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SAP Domain Profiles

Version: 1.0
Date: December 8, 2025

Overview

Domain profiles are SAP parameter sets optimized for specific environments. Each domain has unique physical, operational, and security requirements.

Profile Summary

Profile Environment VTS Resolution Collision Threshold Security Level
WAREHOUSE Logistics warehouse 1.0m 0.15m Medium
FAB Semiconductor fab 0.5m 0.05m High
HOSPITAL Hospital 0.8m 0.20m High

WAREHOUSE (Logistics)

Environment Characteristics

  • Wide aisles (2.5m+)
  • High-speed transport (2+ m/s)
  • High robot density (50+ units/zone)

Recommended Parameters

[profile.warehouse]
# VTS settings
voxel_size_m = 1.0
time_slot_ms = 100
max_vts_per_robot = 50

# Physics limits
max_velocity_ms = 2.5
max_acceleration_ms2 = 2.0
max_angular_velocity_rads = 2.0
safety_margin_m = 0.2

# Collision prediction
collision_threshold_m = 0.15
prediction_horizon_s = 3.0
dynamic_horizon = true

# Security
signature_required = true
replay_window_ms = 10000

Robot Types

  • VehicleProfile::amr() recommended
  • Optimized for differential drive

FAB (Semiconductor Factory)

Environment Characteristics

  • Narrow aisles (1.2m)
  • Ultra-precision movement
  • Cleanroom environment (minimize vibration)

Recommended Parameters

[profile.fab]
# VTS settings (high resolution)
voxel_size_m = 0.5
time_slot_ms = 50
max_vts_per_robot = 100

# Physics limits (strict)
max_velocity_ms = 0.8
max_acceleration_ms2 = 0.5
max_jerk_ms3 = 2.0
safety_margin_m = 0.1

# Collision prediction (sensitive)
collision_threshold_m = 0.05
prediction_horizon_s = 5.0
rollback_threshold_m = 0.03

# Security (maximum)
signature_required = true
replay_window_ms = 3000
sybil_check = true

Special Requirements

  • PTP synchronization required (NTP not allowed)
  • Vibration suppression: Strict jerk limits
  • Cleanroom certification: Verification during robot registration

HOSPITAL

Environment Characteristics

  • Human-robot coexistence
  • Frequent dynamic obstacles
  • Quiet operation required

Recommended Parameters

[profile.hospital]
# VTS settings
voxel_size_m = 0.8
time_slot_ms = 200
max_vts_per_robot = 30

# Physics limits (safety first)
max_velocity_ms = 1.0
max_acceleration_ms2 = 0.8
safety_margin_m = 0.5  # Account for humans

# Collision prediction (conservative)
collision_threshold_m = 0.20
prediction_horizon_s = 4.0
human_detection = true

# Security
signature_required = true
patient_area_restriction = true

Special Requirements

  • Human detection: LIDAR + camera fusion
  • Noise limit: Below 50dB
  • Emergency stop: Response time < 100ms

Parameter Conflict Priority

  1. Safety > Performance > Throughput
  2. Domain profile > Global settings > Defaults
  3. Dynamic adjustment allowed only within range

Profile Extension

When adding new domain profiles:

impl DomainProfile {
    pub fn custom(name: &str) -> ProfileBuilder {
        ProfileBuilder::new(name)
            .base(Self::warehouse())  // Inherit from base profile
    }
}