical_value":"1 (zeolite cartridge 20-25 kg)","basis":"target","design_rule":"Odour and hygiene failures kill acceptance fastest; patrol head carries NH3 sensing."},{"from":"care","to":"grow","flow":"Rail-arm and UV-bar upkeep, tray jam clearing","unit":"human min/week","typical_value":"included in 30-45 per cassette","basis":"target","design_rule":"A robot that adds staff minutes is removed (hotel lesson)."},{"from":"care","to":"build","flow":"Re-levelling, refold before storms, depot repair of swapped organs","unit":"MTTR h","typical_value":"0.5 with organ swap vs 24-72 with on-site repair","basis":"target","design_rule":"Swap-based MTTR, not MTBF, dominates availability at remote sites."},{"from":"care","to":"mind","flow":"Intervention logs as demonstrations; failure ledger; teleop sessions","unit":"remote min/week per home","typical_value":"about 6","basis":"calculated","design_rule":"Every intervention is logged with consent; fleet failure rates update weekly."},{"from":"mind","to":"structure","flow":"Fold/refold policy, storm lockouts","unit":"-","typical_value":"weather-triggered refold (L4)","basis":"design rule","design_rule":"Never by an autonomous optimiser; commissioning mode only."},{"from":"mind","to":"energy","flow":"Dispatch plan, shed tiers, DLI-to-sun schedule","unit":"decision cycle","typical_value":"5-15 min","basis":"reported","design_rule":"Voltage-droop ladder remains in force when the mind is down."},{"from":"mind","to":"water","flow":"Schedules for AWH, brine drying, cartridge orders","unit":"-","typical_value":"AWH cycles adapted to RH/PV forecast","basis":"design rule","design_rule":"Mind schedules, MIZU-MAMORI decides release."},{"from":"mind","to":"loop","flow":"Ledger reconciliation, product routing","unit":"-","typical_value":"daily per element","basis":"target","design_rule":"Biological safety limits are enforced in the loop module, not the planner."},{"from":"mind","to":"grow","flow":"Climate/light setpoints, harvest plan, robot tasks","unit":"setpoint cadence","typical_value":"5 min","basis":"reported","design_rule":"Crop twin runs locally; benchmark against a human-run reference tray each season."},{"from":"mind","to":"build","flow":"Configurator output: site plan, pile layout, fold scripts, Brick graph","unit":"days","typical_value":"<= 15 working days deposit to shipped kit (v3 G3 target)","basis":"target","design_rule":"Every kit ships with its semantic graph and emulator (KIROKU)."},{"from":"mind","to":"care","flow":"Work orders, spare forecasts, remote-assistance routing","unit":"homes per operator FTE","typical_value":"about 200 at 6 remote min/week; 40-160 at L3 15-60 min","basis":"calculated","design_rule":"Publish the human-minutes ledger and operator locations per site."}],"balances":{"home_4p":{"definition":"Desert (E3) ORIJO home for 4 people: KURA-3 + 1 YOSHI-4 (+1 optional) + MIURA-W + 1 BYOBU-PV + 1 HATA-4 run at 2 of 4 tiers + MIZU-1 + KAWAYA-U + KAMADO-B + KUMO-12 + DENCHI-B + TSURU-1. Desert design PSH 6 h, performance ratio 0.75. Autonomy target L3 (2029 catalogue).","energy_kwh_day":[{"item":"Plug, light, cooking, comms, HRV (DC appliances)","value":5,"unit":"kWh/day","basis":"target","formula":"assumed design input; energy dossier sizing_reference.home_4p","sources":["energy:src-v3-concept"]},{"item":"Domestic hot water via CO2 heat pump","value":3.5,"unit":"kWh/day","basis":"calculated","formula":"4 x 50 L x 1.163 Wh/(L K) x 45 K / COP 3 = 10.5 kWh_th / 3","sources":["energy:src-v3-concept"]},{"item":"Space conditioning, annual average (night flush, FLIP-FOLD, radiant)","value":2,"unit":"kWh/day","basis":"target","formula":"assumed design input; 0 in shoulder months, cooling peaks in summer; desert annual mean assumed"},{"item":"MIZU-1 grey/black water regeneration (320 L/day)","value":3,"unit":"kWh/day","basis":"calculated","formula":"pro-rata of 400 W rated at 450-720 L/day: 320/720 x 9.6 = 4.3 upper; 2.0 lower if pumps idle; central 3.0","sources":["water:src-wota-site","v3:concept"],"note":"CONFLICT resolved: v3 lists 400 W average (=9.6 kWh/day) and the energy dossier assumes 1 kWh/day; both disagree with a throughput pro-rata. Use 3.0 until bench-measured."},{"item":"KUMO-12 sorbent rack fans and valves","value":1.44,"unit":"kWh/day","basis":"target","formula":"60 W x 24 h (v3 module power)","sources":["v3:concept"]},{"item":"HATA-4 at 2 of 4 tiers (3.3 m2 lit): lighting","value":4.6,"unit":"kWh/day","basis":"calculated","formula":"3.3 m2 x DLI 15 mol/m2/day / (3.0 umol/J x 3.6) ","sources":["grow:src-kusuma2020","grow:src-anyground-v3"]},{"item":"HATA-4 at 2 of 4 tiers: climate, dehumidification, pumps","value":3.8,"unit":"kWh/day","basis":"calculated","formula":"half of the 5.2-10 kWh/day residual between v3 cassette total (14.4-19.2) and full-cassette lighting (9.2); central","sources":["v3:concept","grow:src-anyground-v3"],"note":"CONFLICT resolved: v3 cassette 600-800 W vs grow-dossier lighting 9.2 kWh/day are consistent once climate/dehumidification is counted as the residual."},{"item":"Loop: KAMADO-B 40 W + KAWAYA-U 25 W","value":1.56,"unit":"kWh/day","basis":"target","formula":"(40 + 25) W x 24 h","sources":["v3:concept"]},{"item":"Robots (TSURU patrols, HOKI cleaning, tray shuttle)","value":0.05,"unit":"kWh/day","basis":"calculated","formula":"0.25 kWh/week TSURU + small shuttle/broom draw","sources":["care:src-v3-concept"]},{"item":"Edge PC + safety MCU","value":0.3,"unit":"kWh/day","basis":"calculated","formula":"(10-15 W + 1 W) x 24 h","sources":["v3:concept"]},{"item":"TOTAL","value":25.3,"unit":"kWh/day","basis":"calculated","formula":"sum of lines above"},{"item":"PV needed at desert PSH 6, PR 0.75","value":5.6,"unit":"kWp","basis":"calculated","formula":"25.3 / (6 x 0.75); installed MIURA-W 4.5 + BYOBU-PV 4 = 8.5 kWp leaves about 13 kWh/day surplus for heat bank and AWH desorption"},{"item":"Firm (non-deferrable) night-capable load","value":9.4,"unit":"kWh/day","basis":"calculated","formula":"5 base + 1 potable MIZU path + 30% of HATA (2.5) + 0.6 KAWAYA + 0.3 edge"},{"item":"Battery for 2 firm days","value":22,"unit":"kWh","basis":"calculated","formula":"2 x 9.4 / (0.9 DoD x 0.95) -> DENCHI-B 20-40 kWh","sources":["energy:src-v3-concept"]}],"water_l_day":{"by_use":[{"item":"Showers and hand washing","value":160,"unit":"L/day","basis":"target","formula":"assumed design input; 4 x 40 L of the 80 L/person/day design demand"},{"item":"Laundry","value":60,"unit":"L/day","basis":"target","formula":"assumed design input; 4 x 15 L"},{"item":"Kitchen and dishes","value":48,"unit":"L/day","basis":"target","formula":"assumed design input; 4 x 12 L"},{"item":"Drinking and cooking (potable residual)","value":12,"unit":"L/day","basis":"calculated","formula":"4 x 3 L","sources":["water:src-anyground-v3"]},{"item":"Toilet flushing","value":0,"unit":"L/day","basis":"target","formula":"design choice; KAWAYA-U urine-diverting dry toilet; urine 5.9 L/day goes to the loop, not the water organ","sources":["loop:src-bvad-2022"]},{"item":"Farm gross / net","value":"10 / 1-3","unit":"L/day","basis":"calculated","formula":"HATA-4 v3 target; net = 6.6 m2 x 2-4 L/m2/day ET x 0.1 + biomass water, halved for 2 tiers","sources":["water:src-anyground-v3","v3:concept"]},{"item":"Treated per day by MIZU","value":320,"unit":"L/day","basis":"calculated","formula":"N x D = 4 x 80","sources":["water:src-anyground-v3"]}],"by_source":[{"item":"Recycled by MIZU (90% net)","value":288,"unit":"L/day","basis":"calculated","formula":"320 x 0.90","sources":["water:src-anyground-v3","water:src-wota-site"]},{"item":"Make-up required","value":44,"unit":"L/day","basis":"calculated","formula":"4 x (80 x 0.10 + 3)","sources":["water:src-anyground-v3"]},{"item":"Rain from 40 m2 YOSHI-4 roof at 100 mm/yr","value":8.8,"unit":"L/day (annual mean)","basis":"calculated","formula":"40 x 100 x 0.8 / 365","sources":["water:src-anyground-v3"]},{"item":"KUMO-12 sorption rack (drinking quality)","value":"2.4-12","unit":"L/day","basis":"target","formula":"v3 module range; CaCl2-hydrogel 0.3-0.8 L/kg/day target, MOF-303 0.285 L/kg/day measured passive","sources":["v3:concept","water:src-uc-deathvalley"]},{"item":"Residual make-up (truck port monthly, or brackish well PV-RO)","value":"23-33","unit":"L/day","basis":"calculated","formula":"44 - 8.8 - (2.4 to 12); = 0.7-1.0 m3/month delivery, or 0.13-0.24 kWh/day PV-RO if a brackish well exists","sources":["water:src-wiki-desal"],"note":"Honest gap: a desert home at 90% recovery is not water-independent from air alone; at 95% recovery make-up falls to 28 L/day."}]},"food_kg_week":[{"item":"Leafy greens (lettuce class) on 2.8 m2 tier area","value":"2.6-3.8","unit":"kg FW/week","basis":"calculated","formula":"2.8 m2 x 48-70 kg/m2/yr / 52","sources":["v3:concept","energy:src-pennisi2025"]},{"item":"Herbs on 0.5 m2 tier area","value":"0.3-0.5","unit":"kg FW/week","basis":"target","formula":"assumed design input; 0.5 m2 x 30-50 kg/m2/yr / 52 (assumed herb yield, not sourced)"},{"item":"Demand reference: 100 g greens/person/day","value":2.8,"unit":"kg/week","basis":"target","formula":"assumed design input; 4 x 0.1 x 7","sources":["grow:src-anyground-v3"]},{"item":"Daylight crops (tomato, cucumber, beans) in an optional YOSHI-6G or shaded beds","value":"site-dependent; not claimed","unit":"-","basis":"n/a","formula":"EDEN ISS LED-sealed worst case tomato 17-19 kg/m2/yr","sources":["grow:src-zabel2020"]},{"item":"Share of dietary energy from site","value":"< 5","unit":"%","basis":"calculated","formula":"greens supply micronutrients and freshness, not calories (BVAD 0.8 kg dry food/person/day; LMLSTP grew <5% of calories)","sources":["loop:src-bvad-2022","loop:src-barta-lmlstp"]}],"nutrients_g_day":[{"item":"Urine N excreted","value":"35 (design) - 44 (theoretical)","unit":"g N/day","basis":"calculated","formula":"4 x 8.8 (Fumasoli design assumption) to 4 x 11 (Zeeman theoretical)","sources":["loop:src-fumasoli-2016","water:src-zeeman-2011"],"note":"CONFLICT resolved: water dossier uses 11 g, loop dossier 8.8 g; 8.8 is the design value, 11 the upper bound."},{"item":"N recovered on TSUBO-Z zeolite","value":30,"unit":"g N/day","basis":"calculated","formula":"35 x 0.86","sources":["loop:src-beler-baykal-2011"]},{"item":"N taken up by the home HATA-4","value":"0.7-1.4","unit":"g N/day","basis":"calculated","formula":"0.25-0.5 kg N/yr per rack / 365","sources":["loop:src-anyground-v3"]},{"item":"N exported as charged zeolite or liquid fertiliser","value":"about 29","unit":"g N/day","basis":"calculated","formula":"30 - about 1"},{"item":"Urine P excreted / recovered as struvite","value":"4.0 / 3.8","unit":"g P/day","basis":"calculated","formula":"4 x 1.0 g; x 0.95 struvite removal","sources":["water:src-zeeman-2011","loop:src-wilsenach-2007"]},{"item":"Urine K (proxy)","value":"about 15","unit":"g K-equivalent/day","basis":"calculated","formula":"N x 1.8/4.2 from Aurin product N-P-K ratio (claimed; oxide vs elemental basis not stated)","sources":["loop:src-time-aurin-2026"],"note":"Low confidence: K is not directly measured in the dossiers; zeolite co-captures K+ but recovery is unquantified."}],"waste_kg_day":[{"item":"Urine","value":5.9,"unit":"kg/day","basis":"calculated","formula":"4 x (1.42 + 0.061)","sources":["loop:src-bvad-2022"]},{"item":"Faeces (wet)","value":0.53,"unit":"kg/day","basis":"calculated","formula":"4 x (0.101 + 0.032)","sources":["loop:src-bvad-2022"]},{"item":"Kitchen scraps","value":"1-2","unit":"kg/day","basis":"target","formula":"v3 KAMADO-B design input","sources":["v3:concept"]},{"item":"Crop residue (greens)","value":"0.1-0.2","unit":"kg/day","basis":"target","formula":"assumed design input; outer leaves and roots of about 0.5 kg/day harvest"},{"item":"BSF larvae produced","value":"0.15-0.5","unit":"kg/day","basis":"target","formula":"v3 KAMADO-B from 1-2 kg waste; pilot 190 kg waste -> 79 kg larvae","sources":["v3:concept","loop:src-gligorescu-2020"]},{"item":"Zeolite cartridge throughput","value":"12-25","unit":"kg/week","basis":"calculated","formula":"35 g N x 7 / 10-20 mg N/g","sources":["loop:src-anyground-v3"]},{"item":"Brine to SHIO-BUKURO","value":"about 1-3","unit":"L/day","basis":"target","formula":"assumed design input; RO reject after recovery; dried to salt cake on PV surplus"}],"robot_minutes_day":[{"item":"TSURU patrol with MIMAMORI head","value":30,"unit":"min/day","basis":"target","formula":"2 x 15 min","sources":["care:src-v3-concept"]},{"item":"HOKI PV/glazing cleaning, desert daily pass","value":2.7,"unit":"min/day","basis":"calculated","formula":"25 m2 / 9.3 m2/min","sources":["care:src-ecoppia-ketura"]},{"item":"Cartridge and organ swaps","value":2.1,"unit":"min/day","basis":"target","formula":"1.5 swaps/week x 10 min / 7"},{"item":"YOAKE-UV night pass + scouting images","value":10,"unit":"min/day","basis":"target","formula":"one ridge pass per night over the cassette"},{"item":"KAGO-MICHI tray moves and cutter cell","value":15,"unit":"min/day","basis":"target","formula":"assumed design input; shuttle moves for spacing and harvest"},{"item":"TOTAL","value":"about 60","unit":"robot-min/day","basis":"calculated","formula":"sum"}],"human_minutes_week":[{"item":"Harvest, tasting, fruit picking (grow)","value":30,"unit":"min/week","basis":"target","formula":"HATA-4 L3 target <= 30","sources":["grow:src-anyground-v3"]},{"item":"Receive/stow consumables, approve swaps (care, water, loop)","value":20,"unit":"min/week","basis":"target","formula":"KURA-3 crew minutes","sources":["care:src-v3-concept","v3:concept"]},{"item":"Energy and water review in app","value":10,"unit":"min/week","basis":"target","formula":"energy L3 8 + water L3 rounding"},{"item":"Remote operator time (YOBIDASHI)","value":6,"unit":"min/week","basis":"calculated","formula":"23 tasks x 5% intervention x 5 min","sources":["care:src-astrobee-tfr"]},{"item":"TOTAL on site + remote","value":"about 66","unit":"min/week","basis":"calculated","formula":"60 on site + 6 remote; inside the mind L3 band 15-60 on-site only if harvest is counted as leisure","sources":["mind:src-khabbazi2025"]}]},"hotel_6key":{"definition":"TABI-NO-YADO 6-key off-grid hotel (v3 T2): 6 HOSHI-2 + 1 YOSHI-4 lounge + 2 KURA-3 + 2 MIZU-1 + 2 KAWAYA-U + 1 HATA-4 + 3 DENCHI-B + IRORI-H; 12 guests at full occupancy, 65-70% occupancy assumed, temperate site PSH 4.","energy_kwh_day":[{"item":"Per occupied key incl. DHW","value":48,"unit":"kWh/day","basis":"target","formula":"assumed design input; 6 x 8 kWh","sources":["energy:src-v3-concept"]},{"item":"Two KURA-3 cores","value":7.2,"unit":"kWh/day","basis":"target","formula":"2 x 150 W x 24 h","sources":["v3:concept"]},{"item":"Lounge HVAC and breakfast kitchen","value":8,"unit":"kWh/day","basis":"target","formula":"assumed design input; energy dossier"},{"item":"One HATA-4 cassette (full)","value":"14.4-19.2","unit":"kWh/day","basis":"calculated","formula":"600-800 W x 24 h","sources":["v3:concept"]},{"item":"Two MIZU-1 at 1,300 L/day","value":"4-8.7","unit":"kWh/day","basis":"calculated","formula":"pro-rata 2 x 400 W rated at 650 L/day each","sources":["water:src-wota-site"]},{"item":"TOTAL","value":"about 82-91","unit":"kWh/day","basis":"calculated","formula":"sum (energy dossier 78-82 excluded MIZU)","sources":["energy:src-v3-concept"]},{"item":"PV needed at PSH 4, PR 0.75","value":"about 27-30","unit":"kWp","basis":"calculated","formula":"82-91 / 3","note":"CONFLICT: v3 T2 ships about 17 kWp (2 MIURA-W + 2 BYOBU-PV). Resolution: add 2 MIURA-W + 1 BYOBU-PV pair, or drop the LED cassette at low-sun sites and buy breakfast greens."},{"item":"Battery (1 firm day about 50 kWh)","value":58,"unit":"kWh","basis":"calculated","formula":"50 / 0.855 -> 3 DENCHI-B (60-120 kWh) consistent","sources":["energy:src-v3-concept"]}],"water_l_day":{"by_use":[{"item":"Guests 12 x 100 L + staff 2 x 50 L treated","value":1300,"unit":"L/day","basis":"calculated","formula":"water dossier hotel formula","sources":["water:src-anyground-v3"]}],"by_source":[{"item":"Recycled (90% net)","value":1128,"unit":"L/day","basis":"calculated","formula":"1300 - 172"},{"item":"Make-up","value":172,"unit":"L/day","basis":"calculated","formula":"12 x (100 x 0.1 + 3) + 2 x (50 x 0.1 + 3)","sources":["water:src-anyground-v3"]},{"item":"Rain from about 126 m2 roofs at 600 mm/yr","value":166,"unit":"L/day","basis":"calculated","formula":"126 x 600 x 0.8 / 365 (temperate site)","note":"Temperate hotel is roughly rain-balanced; a desert hotel needs a well, PV-RO or deliveries."}]},"food_kg_week":[{"item":"Breakfast greens (12 guests x 50 g/day)","value":4.2,"unit":"kg/week","basis":"calculated","formula":"219 kg/yr / 52 -> fits 1 HATA-4 (6.1-8.9 kg/week)","sources":["grow:src-anyground-v3"]},{"item":"Cherry tomato (12 x 50 g/day)","value":4.2,"unit":"kg/week","basis":"calculated","formula":"needs 11.5-12.9 m2 at EDEN ISS LED tomato 17-19 kg/m2/yr","sources":["grow:src-zabel2020"],"note":"CONFLICT: T2 default has no YOSHI-6G; add one daylight vault or drop tomato."}],"nutrients_g_day":[{"item":"Person-equivalents","value":7.8,"unit":"PE","basis":"calculated","formula":"6 keys x 2 x 0.65","sources":["loop:src-bvad-2022"]},{"item":"Urine N","value":69,"unit":"g N/day","basis":"calculated","formula":"7.8 x 8.8 (25.1 kg N/yr)","sources":["loop:src-fumasoli-2016"]},{"item":"N recovered (zeolite) or offtake to regional Aurin-type plant","value":59,"unit":"g N/day","basis":"calculated","formula":"69 x 0.86","sources":["loop:src-beler-baykal-2011"]},{"item":"P recovered as struvite","value":7.4,"unit":"g P/day","basis":"calculated","formula":"7.8 x 1.0 x 0.95","sources":["water:src-zeeman-2011","loop:src-wilsenach-2007"]}],"waste_kg_day":[{"item":"Urine","value":11.6,"unit":"kg/day","basis":"calculated","formula":"7.8 x 1.48","sources":["loop:src-bvad-2022"]},{"item":"Kitchen and breakfast scraps","value":"2-4","unit":"kg/day","basis":"target","formula":"assumed design input; about twice the home value"},{"item":"Laundry lint, packaging (exported)","value":"not quantified","unit":"-","basis":"unknown","formula":"-"}],"robot_minutes_day":[{"item":"2 TSURU patrols across 9 shells","value":60,"unit":"min/day","basis":"target","formula":"2 robots x 2 x 15 min","sources":["care:src-v3-concept"]},{"item":"PV/glazing cleaning, 17-30 kWp array (about 100-180 m2)","value":"11-19","unit":"min/day","basis":"calculated","formula":"area / 9.3 m2/min, daily in dust, weekly elsewhere","sources":["care:src-ecoppia-ketura"]},{"item":"Night floor vacuum (back-of-house)","value":60,"unit":"min/day","basis":"target","formula":"assumed design input; commodity robot vacuum"},{"item":"Swaps and farm","value":25,"unit":"min/day","basis":"target","formula":"home values x 1.5"}],"human_minutes_week":[{"item":"Housekeeping turnovers","value":370,"unit":"min/week","basis":"calculated","formula":"14.7 turnovers x 25 min (6 x 0.7 x 7 / 2-night stay)","sources":["care:src-v3-concept"],"note":"Dominant term; robots do not remove it in 2026 (Henn-na lesson)."},{"item":"Building care on site + remote","value":"30 + 10","unit":"min/week","basis":"target","formula":"care sizing","sources":["care:src-v3-concept"]},{"item":"Remote building operations (YOBIDASHI)","value":"<= 120","unit":"min/week","basis":"target","formula":"mind L3 hotel target; 20 hotels per operator","sources":["mind:src-waymo-futurism"]}],"build_person_h":[{"item":"Site labour at L1 / L2","value":"74-78 / 42-44","unit":"person-h","basis":"calculated","formula":"build dossier hotel formula","sources":["build:src-concept-v3"]}]},"farm_module":{"definition":"HATA-MURA farm module (v3 T1): 1 KURA-3 + 2 YOSHI-6G daylight vaults + 6 HATA-4 + 2 UKI-P + 2 BYOBU-G + KAMADO-B + MIZU-1 + KUMO-12 + KRES-7 + 2 MIURA-W + 2 BYOBU-PV + 2 DENCHI-B + TSURU-1; 0-2 operators.","energy_kwh_day":[{"item":"Six HATA-4 cassettes","value":"86-115","unit":"kWh/day","basis":"calculated","formula":"6 x 14.4-19.2","sources":["v3:concept"]},{"item":"Installed PV yield (about 17 kWp) at PSH 4 / 6","value":"51 / 77","unit":"kWh/day","basis":"calculated","formula":"17 x PSH x 0.75","sources":["v3:concept"],"note":"CONFLICT (already flagged in v3): six lit cassettes exceed the array at any PSH; honest rule = daylight vaults first, then light only as many cassettes as the design-month array covers (2-3 at PSH 4, 3-4 at PSH 6) or add wings."},{"item":"Battery per cassette with HIKARI-DOKI vs without","value":"6 vs 20","unit":"kWh","basis":"calculated","formula":"17 x 0.3 / 0.855 vs 17 / 0.855 (night share 30% is an assumption to test)","sources":["energy:src-v3-concept"]}],"water_l_day":{"by_use":[{"item":"Net per HATA-4 with 90% condensate recapture","value":"1.8-3.1","unit":"L/day","basis":"calculated","formula":"6.6 m2 x 2-4 L/m2/day x 0.1 + 0.475 biomass water","sources":["water:src-anyground-v3"]},{"item":"Six cassettes net","value":"11-19","unit":"L/day","basis":"calculated","formula":"6 x 1.8-3.1"}],"by_source":[{"item":"Transpiration recaptured (KUMO-NAE / dehumidifier)","value":"78-157","unit":"L/day","basis":"calculated","formula":"6 x 6.6 m2 x 2-4 x 0.9 (ET assumption)","sources":["loop:src-wheeler-1996"]},{"item":"Make-up from rain/KUMO-12","value":"11-19 + operators","unit":"L/day","basis":"calculated","formula":"equals net loss"}]},"food_kg_week":[{"item":"Greens from 6 cassettes (if all lit)","value":"37-53","unit":"kg/week","basis":"calculated","formula":"6 x 6.1-8.9","sources":["v3:concept"]},{"item":"Greens with only 3 cassettes lit (PV-limited)","value":"18-27","unit":"kg/week","basis":"calculated","formula":"3 x 6.1-8.9"},{"item":"Duckweed protein (2 UKI-P LED shelves)","value":"0.5-0.9 dry","unit":"kg/week","basis":"calculated","formula":"v3 planning value","sources":["v3:concept"]},{"item":"Daylight vault crops (79 m2)","value":"site-dependent; not claimed","unit":"-","basis":"n/a","formula":"cucumber reference 117 kg/m2/yr under sealed LED (EDEN ISS) is an upper bound, not a forecast","sources":["grow:src-zabel2020"]},{"item":"People fed with greens per HATA-4","value":"9-13","unit":"people at 100 g/day","basis":"calculated","formula":"318-464 kg/yr / 36.5","sources":["grow:src-anyground-v3"]}],"nutrients_g_day":[{"item":"N demand of six cassettes","value":"4-8","unit":"g N/day","basis":"calculated","formula":"6 x 0.25-0.5 kg N/yr / 365","sources":["loop:src-anyground-v3"]},{"item":"Urine N of one person covers","value":"6-13","unit":"HATA-4 racks","basis":"calculated","formula":"3.2 kg N/yr / 0.25-0.5","sources":["loop:src-anyground-v3"],"note":"A farm module is a nitrogen sink: it can absorb the zeolite exports of one or two homes (after the safety gate)."}],"waste_kg_day":[{"item":"Crop residue at harvest index about 0.7-0.8 (assumed)","value":"1-3","unit":"kg/day","basis":"target","formula":"assumed design input; 5.3-7.6 kg/day edible x 0.25-0.4"},{"item":"BSF conversion of residue","value":"0.2-0.5 larvae","unit":"kg/day","basis":"calculated","formula":"bioconversion 18-26% of substrate","sources":["grow:src-bsf-insects2026","grow:src-bsf-p2026"]}],"robot_minutes_day":[{"item":"TSURU + YOAKE-UV + shuttle across 6 cassettes and 2 vaults","value":"about 150","unit":"robot-min/day","basis":"calculated","formula":"6 x (10 UV + 15 shuttle) + 2 x 15 patrol"}],"human_minutes_week":[{"item":"Operator time","value":"180","unit":"min/week","basis":"target","formula":"6 cassettes x 30 min (= v3 pitch <3 crew h/week per 6 cassettes; grow L3 band 30-45 per cassette gives 180-270)","sources":["v3:concept","grow:src-anyground-v3"]},{"item":"Remote grower","value":"30-60","unit":"min/week","basis":"target","formula":"one remote grower per 40-80 modules","sources":["mind:src-hemming2020"]}],"build_person_h":[{"item":"Site labour at L1","value":"63-71","unit":"person-h","basis":"calculated","formula":"build dossier farm formula; v3 T1 does include 2 MIURA-W, so the build dossier's flagged mismatch resolves in favour of 63-71","sources":["build:src-concept-v3"]}]},"conflicts_resolved":[{"topic":"HATA-4 energy","a":"v3: 600-800 W average = 14.4-19.2 kWh/day","b":"grow: lighting 9.2 kWh/day at DLI 15","resolution":"Both hold: lighting 9.2 + climate/dehumidification/pumps 5.2-10 (residual, calculated). Bench measurement of the split is a G1 deliverable."},{"topic":"Specific energy of LED greens","a":"energy EN05: 11-22 kWh/kg (v3 cassette)","b":"literature 7.7-12.5 (Pennisi 2025) and 10-18 (Miserocchi 2024)","resolution":"ORIJO cassette sits at or above the literature; target the 3.16 kWh/kg hybrid-daylight benchmark (Ceccanti 2026) through HIKARI-DOKI + daylight vaults, and never price LED kWh at battery LCOS."},{"topic":"Urine nitrogen","a":"water: 11 g N/person/day (Zeeman, theoretical)","b":"loop: 8.8 g N/person/day (Fumasoli design assumption)","resolution":"8.8 design value, 11 upper bound; both imply large N surplus over indoor-crop uptake."},{"topic":"MIZU-1 electricity","a":"v3: 400 W average (9.6 kWh/day)","b":"energy dossier: 1 kWh/day assumed","resolution":"Use 2-4.3 kWh/day (throughput pro-rata of 400 W rated) for a 4-person home; vendor gives no measured kWh/m3."},{"topic":"Hotel PV","a":"v3 T2: about 17 kWp","b":"energy dossier: 26.7 kWp needed (30 with MIZU)","resolution":"Add wings/fence pair or drop the LED cassette at low-sun sites."},{"topic":"Hotel tomato","a":"grow: cherry tomato in a YOSHI-6G","b":"v3 T2 default has no YOSHI-6G","resolution":"Add one YOSHI-6G as an option line in the configurator."},{"topic":"Farm site labour","a":"build dossier flagged MIURA-W missing from its module list","b":"v3 T1 includes 2 MIURA-W","resolution":"63-71 person-h stands."},{"topic":"Lunar Palace food share","a":"grow/loop cite ~55% food regenerated","b":"55% is the 105-day LP1 (2014) figure, not LP365","resolution":"Quote 55% only for LP1; LP365 says plant production met crew plant-food needs."},{"topic":"Unfold supervision","a":"build L3: shell unfolds itself under closed-loop control","b":"mind rule: fold motions only in commissioning mode with a human present or on camera","resolution":"Compatible: ORI-SEQ executes autonomously, BANSHO gates it on a live camera link and wind/temperature limits; no optimiser can trigger a fold."},{"topic":"Water recovery","a":"ISS 98% measured","b":"ORIJO 90-95% net assumed in desert","resolution":"Size on 90%; 95-98% is the L4 target that requires brine drying (SHIO-BUKURO) and farm-condensate recapture."},{"topic":"Water autonomy level vs regulation","a":"autonomy_levels: water L3 in the 2029 catalogue home","b":"California DPR (2024): potable reuse needs certified operators every shift; no household path","resolution":"Define water L3 as unattended non-potable recycling plus potable water from rain/air/delivered sources through a certified point-of-use train; potable recycling stays engineered to the DPR benchmark but reported as uncertified until a regulator accepts sensor logs."}],"method":"Every line carries value, unit, basis and formula; inputs come from the layer dossiers sizing_reference blocks and v3 module data. Values labelled assumed are design assumptions to be measured at G1/G2."},"autonomy_levels":{"scale":[{"level":"L0","name":"Manual","human_min_week":">600 per site","mtbi":"undefined","island_days":0,"closure":{"water_pct":"0 (mains or trucked)","food_pct_greens":0,"nutrients_pct_N":0},"criteria":"People operate every system; diesel or grid; no remote visibility.","evidence":["mind:src-khabbazi2025","energy:src-pea-wiki"]},{"level":"L1","name":"Assisted","human_min_week":"300-600","mtbi":"< 1 day","island_days":"< 1","closure":{"water_pct":"up to 45 mains cut (certified greywater appliance)","food_pct_greens":"0-50 (manual hydroponics)","nutrients_pct_N":"0-38 (manual UDD + bins)"},"criteria":"PV + LFP with inverter-charger, rain tank + greywater recycler, sensors and SMS alarms; humans move material and fix faults within a day.","evidence":["water:src-hydraloop-site","water:src-zeeman-2011"]},{"level":"L2","name":"Supervised automation","human_min_week":"60-300","mtbi":">= 1 day","island_days":">= 3 with comfort","closure":{"water_pct":"90 net (household regeneration organ)","food_pct_greens":"100 of greens demand","nutrients_pct_N":"about 50 (struvite/zeolite with manual handling)"},"criteria":"Rule ladder + heat-pump tank absorbs surplus; MPC in shadow; plants on carriers; captive single-task robots (PV row, vacuum); remote human approves daily.","evidence":["water:src-wota-site","grow:src-fruitnet-spread2017","care:src-ecoppia-site"]},{"level":"L3","name":"Conditional autonomy","human_min_week":"15-60 on site + about 6 remote (home)","mtbi":">= 7 days","island_days":">= 14","closure":{"water_pct":"90-95 net","food_pct_greens":"100 of greens; < 5 of calories","nutrients_pct_N":"86 captured (exported surplus)"},"criteria":"Safety kernel + MPC/RL inside a verified envelope; soft-sensor water release; TSURU patrols and organ swaps; FDD isolates faults; remote queue answers low-confidence questions; human on call <= 4 h.","evidence":["mind:src-waymo-futurism","water:src-reynaert-2023","loop:src-beler-baykal-2011"]},{"level":"L4","name":"High autonomy","human_min_week":"1-15","mtbi":">= 30 days","island_days":">= 90 (Halley-winter class)","closure":{"water_pct":"95-98 (brine drying + condensate recapture)","food_pct_greens":"100 greens + fruit in designed walls; calories still < 10","nutrients_pct_N":"86-95 with on-site sink (farm module or beds)"},"criteria":"Self-heals by redundancy and robot organ swap; robots clean, inspect and refold before storms; humans visit only for SHIKINEN renewal and sealed-module swaps.","evidence":["mind:src-bas-halley","care:src-owens-iss","water:src-ntrs-iss-2026"]},{"level":"L5","name":"Earth-independent","human_min_week":"< 1 remote","mtbi":">= 180 days","island_days":">= 365 (PLATO/AGO class)","closure":{"water_pct":">= 98","food_pct_greens":"partial diet 30-50 (TSUKI target, speculative)","nutrients_pct_N":"> 95 with solids still about 67"},"criteria":"All decisions faster than the worst link round trip are onboard; 5x oversizing; robots install and dock new modules; bioregenerative loop at Lunar Palace class.","evidence":["mind:src-melville2014","loop:src-fu-2021-biorxiv","mind:src-plato2010"]}],"orijo_pilots":[{"year":2027,"phase":"v3 Phase 1 Bench","where":"Reefer-container HATA cassettes, KUMO-2 bench, half-length YOSHI, TSURU v0","level_by_layer":{"energy":"L2","water":"L1-L2","loop":"L1-L2","grow":"L2","build":"L1","care":"L1","mind":"L2"},"overall":"L1-L2","gate":"G1 hinge >= 2,000 cycles; KUMO >= 0.3 L/kg/day field; DENATSU-ROPE 200/200 shed trials"},{"year":2029,"phase":"v3 Phase 3 Catalogue (first IE homes, HATA-MURA farms)","where":"Licensed micro-factories; 100 units in field target","level_by_layer":{"energy":"L3","water":"L3","loop":"L3","grow":"L3","build":"L2","care":"L3","mind":"L3"},"overall":"L3","gate":"Human <= 60 min/week/home measured on the public ledger; MTBI >= 7 days; island >= 14 days"},{"year":2032,"phase":"v3 Phase 4 Extreme (KITA winter-over)","where":"Polar/mountain station kits","level_by_layer":{"energy":"L4","water":"L4","loop":"L3-L4","grow":"L3","build":"L3","care":"L4","mind":"L4"},"overall":"L4 (grow lags at L3)","gate":"G4: one winter-over with water recovery >= 95%; island >= 90 days; MTBI >= 30 days"}],"note":"Unified from the mind ladder (MTBI, island days, human minutes) with closure criteria from water, loop and grow ladders; a site is rated at the lowest level any layer meets (grow lags because fruit picking stays human-in-loop)."},"day_in_the_life":{"site":"Desert (E3) ORIJO home for 4, Atacama-like, early October; values from balances.home_4p; SOC trajectory illustrative (calculated from the balance, not simulated hourly)","events":[{"t":"00:00","layer":"water","event":"KUMO-12 sorbent cassettes loading in cool night air (RH rises as air cools)","value":"beds open; ~40-60% RH outdoors at night (site-dependent)"},{"t":"00:00","layer":"energy","event":"Battery carries firm night load only; LEDs dark","value":"SOC 72%, draw about 0.4 kW"},{"t":"00:30","layer":"grow","event":"HATA dark period (continuous by rule); CO2 and fans at minimum","value":"DLI target met yesterday 15 mol/m2"},{"t":"01:00","layer":"care","event":"TSURU night patrol on the YOSHI ridge rail: thermal scan of hinges and latches, NH3/VOC sniff near KAWAYA-U","value":"15 min; 8 datum sockets visited"},{"t":"02:00","layer":"grow","event":"YOAKE-UV bar rides the rail over the cassette: UV-C dose + RGB/NIR images","value":"10 min; images processed at edge"},{"t":"03:00","layer":"mind","event":"Daily ledger reconciliation closes (water, N, P, mass); forecast pulled for tomorrow","value":"residuals within +/-10%"},{"t":"04:00","layer":"loop","event":"KAMADO drier finishes overnight buffering of kitchen scraps","value":"about 1.5 kg wet -> about 0.4 kg dry"},{"t":"05:00","layer":"energy","event":"Battery minimum of the day; voltage-rope ladder untouched (no shedding)","value":"SOC about 55%; bus 51.2 V"},{"t":"05:45","layer":"water","event":"KUMO valves close; sorbent saturated","value":"load complete"},{"t":"06:30","layer":"energy","event":"Sunrise; BYOBU-PV east faces wake first (vertical bifacial)","value":"about 1-2 kW at 07:00"},{"t":"07:00","layer":"water","event":"Sunrise release: glazed collector + PV-T and heat-pump reject heat warm the sorbent; vapour condenses on a night-cooled plate","value":"desorption 07:00-11:00; 2.4-12 L/day yield range"},{"t":"07:00","layer":"grow","event":"HIKARI-DOKI starts LEDs with PV, not by clock","value":"2 tiers lit, about 1.1 kW"},{"t":"07:30","layer":"care","event":"HOKI broom makes the daily waterless pass on MIURA wings (dust)","value":"about 3 min for 25 m2"},{"t":"08:00","layer":"water","event":"MIZU-1 runs its main batch on PV; soft sensor (free Cl, ORP, EC, turbidity, UVT) issues verdict per tank","value":"about 320 L/day treated; release to tap only on pass"},{"t":"09:00","layer":"loop","event":"Struvite settler doses Mg; urine passes the TSUBO-Z zeolite column","value":"about 35 g N captured today"},{"t":"10:00","layer":"energy","event":"Heat pump charges IRORI-KURA tank to 60-65 C from surplus","value":"about 8 kWh_e -> about 23 kWh_th (500 L)"},{"t":"11:00","layer":"grow","event":"KAGO-MICHI shuttle moves ready trays to the cutter cell; whole-tray harvest","value":"about 0.5 kg greens"},{"t":"12:00","layer":"energy","event":"Battery full; surplus diverted to tank top-up, SHIO-BUKURO brine drying, laundry","value":"SOC 100%; about 4-6 kW surplus"},{"t":"13:00","layer":"loop","event":"KAMADO-2 composter logs hygienisation cycle (55 C x 3 days rolling)","value":"day 2 of 3 at >= 55 C"},{"t":"14:00","layer":"care","event":"Weekly organ/cartridge swap: TSURU swaps a MIZU pre-filter cartridge with the KAWARI handle","value":"10 min; ledger updated (DAICHO)"},{"t":"15:00","layer":"mind","event":"YOBIDASHI raises one low-confidence question (soft sensor slope drift) to the remote desk","value":"about 5 min human answer; logged"},{"t":"16:00","layer":"energy","event":"LEDs ramp down as PV falls; DLI met from PV hours","value":"LED day 07:00-16:30 = 9.5 h"},{"t":"17:00","layer":"water","event":"KUMO sorbent beds re-open as air cools after sunset","value":"loading begins"},{"t":"18:00","layer":"grow","event":"Residents harvest herbs and taste; human picking is the ritual robots skip","value":"about 10 min"},{"t":"19:00","layer":"energy","event":"Evening cooking on DC induction from battery; west BYOBU faces give last yield","value":"SOC 92% at sunset"},{"t":"21:00","layer":"care","event":"Second TSURU patrol; MIMAMORI head checks KAWAYA odour and latch flags","value":"15 min"},{"t":"22:00","layer":"mind","event":"Island-mode self-test (FUYU-GOMORI): verifies 4-day coast plan with cloud link disconnected for 60 s","value":"pass"},{"t":"23:00","layer":"energy","event":"SOC entering the night","value":"about 80%; projected 05:00 minimum about 55%"}]},"build_sequence":[{"step":1,"t":"D-15 to D-1","actor":"Configurator + TATAMI-KOUJOU micro-factory (CNC router, 2 cobots, vacuum laminator, fold test rig)","task":"Site pin -> physics-checked kit; CNC-cut, laminate, wire; every hinge cycle-tested; Brick graph and emulator written into each KIROKU passport","duration":"<= 15 working days (v3 G3 target)","basis":"target","sources":["v3:concept","build:src-auar-trr"]},{"step":2,"t":"D0 08:00","actor":"Truck/container carrier","task":"One 40 ft + one 20 ft container arrive; DENCHI-B pre-charged; drone and rover unloaded","duration":"1-2 h","basis":"target","sources":["v3:concept"]},{"step":3,"t":"D0 10:00","actor":"Survey drone + RTK staking rover (CivDot-class, rented)","task":"Photogrammetry; water routing generated first, then pile layout; stake 12 pile points","duration":"1 h","basis":"target","sources":["build:src-civ-site"]},{"step":4,"t":"D0 11:00","actor":"SUMI-ITO anchoring rover or compact excavator auger","task":"Install 12 helical piles, log torque-depth curve per pile (+/-10 mm position)","duration":"about 3 h (12 x 15 min target)","basis":"target","sources":["build:p-romu2020","build:src-rpd-pvmag"]},{"step":5,"t":"D0 14:00","actor":"ASHI-4 self-levelling legs (12 V hydraulic)","task":"Set leg sets on piles and level the sills; register datum frame to the pile set","duration":"about 1 h","basis":"target","sources":["v3:concept"]},{"step":6,"t":"D0 15:00","actor":"KURA-3 core + human crew of 2","task":"Dock the service core; energise DC spine and DENCHI; BANSHO kernel boots and accepts the site envelope","duration":"about 2 h","basis":"target","sources":["build:src-concept-v3"]},{"step":7,"t":"D1 07:00","actor":"ORI-SEQ fold sequencer + karakuri counterweights + 12 V winch","task":"YOSHI-4 half-shells unfold on one DoF in staged steps with force limits (stiction rule); KUSABI latches confirm each stage before the next; wind lockout in firmware","duration":"2-4 h per YOSHI-4","basis":"target","sources":["build:src-beam-wiki","build:src-hadrian-pat"]},{"step":8,"t":"D1 11:00","actor":"TSURU-1","task":"Walks the new ridge rail, audits every latch flag, scans hinges thermally; as-built survey becomes robot map","duration":"about 1 h","basis":"target","sources":["care:src-v3-concept","build:p-gregg2024"]},{"step":9,"t":"D1 13:00","actor":"Crew + winch","task":"MIURA-W PV wing and BYOBU-PV fence unfold; HOKI broom docked at wing root","duration":"about 1 h","basis":"target","sources":["v3:concept"]},{"step":10,"t":"D1 15:00","actor":"Crew + JO-PORT dry-break docking","task":"Dock MIZU-1, KAWAYA-U, KAMADO-B, KUMO-12 and HATA-4 on JO-PORT datums; pressure-decay leak test per port; merge passport graphs","duration":"about 4-5 h","basis":"target","sources":["v3:concept","mind:src-balaji2016"]},{"step":11,"t":"D2","actor":"Crew sign-off + remote engineer","task":"Envelope checks (blower door), first-flush, MIZU biology inoculated; transplant seedling trays into HATA-4","duration":"about 4 h (site total 30-38 person-h)","basis":"calculated","sources":["build:src-concept-v3"]},{"step":12,"t":"D2-D21","actor":"MIZU-1 + MIZU-MAMORI","task":"Biological start-up; water released for non-potable use first, potable only after the soft sensor and an external lab sample agree","duration":"1-3 weeks (estimate, vendor start-up time not published)","basis":"assumed","sources":["water:src-reynaert-2023","water:src-nguyen-2017"]},{"step":13,"t":"D3 onward","actor":"Mind (L2 shadow mode)","task":"MPC runs in shadow against the rule ladder for 2-4 weeks before taking control","duration":"2-4 weeks","basis":"target","sources":["mind:src-liu2022","mind:src-mulayim2025"]},{"step":14,"t":"about D21-D35","actor":"HATA-4 + KAGO-MICHI cutter cell","task":"First whole-tray greens harvest (transplanted seedlings; a 5-week cycle from seed)","duration":"3-5 weeks after transplant/seed","basis":"assumed","sources":["energy:src-v3-concept"]}],"frontier_combinations":[{"name":"KUMO-NAE: harvest the farm, not the desert","layers":["water","grow","energy"],"how":"Put a desiccant/condenser cassette on the HATA or YOSHI-6G return air (70-90% RH) instead of on desert air (10-30% RH); transpired water is already distilled by the plant.","evidence":"NASA BPC recovered 94,700 kg condensate from 20 m2 over ~1,200 days (3.9 L/m2/day); sorption yields scale strongly with RH (0.7 L/kg/day at 10% RH vs 1.3 at 32% for MOF-303).","evidence_sources":["loop:src-wheeler-1996","water:src-hanikel-2019"],"maturity":"PILOT","trl":6,"trl_why":"CEA dehumidifiers are commercial; closed farm-to-tap recapture is patented but rarely operated.","prototype_cost_usd":"about 6,000 (estimate)"},{"name":"Battery and PV waste heat regenerate the sorbent","layers":["water","energy"],"how":"Mount KUMO sorbent layers on the DENCHI cabinet heat exchanger and behind PV-T wings: discharge and module heat desorb water; sorption cools the battery and panels in return.","evidence":"MOF-303 on a discharging battery exceeded 50 C in 46 min, cut battery peak temperature by ~10 C and produced 1.39 g/g/day, +117% over solar-driven (lab). A sorption-evaporation layer was shown as a PV cooling component (Li 2020; yield/efficiency figures not verified here).","evidence_sources":["syn:chen-2026-mof-battery","syn:li-2020-pv-awh"],"maturity":"EXPERIMENTAL","trl":4,"trl_why":"Lab demonstrations only (2020, 2026).","prototype_cost_usd":"3,000-8,000 (estimate)"},{"name":"Farm LEDs as the dump load (HIKARI-DOKI)","layers":["energy","grow","mind"],"how":"Give each cassette a daily light integral, not a clock; the MPC fills it from daylight, then PV surplus, battery last, with a continuous dark period.","evidence":"Lighting dominates vertical-farm electricity (10-18 kWh/kg); hybrid daylight strategies cut electricity ~50% to a 3.16 kWh/kg minimum (model); residential battery LCOS is 547-860 USD/MWh vs utility 115-254.","evidence_sources":["energy:src-miserocchi2024","energy:src-ceccanti2026","energy:src-lazard2025-pdf"],"maturity":"PILOT","trl":6,"trl_why":"Components commercial; DLI-to-PV scheduling demonstrated only in studies.","prototype_cost_usd":"18,000-30,000 (bench, estimate)"},{"name":"Voltage as the priority ladder (DENATSU-ROPE)","layers":["energy","mind","care"],"how":"Each JO-PORT converter sheds and restores at its own bus-voltage pair (comfort 49.5 V, farm 48.5 V, water 47.5 V, life safety never), so survival order holds with every computer off.","evidence":"Low-voltage disconnects and droop sharing are standard in telecom and Current/OS DC buildings; unattended polar observatories survive by tiered shedding.","evidence_sources":["energy:src-currentos","mind:src-melville2014"],"maturity":"COMMERCIAL","trl":7,"trl_why":"Commercial pattern; ORIJO port integration new.","prototype_cost_usd":"3,000-6,000 (estimate)"},{"name":"TSURU + HOKI keep the PV ridge clean and inspected","layers":["care","energy","structure"],"how":"A waterless helix-microfibre crawler rides the MIURA wing hinge rail and docks at the wing root; TSURU does thermal scans of the same rail at night.","evidence":"Soiling costs >= 3-4% of global PV output even with optimised cleaning; row-captive robots have logged 3.89 billion panel cleanings (claimed) at ~9.3 m2/min per robot with zero water.","evidence_sources":["care:src-ilse-joule","care:src-ecoppia-site","care:src-ecoppia-ketura"],"maturity":"COMMERCIAL","trl":7,"trl_why":"Row robots TRL 9; on a folding wing rail unbuilt.","prototype_cost_usd":"6,000-9,000 (estimate)"},{"name":"Urine N feeds the HATA farm through a zeolite battery","layers":["loop","grow","water"],"how":"Stored urine -> struvite settler (P) -> clinoptilolite cartridge (N, K); charged cartridges are eluted to nutrient liquor for ornamentals/edibles behind the safety gate, or swapped and shipped to a farm module that is an N sink.","evidence":"86% overall N recovery on clinoptilolite; 95% P as struvite; lettuce took up 0.00004-0.0002% of applied pharmaceuticals; Aurin urine fertiliser authorised for edible crops in Switzerland (2018).","evidence_sources":["loop:src-beler-baykal-2011","loop:src-wilsenach-2007","loop:src-rodriguez-2025","loop:src-eawag-aurin"],"maturity":"EXPERIMENTAL","trl":5,"trl_why":"Chemistry lab/pilot; no automated household unit.","prototype_cost_usd":"3,000-6,000 (estimate)"},{"name":"Living-room CO2 feeds the grow zone; drawdown is a crop sensor (FUIGO)","layers":["loop","grow","mind"],"how":"A TPU bellows (5-10% of grow volume) moves filtered exhaust into a sealed grow zone and returns O2-enriched air; the CO2 the crop removes is logged as a daily photosynthesis signal.","evidence":"4 people exhale 4.34 kg CO2/day (BVAD); CEEF kept people and plants in separate atmospheres with transfer lines; SAM at Biosphere 2 uses CO2 make-up as a plant-health sensor.","evidence_sources":["loop:src-bvad-2022","loop:src-nitta-2010","loop:src-sam-b2-2026"],"maturity":"PILOT","trl":5,"trl_why":"Analogue-facility practice; never productised for homes.","prototype_cost_usd":"4,000-8,000 (estimate)"},{"name":"Reject-heat cascade into one tank (IRORI-KURA)","layers":["energy","loop","water"],"how":"LED drivers, dehumidifier and fridge condensers dump into the cold bottom of a 500 L stratified tank; that layer keeps larvae and composters warm and preheats the sorbent; the top holds 60-65 C DHW.","evidence":"500 L x 40 K = 23 kWh_th; household digesters soured (pH 5.3-6.1) in a cold climate; PoliTo closed-loop desorption needs 2.7 kWh_th/L at 45-80 C.","evidence_sources":["energy:src-v3-concept","loop:src-ebel-2025","water:src-pat-polito"],"maturity":"COMMERCIAL","trl":6,"trl_why":"Tanks and heat pumps commercial; the cascade integration is new.","prototype_cost_usd":"8,000-15,000 (estimate)"},{"name":"Fold passport + fleet failure ledger (KIROKU + DAICHO)","layers":["mind","care","build"],"how":"Each module ships its semantic graph, emulator and fault signatures; identical siblings across sites feed a Bayesian failure-rate ledger that sizes spares and predicts swaps.","evidence":"ISS on-orbit data showed 18% of ECLSS ORUs fail more than predicted and one 7.8x; corrected rates save 3.9-6.0 t of Mars spares; commissioning/modelling labour is the main barrier to Brick and MPC adoption.","evidence_sources":["care:src-owens-iss","mind:src-balaji2016","mind:src-khabbazi2025"],"maturity":"PILOT","trl":6,"trl_why":"Method operational at ISS; no building-fleet product.","prototype_cost_usd":"15,000-30,000 engineering (estimate)"},{"name":"Brine bag dried on PV surplus (SHIO-BUKURO)","layers":["water","energy","loop"],"how":"RO reject and urine brine go into a membrane bladder dried by surplus heat at ambient pressure; salt cake leaves as a product.","evidence":"ISS Brine Processor returned about 780 of 946 L since Feb 2024 and lifted total recovery from 93-94% to 98%.","evidence_sources":["water:src-ntrs-iss-2026","water:src-nasa-98"],"maturity":"PILOT","trl":6,"trl_why":"Flight tech demo; no terrestrial product.","prototype_cost_usd":"about 1,500 (estimate)"},{"name":"One ridge rail for UV, harvest and inspection","layers":["grow","care","structure"],"how":"YOAKE-UV bar, the TSUBO-KABE fruit-wall arm and TSURU share one rail profile, one dock and one handle; the crop is designed for the robot (fixed truss heights on the jo grid).","evidence":"Night UV-C rovers claim 70-100% pesticide reduction; harvest robots average 66% success, SWEEPER 61% only in an adapted crop vs 18% otherwise.","evidence_sources":["grow:src-saga-site","grow:src-bac2014","grow:src-arad2020"],"maturity":"PILOT","trl":5,"trl_why":"UV rover commercial; shared ridge-rail integration and >90% picking unbuilt.","prototype_cost_usd":"25,000-45,000 fruit wall + 3,000-7,000 UV bar (estimate)"},{"name":"Fail-closed water verdict at the edge (MIZU-MAMORI)","layers":["water","mind"],"how":"Free chlorine + ORP + EC + turbidity + UVT slopes feed a logistic soft sensor with a fixed 2% false-positive ceiling; any doubt routes the batch to grey, never to tap.","evidence":"Two cheap sensors classified safe/unsafe reuse water at FPR <= 2% (NEST); stored treated water regrew pathogens without residual (Autarky).","evidence_sources":["water:src-reynaert-2023","water:src-nguyen-2017"],"maturity":"EXPERIMENTAL","trl":5,"trl_why":"Validated on lab-induced disruptions; no certified product.","prototype_cost_usd":"about 4,000 (estimate)"}],"failures_atlas":[{"what":"Vertical-farm wave: Bowery (closed Nov 2024), Plenty (Ch.11 Mar 2025), Jones Food (administration Apr 2025), 80 Acres + Infinite Acres (Aug-Sep 2026), Freight Farms (Ch.7 Apr 2025)","layers":["grow","energy","mind"],"why":"More than USD 2.35 bn raised in named failures; LED commodity lettuce at 10-18 kWh/kg against field produce; debt-funded scale; Freight Farms' cloud shutdown stranded growers.","lesson":"Daylight for calories; LED only for remote-premium greens on owned PV in sun hours; sell hardware as equipment, never as a crop promise; every controller runs locally with escrowed firmware.","sources":["grow:src-agdive-bowery","grow:src-elevenflo-plenty","grow:src-agnav-jones","grow:src-hortidaily-infiniteacres","mind:src-freightfarms-ch7"]},{"what":"Katerra (> USD 2 bn, Ch.11 2021) and Veev (USD 600 M, closed 2023)","layers":["build"],"why":"Vertical integration, bespoke projects, capital-hungry plants before unit economics.","lesson":"Licensed container micro-factories, one product grammar, OEM organs, build to signed orders.","sources":["build:src-katerra-cd","build:src-veev-tc"]},{"what":"Boxabl: 744 built vs 285 delivered (mid-2025)","layers":["build","structure"],"why":"The fold works; land, permits, foundations and hook-ups do not.","lesson":"Ship anchoring (ASHI), off-grid autonomy and a permit pack with every kit.","sources":["build:src-boxabl-hw","build:src-boxabl-bo"]},{"what":"3D-printing shake-out: ICON -25% staff (2025), Mighty Buildings for sale, Diamond Age liquidation","layers":["build"],"why":"Printing automates one trade (walls); roof, MEP, windows stay manual.","lesson":"Do not print shells; print only plinths or lunar pads.","sources":["build:src-icon-tc25","build:src-icon-3dp25","build:src-mighty-3dp"]},{"what":"BEAM first expansion stalled (2016)","layers":["build","structure"],"why":"Unexpected behaviour after long packed dwell; second attempt took ~7 h of staged pulses.","lesson":"Pre-ship cycle test, dwell-time rule in the passport, slow staged unfolding with force limits (ORI-SEQ).","sources":["build:src-beam-wiki"]},{"what":"SOURCE hydropanels in Allensworth, CA","layers":["water","care"],"why":"Panels broke and went unserviced; about 1 gallon/panel/day against town demand.","lesson":"Sell service, telemetry and spares, sized to the residual; publish litres per kWh per climate.","sources":["water:src-sjv-allensworth"]},{"what":"ISS urine processor and toilet: recovery cut 85% -> 75% (2009), purge-pump failures and toilet stand-down (2024-26)","layers":["water","loop","care"],"why":"Brine chemistry, unmonitored dose pumps, peristaltic tubing wear.","lesson":"Every dose has a sensor that confirms it; wear parts are robot-swappable cartridges; plan for the loop being down.","sources":["water:src-ntrs-iss-2026"]},{"what":"Biosphere 2 oxygen crash (1991-93)","layers":["loop","structure"],"why":"Soil respiration and fresh-concrete carbonation; O2 fell 21% -> 14%.","lesson":"Never share one atmosphere with a soil ecosystem; seal only grow zones with a controlled transfer line; no fresh cement inside.","sources":["loop:src-severinghaus-1994","loop:src-dempster-1999"]},{"what":"Insect-protein collapse: Ynsect, Aspire, Enorm, AgroLoop, Goterra (USD 777 M raised)","layers":["loop"],"why":"Giga-factories before unit economics; insect meal costlier than the feed it replaces.","lesson":"BSF is an internal waste service sized to the household, never a revenue line.","sources":["loop:src-insectinstitute-777m","loop:src-techcrunch-ynsect"]},{"what":"Henn-na Hotel decommissioned about half of 243 robots (2019); iRobot Ch.11 (2025)","layers":["care"],"why":"Guest-facing robots created more human work; single-task consumer robots commoditised.","lesson":"Robots back-of-house only; sell building uptime inside the SHIKINEN lease, not robots.","sources":["care:src-henn-futurism","care:src-irobot-md"]},{"what":"Harvest robots: 66% average success over 30 years; SWEEPER 18% in a normal crop","layers":["grow"],"why":"Occlusion and variability, not arms.","lesson":"Design the crop for the robot; keep humans picking until > 90%.","sources":["grow:src-bac2014","grow:src-arad2020"]},{"what":"Natron (ceased 2025) and Ambri (Ch.11 2024) storage start-ups","layers":["energy"],"why":"Novel chemistry needed factories before revenue.","lesson":"Buy commodity cells, innovate in integration; keep DENCHI chemistry-agnostic.","sources":["energy:src-sodium-wiki","energy:src-ambri-pvmag2024"]},{"what":"PENGUIn AGO propane generators (abandoned 2001)","layers":["energy","mind"],"why":"Exhaust ducts froze, propane will not vaporise below about -40 C, regulators failed shorted.","lesson":"No combustion in the critical path at polar sites; oversize >= 5x; survive loss of any two sources.","sources":["mind:src-melville2014"]},{"what":"AI-control headline shrinkage and LLM schedule fabrication","layers":["mind"],"why":"40% data-centre headline became 9-13% in commercial buildings; 71% of 104 field demos used possibly unreliable protocols; LLM agents fabricated schedules under conflicts.","lesson":"Promise 10-20% with switch-back A/B; LLMs never touch actuators.","sources":["mind:src-dm2016","mind:src-luo2022","mind:src-khabbazi2025","mind:src-jonah2026"]},{"what":"Autarky toilet: treated water regrew pathogens in storage","layers":["water","loop"],"why":"No residual disinfectant.","lesson":"Residual chlorine or recirculating UV in every store.","sources":["water:src-nguyen-2017"]}],"investor_view":{"why_now":[{"label":"PV modules: China Module Marker (TOPCon <645 W), Oct 2026","value":"0.107","unit":"USD/W","basis":"reported","sources":["syn:opis-2026-10"],"note":"Was 0.140 USD/W in Oct 2023, then called the lowest ever recorded (OPIS); US-assembled modules about 0.30 USD/W (tariff market)."},{"label":"PV deployment 2025","value":"about 698","unit":"GW added (cumulative nearly 3 TW)","basis":"reported","sources":["energy:src-iea-pvps2026"]},{"label":"Stationary battery pack price 2025","value":"70 (-45% y/y); LFP all segments 81","unit":"USD/kWh","basis":"reported","sources":["energy:src-bnef2025"]},{"label":"Cold-tolerant sodium-ion in mass production","value":"175 Wh/kg; > 90% capacity at -40 C","unit":"Wh/kg; %","basis":"claimed","sources":["energy:src-catl-newatlas2026"]},{"label":"Horticultural LED efficacy (best tested) vs ceiling","value":"3.0 vs 3.4-4.1","unit":"umol/J","basis":"measured / calculated","sources":["grow:src-kusuma2020"],"note":"The LED curve is nearly finished: only 13-37% headroom remains, so future kWh/kg gains must come from daylight and control, which is ORIJO's architecture."},{"label":"Humanoid hardware price floor","value":"4,900-5,900","unit":"USD (Unitree R1, ~29 kg, 26 DoF)","basis":"reported","sources":["syn:unitree-r1"]},{"label":"Open-source teleop-learning arm BOM","value":"121.94 (follower) / 229.88 (pair)","unit":"USD","basis":"reported","sources":["syn:so101-bom"]},{"label":"Industrial robots operating worldwide","value":"5 million (+9%); > 600,000 installed in 2025 (+11%)","unit":"units","basis":"reported","sources":["syn:ifr-2026"]},{"label":"Lidar unit price in China automotive","value":"30,000 -> about 1,000","unit":"yuan (about USD 4,100 -> 138)","basis":"reported","sources":["syn:lidar-ct-2025"],"note":"Quoted in China Daily (Mar 2025) via CleanTechnica; models unnamed."},{"label":"Edge AI compute","value":"67 INT8 TOPS for 249 (was 499)","unit":"USD","basis":"reported","sources":["syn:jetson-2024"]},{"label":"Learned manipulation policies","value":"+46.9% over prior SOTA (Diffusion Policy); < 30% task data to match single-task (LBM, sim)","unit":"%","basis":"measured / calculated","sources":["care:src-dp","care:src-lbm"]},{"label":"Regulatory template for remotely supervised autonomy","value":"IMO MASS Code voluntary 1 Jul 2026; mandatory target 1 Jan 2032","unit":"date","basis":"reported","sources":["mind:src-imo-mass"]}],"moats":["The jo grid as a coordinate system: shell, carriers, rails, datums and ports share one 910 mm pitch, turning hard perception into positioning (care, grow, build all converge on this).","Catalogue modules with fold passports (KIROKU): semantic graph + emulator + fault signatures ship with each organ, removing the commissioning labour that blocks MPC/FDD adoption elsewhere.","Fleet data from identical siblings across sites (DAICHO): labelled failure and performance data single buildings never have.","Integration IP across layers (voltage-rope priority, DLI-to-sun scheduling, reject-heat cascade, farm-air water, zeolite N battery) rather than any single invented component.","SHIKINEN lease: Anyground owns, renews and services organs; recurring revenue and the right incentive to make robots reduce human minutes.","Honesty as a differentiator: published human-minutes ledger, litres per kWh per climate and autonomy level per module (lessons of SOURCE, Monarch, Waymo)."],"risks":["KASANE hinge (weathertight, insulated, cycle-rated) is unbuilt and is the single largest technical risk (v3 M01).","Energy: LED food is the largest load; cassettes beyond the array's design-month yield break the energy balance (farm module conflict).","Water: no household greywater-to-potable appliance has multi-year independent safety data; pathogen-specific online sensing does not exist.","Loop: no certified automated household urine-to-fertiliser appliance; regulatory acceptance of urine products for edibles exists only in Switzerland.","Robots: no public MTBF data for home mobile manipulators; TSURU crease-rail locomotion untested in ice, snow and sand; field robots take years (Hadrian ~9 years patent-to-sale).","Mind: no audited field evidence of LLMs in the actuation path; cyber exposure of remote ops (JCI precedent).","Capital structure: every failure atlas entry was a capital-structure or crop/market failure more than a technology failure.","Regulation: California DPR requires T5/T3 human operators every shift for potable reuse; no household potable-reuse, robot-assembled-structure or unattended-ESS certification path was found. Autonomy claims must be split into certified (non-potable water, listed batteries, plant-certified shells) and uncertified (potable, robot assembly) scopes."],"milestones":[{"date":"2027-12","gate":"G1 Bench","measure":"Hinge >= 2,000 cycles; DENATSU-ROPE 200/200 trials; HIKARI-DOKI >= 50% battery-throughput cut at <= 10% yield loss; KUMO >= 0.3 L/kg/day field; TSUBO-Z >= 80% N capture over 3 months","sources":["v3:concept","energy:src-v3-concept"]},{"date":"2028-06","gate":"G1.5 Certification","measure":"MIZU-1 submitted for NSF/ANSI 350 (non-potable); DENCHI-B on a UL 9540-listed product; one micro-factory under ICC/MBI 1205-style plant certification in an adopting state; KASANE/YOSHI full-scale load and water test report","sources":["water:src-hydraloop-site","energy:src-nicolello-ess","build:src-thau-1205","build:src-salet2018"],"basis":"target"},{"date":"2028-12","gate":"G2 Pavilion","measure":"12 months, occupancy >= 60%, water availability >= 99.9%, human-minutes ledger published, island test >= 14 days","sources":["v3:concept"]},{"date":"2030-12","gate":"G3 Catalogue","measure":"100 units at L3: <= 60 human min/week/home, MTBI >= 7 days, gross margin >= 30% (target)","sources":["v3:concept"]},{"date":"2033-12","gate":"G4 Extreme","measure":"KITA winter-over at L4: island >= 90 days, water recovery >= 95%","sources":["v3:concept"]}]},"visual_briefs":{"style_global":"Photoreal architectural photography, Japanese minimalism, washi-white folded panels with matte FRP texture, hinoki timber sills, charred-cedar (yakisugi) service core, patinated bronze hinge knuckles and latches visible at every crease, credible engineering detail, soft natural light, 35mm lens, no people unless stated, no text, no logos.","images":[{"id":"L01","title":"Exploded autonomy stack under a folded shell","prompt":"Exploded axonometric architectural render of a thick-panel rigid-origami barrel vault lifted above its own floor, revealing eight stacked translucent strata beneath: washi-white folded shell on top, a Miura-folded PV wing, a charred-cedar battery and water organ layer with glowing copper DC busbars, closed-loop pipe layer in bronze, a lit hydroponic tray layer, a slim inchworm robot on a ridge rail, a thin layer of fine data threads. Clean studio void, soft daylight, Japanese minimalism. Photoreal architectural photography, Japanese minimalism, washi-white folded panels with matte FRP texture, hinoki timber sills, charred-cedar (yakisugi) service core, patinated bronze hinge knuckles and latches visible at every crease, credible engineering detail, soft natural light, 35mm lens, no people unless stated, no text, no logos."},{"id":"L02","title":"Night in the Atacama: sorbent loading and battery glow","prompt":"Night cutaway of an origami barrel-vault home on an Atacama salt flat under a dense starfield: sorbent cassettes in a glazed rack open to the cold air, a faint amber glow from a charred-cedar battery locker, a stratified hot-water tank shown in section with warm-to-cool gradient, LED farm trays dark behind washi screens. Blue-hour long exposure, credible engineering detail. Photoreal architectural photography, Japanese minimalism, washi-white folded panels with matte FRP texture, hinoki timber sills, charred-cedar (yakisugi) service core, patinated bronze hinge knuckles and latches visible at every crease, credible engineering detail, soft natural light, 35mm lens, no people unless stated, no text, no logos."},{"id":"L03","title":"Sunrise release","prompt":"First sunlight hitting a vertical bifacial PV fence and a glazed collector over a water-harvesting rack beside a washi-white folded vault; visible condensation beading on a bronze night-cooled plate, a small glass carafe filling. Pink-gold dawn, desert mountains, 50 mm lens. Photoreal architectural photography, Japanese minimalism, washi-white folded panels with matte FRP texture, hinoki timber sills, charred-cedar (yakisugi) service core, patinated bronze hinge knuckles and latches visible at every crease, credible engineering detail, soft natural light, 35mm lens, no people unless stated, no text, no logos."},{"id":"L04","title":"Robots constructing the site at dawn","prompt":"Dawn on a desert plateau: a small tracked rover drilling a helical screw pile with a logged torque display, survey stakes with bronze caps, a half-unfolded thick-panel origami vault rising on one hinge axis from a flat pack on self-levelling legs, a 20 ft container open behind. Two workers in the distance only signing off on a tablet. Photoreal architectural photography, Japanese minimalism, washi-white folded panels with matte FRP texture, hinoki timber sills, charred-cedar (yakisugi) service core, patinated bronze hinge knuckles and latches visible at every crease, credible engineering detail, soft natural light, 35mm lens, no people unless stated, no text, no logos."},{"id":"L05","title":"Maintenance robot on the PV ridge","prompt":"Close view of a 30 kg inchworm service robot gripping datum sockets every 910 mm along the bronze ridge rail of a folded vault, a thermal-camera head scanning a hinge, and a slim microfibre brush crawler cleaning a Miura-folded PV wing beside it; fine desert dust, late afternoon raking light. Photoreal architectural photography, Japanese minimalism, washi-white folded panels with matte FRP texture, hinoki timber sills, charred-cedar (yakisugi) service core, patinated bronze hinge knuckles and latches visible at every crease, credible engineering detail, soft natural light, 35mm lens, no people unless stated, no text, no logos."},{"id":"L06","title":"Farm robots in the daylight vault","prompt":"Interior of a glazed origami greenhouse vault: cherry-tomato trusses hanging at exact grid heights from a ridge rail, a slender rail-mounted arm picking into a hinoki tray, half-tatami grow carriers gliding on passive rollers toward a stationary vision-and-cutter cell, a resident tasting herbs at the end. Soft diffuse daylight through twin-wall facets. Photoreal architectural photography, Japanese minimalism, washi-white folded panels with matte FRP texture, hinoki timber sills, charred-cedar (yakisugi) service core, patinated bronze hinge knuckles and latches visible at every crease, credible engineering detail, soft natural light, 35mm lens, no people unless stated, no text, no logos."},{"id":"L07","title":"The closed loop as an object","prompt":"Diagram-like photoreal render on a hinoki table: a sequence of small sculptural vessels connected by thin bronze tubes - urine-diverting toilet, struvite settler, zeolite cartridge, larvae tray, composter, biochar jar, lettuce tray, water tank - arranged in a circle with tiny engraved gram labels as blank plates (no text), soft overhead light. Photoreal architectural photography, Japanese minimalism, washi-white folded panels with matte FRP texture, hinoki timber sills, charred-cedar (yakisugi) service core, patinated bronze hinge knuckles and latches visible at every crease, credible engineering detail, soft natural light, 35mm lens, no people unless stated, no text, no logos."},{"id":"L08","title":"Remote operations desk: one person, many sites","prompt":"A quiet Japanese operations room with shoji light: one operator at a low hinoki desk facing a wall of small monochrome site tiles showing folded vaults in desert, forest and snow, one tile highlighted with a question card; no visible text, calm, minimal. Photoreal architectural photography, Japanese minimalism, washi-white folded panels with matte FRP texture, hinoki timber sills, charred-cedar (yakisugi) service core, patinated bronze hinge knuckles and latches visible at every crease, credible engineering detail, soft natural light, 35mm lens, no people unless stated, no text, no logos."}],"videos":[{"id":"LV1","title":"24 hours of an autonomous desert home","first_frame":"Night: sorbent rack open, battery glow, TSURU patrol on ridge","last_frame":"Next night: same view, carafe filled, tray harvested","transformation":"Time-lapse 24 h in 30 s: stars wheel, sorbent beds close at dawn, condensate beads, PV wings brighten, LED tiers switch on with the sun, a tray glides to the cutter, a broom crawler passes the wing, sunset, robot returns to dock","prompt":"Photoreal time-lapse of a washi-white origami barrel-vault home in the Atacama over 24 hours: night water-harvesting rack, sunrise water release, PV wings and vertical bifacial fence catching light, indoor LED farm turning on only in daylight, a small inchworm robot walking the ridge rail at night, Japanese minimalism, credible mechanics, no text."},{"id":"LV2","title":"From container to first harvest","first_frame":"Container on bare ground at dawn, rover unloading","last_frame":"Finished home with first lettuce tray harvested five weeks later","transformation":"Drone survey, rover installs screw piles, legs level, vault half-shells unfold on one axis with latches confirming, robot audits ridge, PV wing unfurls, organs dock into floor sockets, seasons-light shift to first harvest","prompt":"Photoreal sequence of robots building an origami home: tracked rover driving helical piles, thick-panel vault unfolding from flat packs, inchworm robot latching ridges, Miura PV wing unfolding, water and farm organs docking into tatami-grid floor sockets, ending with a hand lifting the first lettuce tray, washi and bronze, Japanese minimalism, no text."}]},"counts":{"sources":554,"sources_note":"unique URLs across the 7 dossiers (558 registry entries after the gaps pass) + 10 synthesis sources read on 2026-10-29","papers":219,"projects":195,"numbers":207,"serp_calls":357,"serp_calls_logged_ok":308,"elicit_calls":119,"per_layer_serp_budget":{"water":48,"care":48,"build":48,"energy":48,"grow":47,"loop":44,"mind":48,"synthesis":9,"gaps":16},"note":"serp_calls = budget.json counter (includes failed HTTP 400 calls that consumed budget); serp_calls_logged_ok counts successful raw-*.jsonl records. papers = dossier papers + 3 synthesis papers. numbers = dossier numbers registers only (balances add calculated lines). sources_cited_in_synthesis now covers every id cited in layers.json and in docs/v4/autonomy-layers.md (49 report-only ids registered in the gaps pass).","sources_cited_in_synthesis":201,"certification_entries":16,"gaps_pass":"gaps-2026-10-29: SerpApi calls under layer \"gaps\" plus Elicit queries; see research/v4/gaps-log.md"},"sources":[{"id":"build:p-gregg2024","title":"Ultralight, strong, and self-reprogrammable mechanical metamaterials (Science Robotics 9(86):eadi2746, 2024)","url":"https://doi.org/10.1126/scirobotics.adi2746","type":"paper","read_primary":true},{"id":"build:p-kam2025","title":"Comparison of dusty robotics and traditional layout methods (Construction Robotics, 2025)","url":"https://doi.org/10.1007/s41693-025-00163-z","type":"paper","read_primary":true},{"id":"build:p-romu2020","title":"Autonomous anchoring for robotic construction (Automation in Construction 120:103391, 2020)","url":"https://doi.org/10.1016/j.autcon.2020.103391","type":"paper","read_primary":true},{"id":"build:p-zhu2024","title":"Large-scale modular and uniformly thick origami-inspired adaptable and load-carrying structures (Nature Communications 15, 2024)","url":"https://doi.org/10.1038/s41467-024-46667-0","type":"paper","read_primary":true},{"id":"build:src-auar-trr","title":"AUAR and ABB bring robotic Micro-Factories to U.S. homebuilding (The Robot Report, 2024-09-26)","url":"https://www.therobotreport.com/auar-brings-its-robotic-micro-factories-to-the-u-s/","type":"news","read_primary":true},{"id":"build:src-beam-wiki","title":"Bigelow Expandable Activity Module (Wikipedia, citing NASA CRS-8 overview, The Verge, SpaceNews)","url":"https://en.wikipedia.org/wiki/Bigelow_Expandable_Activity_Module","type":"agency","read_primary":true},{"id":"build:src-boxabl-bo","title":"Boxabl secures US$3.5b valuation while fewer than 300 Casitas have been delivered (Built Offsite, 2025-09-19)","url":"https://builtoffsite.com.au/news/boxabl-secures-us3-5b-valuation-while-fewer-than-300-casitas-have-been-delivered/","type":"news","read_primary":true},{"id":"build:src-boxabl-hw","title":"Boxabl valuation at $3.5 billion tests housing fundamentals (HousingWire, 2026-07-30)","url":"https://www.housingwire.com/articles/boxabl-valuation-sales-math/","type":"news","read_primary":true},{"id":"build:src-civ-site","title":"Civ Robotics home page (CivDot+)","url":"https://www.civrobotics.com/","type":"company","read_primary":true},{"id":"build:src-concept-v3","title":"Anyground research/v3/concept.json (ORIJO mechanisms M01-M13, modules, typologies, value chain)","url":"file:///Users/ivan/projects/anyground/research/v3/concept.json","type":"standard","read_primary":true},{"id":"build:src-hadrian-pat","title":"US11842124B2 Dynamic compensation of a robot arm mounted on a flexible arm (Fastbrick IP; 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(2024) Potential of sugar beet and wheat production in vertical bifacial, tracked, or elevated agrivoltaic systems in Belgium, Applied Energy 359:122679","url":"https://doi.org/10.1016/j.apenergy.2024.122679","type":"paper","read_primary":true,"cited_in":"report"},{"id":"energy:src-rondo-pvmag2025","title":"pv magazine (2025-10-21) Rondo Energy's 100 MWh heat battery powered by 20 MW of onsite solar","url":"https://www.pv-magazine.com/2025/10/21/rondo-energys-100-mwh-heat-battery-powered-by-20-mw-of-onsite-solar/","type":"news","read_primary":true,"cited_in":"report"},{"id":"energy:src-sepulveda2021","title":"Sepulveda, Jenkins, Edington, Mallapragada, Lester (2021) The design space for long-duration energy storage in decarbonized power systems, Nature Energy 6:506-516","url":"https://doi.org/10.1038/s41560-021-00796-8","type":"paper","read_primary":true,"cited_in":"report"},{"id":"energy:src-showa2020","title":"Study of a clean microgrid for the Japanese Antarctica Showa Base (2020) E3S Web Conf. 160:01001 (Elicit record)","url":"https://doi.org/10.1051/e3sconf/202016001001","type":"paper","read_primary":false,"cited_in":"report"},{"id":"energy:src-vf-wiki","title":"Wikipedia: Vertical farming (Jones Food Company administration 2025; LED efficiency)","url":"https://en.wikipedia.org/wiki/Vertical_farming","type":"news","read_primary":true,"cited_in":"report"},{"id":"grow:src-agfunder-80acres","title":"AgFunderNews (3 Aug 2026) Indoor ag heavyweight 80 Acres Farms to cease operations","url":"https://agfundernews.com/indoor-ag-heavyweight-80-acres-farms-to-cease-operations","type":"news","read_primary":true,"cited_in":"report"},{"id":"grow:src-agfunder-plenty","title":"AgFunderNews (27 Mar 2025) Plenty, an autopsy: It promised the moon, but plants don't run on pitch decks","url":"https://agfundernews.com/plenty-has-an-opportunity-to-succeed-say-some-vertical-farming-experts-what-happens-next","type":"news","read_primary":true,"cited_in":"report"},{"id":"grow:src-robotreport-ironox","title":"The Robot Report (2 Nov 2022) Reports of layoffs at Iron Ox","url":"https://www.therobotreport.com/reports-of-layoffs-at-iron-ox/","type":"news","read_primary":true,"cited_in":"report"},{"id":"grow:src-tc-monarch","title":"TechCrunch (19 Nov 2025) Monarch Tractor preps for layoffs and warns employees it may shut down","url":"https://techcrunch.com/2025/11/19/monarch-tractor-preps-for-layoffs-and-warns-employees-it-may-shut-down/","type":"news","read_primary":true,"cited_in":"report"},{"id":"grow:src-yan2019","title":"Yan, He, Niu et al. (2019) Growth, nutritional quality, and energy use efficiency of hydroponic lettuce as influenced by DLI, HortScience","url":"https://doi.org/10.21273/HORTSCI14236-19","type":"paper","read_primary":true,"cited_in":"report"},{"id":"loop:src-cfr-503","title":"40 CFR Part 503 Appendix B - Pathogen treatment processes (PFRP composting time-temperature)","url":"https://www.law.cornell.edu/cfr/text/40/appendix-B_to_part_503","type":"standard","read_primary":true,"cited_in":"report"},{"id":"loop:src-elsacker-2019","title":"Elsacker E, Vandelook S, Brancart J, Peeters E et al. - Mechanical, physical and chemical characterisation of mycelium-based composites with different types of lignocellulosic substrates, PLoS ONE 14:e0213954 (2019), abstract via OpenAlex","url":"https://doi.org/10.1371/journal.pone.0213954","type":"paper","read_primary":true,"cited_in":"report"},{"id":"loop:src-garcia-gragera-2021","title":"Garcia-Gragera D, Arnau C, Peiro E et al. - Integration of Nitrifying, Photosynthetic and Animal Compartments at the MELiSSA Pilot Plant, Front. Astron. Space Sci. 8:750616 (2021)","url":"https://www.frontiersin.org/journals/astronomy-and-space-sciences/articles/10.3389/fspas.2021.750616/full","type":"paper","read_primary":true,"cited_in":"report"},{"id":"loop:src-gitelson-1989","title":"Gitelson II, Terskov IA, Kovrov BG, Lisovskii GM et al. - Long-term experiments on man's stay in biological life-support system, Adv. Space Res. 9(8):65-71 (1989), PubMed abstract","url":"https://doi.org/10.1016/0273-1177(89)90030-6","type":"paper","read_primary":true,"cited_in":"report"},{"id":"loop:src-jeffery-2017","title":"Jeffery S et al. - Biochar boosts tropical but not temperate crop yields, Environ. Res. Lett. (2017), abstract via OpenAlex","url":"https://doi.org/10.1088/1748-9326/aa67bd","type":"paper","read_primary":true,"cited_in":"report"},{"id":"loop:src-porterfield-2025","title":"Porterfield DM, Tulodziecki D, Wheeler R - Critical investments in bioregenerative life support systems for bioastronautics and sustainable lunar exploration, npj Microgravity (2025), abstract via OpenAlex","url":"https://doi.org/10.1038/s41526-025-00518-4","type":"paper","read_primary":true,"cited_in":"report"},{"id":"loop:src-schroeder-2026","title":"Schroeder C, Haefner F, Krause A et al. - Recycling fertilizers from resource-oriented sanitation systems: product-level characterization and meta-analysis of agronomic performance, Front. Environ. Sci. (2026), abstract via OpenAlex","url":"https://doi.org/10.3389/fenvs.2026.1843173","type":"paper","read_primary":true,"cited_in":"report"},{"id":"mind:src-dm2018","title":"Google DeepMind blog (17 Aug 2018) Safety-first AI for autonomous data centre cooling and industrial control","url":"https://deepmind.google/discover/blog/safety-first-ai-for-autonomous-data-centre-cooling-and-industrial-control/","type":"company","read_primary":true,"cited_in":"report"},{"id":"mind:src-freightfarms","title":"HortiDaily (5 May 2025) Freight Farms' bankruptcy filing reveals $7M in liabilities","url":"https://www.hortidaily.com/article/9728610/freight-farms-bankruptcy-filing-reveals-7m-in-liabilities-and-how-the-industry-is-responding/","type":"news","read_primary":true,"cited_in":"report"},{"id":"mind:src-gateway-ifl","title":"IFLScience (24 Mar 2026) NASA pauses Lunar Gateway, announces ~$20B moon base plan","url":"https://www.iflscience.com/nasa-kills-lunar-gateway-announces-ambitious-plans-for-moon-base-ready-in-early-2030s-82959","type":"news","read_primary":true,"cited_in":"report"},{"id":"mind:src-jci2023","title":"Cybersecurity Dive (28 Sep 2023) Johnson Controls hit by 'severe' cyberattack","url":"https://www.cybersecuritydive.com/news/johnson-controls-ransomware-attack/695130/","type":"news","read_primary":true,"cited_in":"report"},{"id":"mind:src-openrmf-news","title":"The Robot Report (8 Jan 2024) New version of Open-RMF hits ROS 2","url":"https://www.therobotreport.com/new-version-of-open-rmf-hits-ros2/","type":"news","read_primary":true,"cited_in":"report"},{"id":"syn:hussien-2017-wef","title":"Hussien WA, Memon FA, Savic DA 2017 An integrated model to evaluate water-energy-food nexus at a household scale, Environ Model Softw (abstract via OpenAlex)","url":"https://doi.org/10.1016/j.envsoft.2017.03.034","type":"synthesis","read_primary":true,"cited_in":"report"},{"id":"syn:opis-2023-10","title":"pv magazine / OPIS (27 Oct 2023) Solar module prices dive to record low; CMM USD 0.140/W","url":"https://www.pv-magazine.com/2023/10/27/solar-module-prices-dive-to-record-low/","type":"synthesis","read_primary":true,"cited_in":"report"},{"id":"water:src-almassad-2022","title":"Almassad et al. 2022 - Environmentally adaptive MOF-based device enables continuous self-optimizing AWH, Nat Commun","url":"https://doi.org/10.1038/s41467-022-32642-0","type":"paper","read_primary":true,"cited_in":"report"},{"id":"water:src-dailygalaxy-wota","title":"The Daily Galaxy 2026 - Japan built a home machine that purifies and reuses almost all household water (WOTA Unit)","url":"https://dailygalaxy.com/2026/02/japan-home-water-recycling-machine-no-more-pipes/","type":"news","read_primary":true,"cited_in":"report"},{"id":"water:src-fathieh-2018","title":"Fathieh et al. 2018 - Practical water production from desert air, Sci Adv","url":"https://doi.org/10.1126/sciadv.aat3198","type":"paper","read_primary":true,"cited_in":"report"},{"id":"water:src-kim-2017","title":"Kim et al. 2017 - Water harvesting from air with metal-organic frameworks powered by natural sunlight, Science","url":"https://doi.org/10.1126/science.aam8743","type":"paper","read_primary":true,"cited_in":"report"},{"id":"water:src-klemm-2012","title":"Klemm et al. 2012 - Fog as a fresh-water resource: overview and perspectives, Ambio 41:221","url":"https://doi.org/10.1007/s13280-012-0247-8","type":"paper","read_primary":true,"cited_in":"report"},{"id":"water:src-li-2024-ohw","title":"Li Q. et al. 2024 - AWH system based on the Optimal Harvesting Window design, Science Bulletin","url":"https://doi.org/10.1016/j.scib.2024.03.018","type":"paper","read_primary":true,"cited_in":"report"},{"id":"water:src-mit-pved-2024","title":"MIT News 2024 - Solar-powered desalination system requires no extra batteries (Bessette, Pratt, Winter, Nature Water)","url":"https://news.mit.edu/2024/solar-powered-desalination-system-requires-no-extra-batteries-1008","type":"news","read_primary":true,"cited_in":"report"},{"id":"water:src-watergen-site","title":"Watergen official site","url":"https://www.watergen.com/","type":"company","read_primary":true,"cited_in":"report"}],"certification_paths":{"summary":"Regulation, not physics, now gates the last autonomy step. Every layer has a certification route for a non-autonomous product; none has a route for an unattended household system that makes drinking water, holds large battery banks indoors, sells produce or is assembled by robots without per-site inspection. Strategy: certify components on existing routes (NSF/ANSI 350 non-potable, UL 9540, ICC/MBI 1205 plant certification, ICC-ES helical piles), certify novel structure by full-scale testing, and keep learned software out of certified safety functions.","entries":[{"id":"C-E1","regime":"UL 9540 / UL 9540A, IFC and IRC battery provisions, NFPA 855","jurisdiction":"USA","status":"in force; editions vary by jurisdiction","applies_to":"Stationary battery systems in dwellings","requirement":"2018 IRC: systems > 1 kWh UL 9540 listed, not in habitable space; 2018 IFC Li/Na threshold 20 kWh; NFPA 855 (2020) aggregate 40/80 kWh by location (unverified)","implication_for_orijo":"DENCHI-B lockers sit outside the habitable volume (wing or plinth bay), are UL 9540 listed, and the per-home kWh total is a design constraint, not only a cost choice.","sources":["energy:src-nicolello-ess","energy:src-nfpa855-snippet"],"layer":"energy"},{"id":"C-W1","regime":"California Direct Potable Reuse (CCR 22, 64669.x)","jurisdiction":"California, USA","status":"in force since 2024-10-01","applies_to":"Municipal wastewater to a public water system; no household pathway","requirement":"20/14/15 log (virus/Giardia/Crypto) design, 16/10/11 floor at all times; >= 4 processes, 3 mechanisms (membrane, chemical, UV >= 300 mJ/cm2); continuous SCADA LRV tracking; T5 chief and T3 shift operators","implication_for_orijo":"Use it as the engineering benchmark for MIZU potable release (four barriers, fail-closed on the 16/10/11 floor), but do not claim regulatory potable reuse at home. Until a household path exists, L3 water = recycled non-potable + potable from rain/air/delivered water through a certified point-of-use train.","sources":["water:src-ca-dpr-page","water:src-ca-dpr-text"],"layer":"water"},{"id":"C-W2","regime":"NSF/ANSI 350 onsite residential and commercial water reuse","jurisdiction":"USA/Canada (referenced by plumbing codes)","status":"in force; Hydraloop certified 350R","applies_to":"Greywater/wastewater reuse appliances for non-potable uses (toilet flushing, irrigation)","requirement":"Numeric effluent limits NOT retrieved (NSF pages 403); must be read from the standard before certification planning","implication_for_orijo":"The realistic first certification for MIZU-1 (non-potable mode); test duration and cost to be read from the standard.","sources":["water:src-hydraloop-site"],"layer":"water"},{"id":"C-W3","regime":"WHO Potable reuse guidance (2017) and water safety plans","jurisdiction":"global guidance","status":"guidance","applies_to":"Drinking-water suppliers and regulators","requirement":"Risk-managed water safety plan, control measures, monitoring, public acceptance","implication_for_orijo":"Ship each MIZU with a machine-readable water safety plan; this is how WOTA-type claims (\"meets WHO guidelines\") should be evidenced.","sources":["water:src-who-potable-reuse-2017"],"layer":"water"},{"id":"C-W4","regime":"EU Regulation 2020/741 minimum requirements for water reuse","jurisdiction":"EU","status":"applies from 2023-06-26","applies_to":"Treated urban wastewater for agricultural irrigation; member states may opt out","requirement":"Quality classes and validation monitoring (numeric limits not retrieved in this pass)","implication_for_orijo":"Farm-module irrigation with recycled water in the EU sits under this regime, not drinking-water law.","sources":["water:src-eu-reuse-2020-741"],"layer":"water"},{"id":"C-G1","regime":"FSMA Produce Safety Rule (21 CFR 112) + 2024 pre-harvest water rule","jurisdiction":"USA","status":"in force; pre-harvest water compliance 2025-2027 by farm size","applies_to":"Farms selling produce; exempt <= USD 25,000/yr or personal/on-farm consumption","requirement":"Worker hygiene, water, equipment and building standards; pre-harvest water by systems-based assessment","implication_for_orijo":"Homes are exempt; HATA-MURA farm modules that sell produce fall under it. Hydroponic coverage is not explicitly addressed on the FDA pages read; plan as if covered.","sources":["grow:src-fda-psr","grow:src-fda-preharvest"],"layer":"grow"},{"id":"C-G2","regime":"Hydroponic pathogen hazard (scientific basis)","jurisdiction":"n/a","status":"evidence","applies_to":"Recirculating nutrient solutions","requirement":"Root internalization of enteric pathogens in recirculating systems is the hydroponic-specific hazard","implication_for_orijo":"Never feed untreated greywater or urine-derived nutrient to leafy crops; UV the nutrient loop; keep KAMADO/TSUBO products on validated pathways only.","sources":["grow:src-riggio2019"],"layer":"grow"},{"id":"C-B1","regime":"IRC Appendix AW (2021) / BM (2024) 3D printed building construction + UL 3401","jurisdiction":"USA (where the appendix is adopted)","status":"optional appendix; adoption varies","applies_to":"3D printed residential walls and elements","requirement":"Only materials listed in a UL 3401 report of findings may be used (UpCodes snippet; ICC text 403)","implication_for_orijo":"Relevant only to optional printed plinths/hearths; the folded shell is not a printed structure.","sources":["build:src-irc2024-appbm"],"layer":"build"},{"id":"C-B2","regime":"ICC-ES AC509 and ICC 1150 (3D automated construction, concrete walls)","jurisdiction":"USA","status":"AC509 approved 2023-08; ICC standard work since 2023-10 (1150-2026 listing unverified)","applies_to":"Proprietary 3D printed concrete wall systems","requirement":"Evaluation report per acceptance criteria (full text restricted)","implication_for_orijo":"Shows the layered route a novel robot-made system follows: optional code appendix (2021 IRC AW), evaluation-service acceptance criteria (AC509, 2023), consensus standard (ICC work from October 2023); the route was still being assembled in 2025-2026.","sources":["build:src-icces-ac509","build:src-3dprint-icc-walls","build:src-icc1150-store","build:src-vasilic2025"],"layer":"build"},{"id":"C-B3","regime":"ICC/MBI 1200 (design/fabrication), 1205 (inspection/regulatory compliance), 1210 (MEP)","jurisdiction":"USA (adopted e.g. by Virginia and Utah)","status":"2021/2023 editions; rejected for the 2024 IBC per advocacy source","applies_to":"Off-site volumetric and panelized construction","requirement":"Initial plant certification with 100 percent inspection of at least one module, then a quality-assurance programme with third-party inspection","implication_for_orijo":"The most likely US path for factory-folded ORIJO shells: certify the micro-factory and the fold passport, not each site. Each licensed micro-factory carries its own plant certification cost.","sources":["build:src-evstudio-icc-mbi","build:src-thau-1205"],"layer":"build"},{"id":"C-B4","regime":"ICC-ES AC358 helical pile systems","jurisdiction":"USA","status":"current edition April 2025","applies_to":"Screw/helical piles (ASHI legs)","requirement":"Evaluation report for the pile system (full text restricted)","implication_for_orijo":"Robots that drive ASHI screw piles must log install torque so the pile capacity claimed in the evaluation report is evidenced per pile.","sources":["build:src-icces-ac358"],"layer":"build"},{"id":"C-B5","regime":"Design by full-scale testing","jurisdiction":"Netherlands precedent (Eindhoven 3DCP bridge)","status":"precedent","applies_to":"Structures outside codes of practice","requirement":"Certification through physical load testing when calculation methods do not exist","implication_for_orijo":"Plan the KASANE hinge and YOSHI vault certification as test-based (G1 hinge cycles + full-scale load and water tests).","sources":["build:src-salet2018"],"layer":"build"},{"id":"C-C1","regime":"ISO 13482:2014 (personal care robots), ISO 10218-1/-2:2025 (industrial robots)","jurisdiction":"international","status":"ISO 13482 predates learned behaviours","applies_to":"Home mobile manipulators (13482); fixed farm/factory arms (10218)","requirement":"Hazard analysis, speed/force limits, protective stops","implication_for_orijo":"Rail-captive TSURU and tray shuttles are easier to certify than free-roaming humanoids: fixed paths, guarded zones.","sources":["mind:src-iso13482","mind:src-iso10218-2025"],"layer":"care"},{"id":"C-M1","regime":"EU Machinery Regulation 2023/1230","jurisdiction":"EU","status":"mandatory from 2027-01-20","applies_to":"Machinery incl. robots and AI-powered safety functions","requirement":"Provisions for AI-powered safety functions and cyber-safety of safety-relevant software","implication_for_orijo":"Keep learned components out of safety functions: the local deterministic kernel stays the certified safety function; ML proposes only.","sources":["mind:src-ec-machinery"],"layer":"mind"},{"id":"C-M2","regime":"ISA/IEC 62443","jurisdiction":"international","status":"in force","applies_to":"Industrial automation and control security","requirement":"Zones and conduits, secure development lifecycle","implication_for_orijo":"Already adopted in mind dossier; required for remote operations credibility.","sources":["mind:src-isa62443"],"layer":"mind"},{"id":"C-L1","regime":"Swiss fertiliser authorisation of Aurin (urine-derived)","jurisdiction":"Switzerland","status":"provisional 2016; edible crops 2018","applies_to":"Nitrified, distilled urine fertiliser","requirement":"Product authorisation for a defined process","implication_for_orijo":"Only known regulatory precedent; ORIJO exports N as a product only where such approval exists, otherwise to ornamentals/biomass.","sources":["loop:src-eawag-aurin","loop:src-popsci-aurin-2025"],"layer":"loop"}],"gaps_not_verified":["NSF/ANSI 350 numeric effluent limits and test duration (NSF pages 403)","NFPA 855 / IRC R328 residential ESS aggregate limits (snippets only)","EU 2020/741 Class A numeric limits","Japanese routes: MLIT structural type approval for folding shells; MHLW position on WOTA-type household potable reuse","ICC 1150-2026 text and adoption","Food-code rules for a hotel serving its own produce (US FDA Food Code, Japan Food Sanitation Act)"]},"environment_matrix":{"note":"One row per v3 environment. Binding layer = the layer that limits autonomy first at that site. Autonomy levels use the unified scale in autonomy_levels.","rows":[{"id":"E1","name":"Rooftop (urban)","binding_layer":"build (roof load, permits)","energy":"Small PV, grid tie optional; ESS caps by location apply","water":"Roof rain + MIZU recycling; mains as backup","grow":"HOSHI/HATA greens near market","build_care":"Ballast-only pods after structural check; no penetrations","autonomy_ceiling":"L3 (grid and city services remain)","analogues":"v3 E1 data","sources":["v3:concept","energy:src-nicolello-ess"]},{"id":"E2","name":"Forest","binding_layer":"energy (shade) and logistics","energy":"Micro-hydro about 7.2 kWh/day from 300 W where a stream exists (calculated, v3) + PV in clearings","water":"Stream + membrane/UV + MIZU","grow":"Shade limits daylight crops","build_care":"Screw piles between roots (AC358-evaluated piles); parts <= 65 kg for drone delivery","autonomy_ceiling":"L3","analogues":"v3 E2 data","sources":["v3:concept","build:src-icces-ac358"]},{"id":"E3","name":"Desert (hot-arid)","binding_layer":"water make-up and heat rejection","energy":"PV-rich; heat-pump cooling and night flush","water":"90% recycle leaves 44 L/day make-up; air water costs 18-220 kWh/day for it vs 0.13-0.24 for seawater RO (calculated)","grow":"Daylight vaults with shading; LED greens in sun hours","build_care":"Waterless PV cleaning robots are the most scaled maintenance robots","autonomy_ceiling":"L3 (reference case of this report)","analogues":"Ecoppia; MOF water harvesting field tests","sources":["water:src-lord-2021","care:src-ecoppia-site","water:src-anyground-v3"]},{"id":"E4","name":"Arctic / polar","binding_layer":"energy in polar night","energy":"Oversize PV and curtail into heat; wind where measured; fuel/biomass backup above the Arctic Circle; sodium-ion cold locker; sand/thermal storage proven in Finnish winters","water":"Snow/ice melt plus recycling; freeze protection of every wet line is the failure mode","grow":"Container farms run on mostly wind and solar since 2019 (Naurvik) but publish no yield or kWh data; EDEN ISS gave 268 kg in 286 days in Antarctica","build_care":"Halley VI ran winter autonomy after ice cracks; Princess Elisabeth uses a priority-ladder smart grid with a generator backup; PENGUIn AGO propane generators froze below about -40 C","autonomy_ceiling":"L4 for instrument-class modules (PLATO two years); L3 for inhabited modules with a winter-over human","analogues":"Princess Elisabeth, Halley VI, PLATO, AGO, EDEN ISS, Naurvik, Growcer, Pornainen sand battery","sources":["energy:src-pea-wiki","energy:src-pne-essnews2025","energy:src-catl-newatlas2026","grow:src-zabel2020","grow:src-vfd-naurvik","grow:src-vfd-growcer-2026","mind:src-bas-halley","mind:src-plato2009","mind:src-melville2014"]},{"id":"E5","name":"Mountain","binding_layer":"access and snow load","energy":"High irradiance, cold; micro-hydro seasonal","water":"Snowmelt + recycling","grow":"Short season; greenhouse vault","build_care":"Heli/drone logistics; anchor in rock","autonomy_ceiling":"L3","analogues":"v3 E5 data","sources":["v3:concept"]},{"id":"E6","name":"Coast / floating","binding_layer":"corrosion and storms","energy":"PV + wind","water":"Seawater RO is the cheapest make-up: 0.13-0.24 kWh/day for the 44 L residual (calculated, section 5)","grow":"Salt-air filtration for grow modules","build_care":"Corrosion inspection robots (Gecko-type) relevant","autonomy_ceiling":"L3","analogues":"IMO autonomous-ship code as a regulatory model","sources":["water:src-wiki-desal","mind:src-imo-mass","care:src-gecko-trr"]},{"id":"E7","name":"Steppe / farmland","binding_layer":"grow (field-scale robots and food-safety rules)","energy":"PV + wind","water":"Rain + well; EU 2020/741 governs reuse for irrigation","grow":"Field robots (LaserWeeder at USD 1.4M) only pay at farm scale; FSMA applies when produce is sold","build_care":"Robotic pile driving and layout","autonomy_ceiling":"L3","analogues":"Carbon Robotics, robotic pile driving","sources":["grow:src-gai-carbon-g2","water:src-eu-reuse-2020-741","grow:src-fda-psr","build:src-rpd-pvmag"]},{"id":"E8","name":"Lunar (speculative)","binding_layer":"energy through the 14-day night and mass","energy":"Fission surface power: 40 kWe, 10 yr, < 6,000 kg requirement; 2025 directive >= 100 kW by late 2029 (targets)","water":"ISS-class 98% recovery is the precondition","grow":"EDEN ISS and Lunar Palace 365 (98.2% material closure, preprint) are the yield/closure references; LMLSTP grew < 5% of calories","build_care":"Regolith sintering/binder-jet for pads only (ICON Olympus USD 57.2M award, ESA D-Shape); LUNARK origami habitat 60 days on Earth; ISS ORU failure rates were underestimated up to 7.8x","autonomy_ceiling":"L4-L5 required by physics, SPECULATIVE for ORIJO (TRL 2-3 for ORIJO-specific elements)","analogues":"FSP, ISS ECLSS, EDEN ISS, Lunar Palace 365, MELiSSA, ICON Olympus, LUNARK","sources":["energy:src-fsp-wiki","energy:src-sciam2025","water:src-nasa-98","grow:src-zabel2020","loop:src-fu-2021-biorxiv","loop:src-barta-lmlstp","build:src-icon-nasa","build:src-esa-dshape","build:src-lunark-saga","care:src-owens-iss"]}]},"cost_ledger":{"note":"Known prices with sources. Components are cheap; the unknowns are integration, certification and service. No ORIJO bill of materials exists yet.","items":[{"item":"PV modules (China Module Marker, Oct 2026)","value":"0.107","unit":"USD/W","basis":"reported","sources":["syn:opis-2026-10"],"note":"Module only; remote installed cost not sourced"},{"item":"Stationary LFP pack (2025)","value":"70","unit":"USD/kWh","basis":"reported","sources":["energy:src-bnef2025"],"note":"Pack only"},{"item":"Pack cost for a 30 kWh home bank at that price","value":"about 2,100","unit":"USD","basis":"calculated","sources":["energy:src-bnef2025"],"note":"30 x 70; excludes inverter, enclosure, listing and install"},{"item":"Residential standalone BESS LCOS (2025)","value":"547-860","unit":"USD/MWh","basis":"reported","sources":["energy:src-lazard2025-pdf"],"note":"Why ORIJO shifts loads into PV hours instead of through the battery"},{"item":"Mobile disaster water purifier, 2,000 L/h","value":"tens of millions to 100 million","unit":"JPY per unit","basis":"reported","sources":["water:src-ann-japan-purifiers"],"note":"Municipal-scale, truck-moved; no household recycler price found"},{"item":"Container farm as a service (Growcer Fund)","value":"< 1,000","unit":"CAD/week","basis":"reported","sources":["grow:src-vfd-growcer-2026"],"note":"Includes maintenance, support, financing over 5-10 years"},{"item":"LaserWeeder G2 600","value":"1.4 million + annual fees","unit":"USD","basis":"reported","sources":["grow:src-gai-carbon-g2"],"note":"Field-scale only"},{"item":"Gantry concrete printer","value":"from 400,000","unit":"USD","basis":"claimed","sources":["build:src-cobod-bod2"],"note":"Vendor spec page"},{"item":"Hadrian X bricklaying robot","value":"AUD 7.8 million","unit":"per machine","basis":"reported","sources":["build:src-hadrian-ie25"],"note":""},{"item":"Robotic micro-factory capex","value":"< 5 (Reframe) to about 10 (Cuby)","unit":"million USD","basis":"reported","sources":["build:src-reframe-trr26","build:src-cuby-hw24"],"note":"The ORIJO licensed micro-factory comparable"},{"item":"Spot Explorer quadruped","value":"74,500 (2020 list)","unit":"USD","basis":"reported","sources":["care:src-spot-slashdot"],"note":"Now by quote"},{"item":"Hello Robot Stretch 3","value":"24,950","unit":"USD","basis":"reported","sources":["care:src-stretch-spectrum"],"note":"Research market"},{"item":"1X NEO home humanoid","value":"20,000 or 499/month","unit":"USD","basis":"claimed","sources":["care:src-neo-newatlas"],"note":"Teleoperation-assisted"},{"item":"Unitree R1 humanoid","value":"4,900-5,900","unit":"USD","basis":"reported","sources":["syn:unitree-r1"],"note":"Vendor page"},{"item":"Edge AI computer (67 INT8 TOPS)","value":"249","unit":"USD","basis":"reported","sources":["syn:jetson-2024"],"note":""},{"item":"SO-101 open-source arm parts","value":"122","unit":"USD","basis":"reported","sources":["syn:so101-bom"],"note":""}],"unknown_and_needed":["Price of a household potable or near-potable recycler (WOTA Unit price not published)","Sorbent (KUMO) cost per L/day of capacity and lifetime","ORIJO shell cost per m2 from a licensed micro-factory","Installed off-grid PV and storage cost at remote sites (logistics dominate)","Certification costs: NSF/ANSI 350 test, UL 9540 listing, ICC/MBI 1205 plant certification, full-scale fold testing","Service cost per site-year (the item that killed SOURCE in Allensworth and Freight Farms customers)"]}}