One machine.
Seven coupled budgets.
Swovee is not a rover carrying a printer. It is one controlled construction system whose mobility, material behavior, geometry and safety case must close together.
The machine changes state before it changes place.
Material secured, arm stowed, outriggers retracted, terrain speed limited.
Ground contact checked, work envelope leveled and local datum established.
Material and motion loops run inside signed process and safety limits.
As-built scan and process signature decide accept, correct or stop.
Six interfaces carry most of the risk.
Chassis ↔ ground
Bearing, grade, slip, settlement and outrigger reactions.
Chassis ↔ arm
Base deflection, vibration, reach, torque and safe pose limits.
Mixer ↔ pump
Buffer level, residence time, suction condition and restart state.
Pump ↔ nozzle
Pressure loss, hose movement, blockage detection and bead control.
Plan ↔ controller
Signed job package, bounded parameters and deterministic state machine.
Process ↔ acceptance
Batch genealogy, settings, scan, coupon and exception record.
Seven ledgers must balance at every review.
Track dry, full, partially depleted and sloshing states. Prove axle, wheel and outrigger reactions in travel and placement.
Drive, arm, mixing, pumping and compute share one power system. Size peak demand, duty-cycle energy and temperature derating together.
Model every hopper, mixer, buffer, pump, hose bend, valve and nozzle. Treat rising pressure as both process evidence and a fault signal.
Mix age, open time, interlayer interval, refill, pause recovery and cleanout deadline are hard scheduling constraints.
Survey, localization, chassis deflection, arm error, tool offset and bead deformation accumulate into placed geometry.
Terrain, localization and material estimates carry uncertainty. Autonomy proceeds only when confidence stays inside an approved envelope.
Prime, purge, failed coupons, wash water and rejected material require capacity, containment and a recorded destination.
The minimum architecture package.
ConOps, requirements, system block diagram, interface control documents, budgets and configuration plan.
General arrangement, load cases, stability analysis, FEA, arm mount, hose routing and service access.
Single-line, load list, battery protection, grounding, EMC, harness, ingress and thermal strategy.
State machine, interface definitions, calibration, signed plans, logging and cyber threat model.