219: Chapter 219 All you need to do on the ground is create a malfunction.

When the dual-arm mission module on the back of PG-P01 lowered to three centimeters from the installation surface, Xu Man raised her hand to signal the hoist to stop.

She stepped onto the work ladder, tested the right side of the mission module with a feeler gauge, and then asked the assembler to get a four-millimeter adapter plate.

That area was directly opposite a re-welded long seam. The metal surface had been ground flat, but burn marks of varying depths could still be seen along the edges.

"The load-bearing surface is fine, but the side armor sticks out a bit."

Xu Man climbed down from the ladder and had the hoist return the mission module to the support bracket first.

"After the adapter plate goes up, re-level it. Half an hour."

The other three hexapod platforms were parked behind PG-P01, with fuselage numbers PG-P02, PG-P03, and PG-P05 in sequence.

The mud on their bodies had been cleaned off, and neither the scratches left by the tunnel rescue nor the replaced side armor had been deliberately concealed.

PG-P04, which was missing from the queue, remained permanently deep within that collapsed tunnel.

After the rescue, the four returned units withdrew from commercial delivery. Low Entropy Workshop had disassembled them one by one, and all load-bearing components, joints, and battery packs had undergone the highest-level inspection.

Two of the originally scheduled destructive tests had not been done yet, so Jiang Lin borrowed them from the test queue first.

Liang Zhixia hurried back to the assembly area from the production planning meeting, holding the delivery list for fifteen mass-produced machines in her hand.

Upon entering, she first looked at the row of robotic arm packing boxes by the wall, and only walked over to the workbench after confirming the box numbers.

"The client's fifteen units remain untouched, right?"

"Nine units for the utility tunnel and six for the mining area, delivered according to the original schedule."

Jiang Lin pushed the authorization letter from the qingqiong-1 mission team over to her.

"Rescue retired units are used here, and the robotic arms and sensors are purchased separately as aerospace verification projects."

Liang Zhixia turned to the payment page and read all the way to the final ownership of results.

The qingqiong-1 mission team purchased the fault-equivalent verification service and four sets of mobile operation prototypes, which did not occupy the first batch of five-million-yuan budget quotas of the Tsinghua University Jiang Lin Interdisciplinary Science Research Center (Preparatory).

The center provided mathematical models and data analysis, the satellite mission team provided engineering boards, ground stations, and flight programs, while Low Entropy Workshop delivered complete test records and four acceptable prototypes.

Liang Zhixia folded a corner of the tripartite rights and responsibilities section and went to look for the procurement attachments.

"The rush fee is written in."

"They only gave seventy-two hours."

"I was afraid that when you saw they were acquaintances, you would casually wipe out the rush fee."

"What I know are satellites, not their finance department."

Hearing this, Liang Zhixia closed the contract and turned to hand it to Chen Zhi, who was waiting outside.

"Don't change the payment milestones. Have the legal department process it with electronic signatures."

The four sets of collaborative robotic arms came from the Beijing spot stock of two suppliers, while the six-axis force sensors, end interfaces, and tool plates were assembled from Low Entropy Workshop's existing test inventory.

Subsequent batch selection had not yet been determined, and this batch of hardware was only responsible for the current engineering verification.

The assembler raised the first set of dual-arm mission modules again, and the four-millimeter adapter plate had been installed on the back of PG-P01.

Two lightweight seven-axis robotic arms were located on the left and right sides of the mission module, their wrists connected to six-axis force sensors, and their ends could automatically switch between grippers, sockets, electric screwdrivers, wire strippers, and probes.

Three sets of depth cameras were added to the front of the mission module, and the fuselage's original joint feedback was also connected to the same controller.

After the mechanical and electrical interfaces passed acceptance, Jiang Lin created a new version number in the control engineering.

[G-Operator A0]

Chen Yan squatted beside the mission module to organize the signal lines and looked up at the screen.

"G stands for Ground?"

"Currently, yes."

Chen Yan wiped off the wire number stained on his forehead with the back of his hand, and continued to secure the vision data cable into the wire slot.

"Leave General blank for now?"

"Wait until it can actually work in an unfamiliar cabinet before explaining this letter."

That night, the master control board of qingqiong-1 was first delivered to the Beijing R&D Center, while the power controller and transponder engineering units were still being transshipped from Xi'an and Nanjing.

Xu Kaiyang led the power supply group and software group into the assembly area, and first built the electrical skeleton of qingqiong-1 using the same model of load, programmable power supply, and bus simulation board.

Jiang Lin drew three cabinet bodies on paper and divided the power supply, bus, and transponder into three Physics workstations.

Shadow Star did not replicate the solar wings and satellite shape, but only retained the parts that would change the recovery command results.

The battery internal resistance curve, power controller undervoltage threshold, remote terminal cold start timing, transponder power consumption jump, A and B machine switching logic, and the voltage drop caused by the harness and load were all connected into the same real-time recording system.

The mission simulator supplemented structural inertia and orbital environment, while the programmable power supply was responsible for simulating sunlight changes.

The real board cards went through the worst-case voltage and worst-case clock deviation on the ground, and what the review system was waiting for was this answer.

Fifty-six hours before the seventy-two-hour deadline, PG-P01 completed power-on.

Jiang Lin sat down in front of the operation console and reached both hands into the force feedback controller.

PG-P01 took two steps forward, its six foot ends redistributed support in front of the power cabinet, and the two robotic arms extended toward the cabinet door following Jiang Lin's movements.

The left arm pressed against the designated load-bearing point, the right arm opened the latch, the cabinet door popped outward a short distance, and the left arm immediately switched to the edge of the door to support it.

Jiang Lin had the right arm go to the tool tray to replace it with a probe, while the left gripper jammed the root of the harness to prevent the probe from pushing the plug inward together upon contact.

The probe contacted the three endpoints in turn, and the wrist force curve, image, joint position, tool status, and meter reading synchronously entered the Field module of MPS-Agent α.

After the first pass, Xu Man covered the labels inside the cabinet with black insulating tape, and Chen Yan pressed two bundles of unrelated cables in front of the target interface.

In the subsequent demonstrations, the lighting inside the cabinet, plug direction, and fastener length were also changed item by item.

Hundreds of thousands of tightening, plugging, measuring, and tool-changing records left by fixed robotic arms and CNC tooling provided tool calibration, contact force, and material response.

Jiang Lin's demonstration supplemented environmental positioning, dual-arm support, contact sequence, and retraction position into the operation map.

MPS-Agent α recorded the verified steps and dispatched tools, the vision model was responsible for providing candidate objects, and the force controller left the contact limits at the hardware bottom layer.

All operations exceeding the confidence interval would stop at the current position, and the image and force curve were then sent back to the operation console.

Jiang Lin only gave it verified actions and clear exit conditions, and the fault judgment and recovery plan for qingqiong-1 were still completed by humans.

After completing the first round of operation segmentation, Jiang Lin released the force feedback controller and let PG-P01 switch to another cabinet to independently redo the board card replacement.

It opened the cabinet door, checked the load-bearing point, replaced it with an electric screwdriver to remove four fasteners, and took out a board card ready for replacement from the anti-static box.

When the right arm approached the target with the third plug, the operation screen simultaneously marked two interfaces with similar shapes.

PG-P01 stopped five centimeters away from the interface, and a manual confirmation request popped up on the right side of the screen.

Jiang Lin switched to the right wrist attitude control, making the camera go around to the back of the plug.

A line of laser serial numbers appeared in the candidate image, and the second selection box automatically disappeared.

Jiang Lin wrote "Change observation angle when shape features are insufficient" into the secondary confirmation process after retraction.

Compared to letting humans guess it right once, this step took twenty-seven seconds longer.

Chen Yan wrote human intervention, observation angle changes, and the second candidate result all into the verification record.

"Does this pass count as autonomous completion?"

"Humans added a rule for it, so write one in the report."

Chen Yan marked a footnote number one after "autonomous" and hung the complete process at the bottom of the page.

This board card replacement took seven minutes and forty-two seconds, nearly three times slower than a skilled engineer.

Half an hour later, Xu Man swapped the positions of the two plugs again. The fuselage camera first went around to the back to read the serial numbers, and no manual confirmation box appeared on the operation console again.

The second dual-arm mission module was installed on PG-P02 in the second half of the night.

The last two units adopted different configurations: PG-P03 was changed to a single arm and a fixed fixture, while PG-P05 was installed with a long-stroke robotic arm.

Rapid board replacement, dual-arm support, and deep-cabinet harness operations were divided into three types of workstations. Wherever it was necessary to change the structure, it was modified on the current prototype without waiting for the four machines to become identical.

After the assembly area's first full night shift, the low-voltage combination originally scheduled to be completed on the third day had already run through more than half.

Xu Kaiyang reassigned the three assembly engineers who rushed over the next day to the result review seats, and no additional operators were added to the four Physics workstations.

Personnel's work was pushed to fault design, risk review, and result signing, while the four mobile platforms took turns changing loads, reconnecting harnesses, toggling hardware jumpers, and then sending the current combination into the shielding workstation.

Chen Yan and the satellite power supply group were responsible for changing the battery internal resistance, cable length, undervoltage threshold, and cold start timing, while the mission simulator executed the complete instruction tree under every measured condition.

Once a simulation ended, the system cut off the output, and the platform dismantled the current combination in the order of power outage, voltage verification, and tagging.

The cycle that used to require engineers to repeatedly shut down, disconnect wires, and review was expanded by the four machines into a verification line operating continuously for twenty-four hours.

Sixteen hours before the deadline, the transponder engineering unit transshipped from Nanjing was finally delivered to the assembly area.

Its sealing records, component temperature, and anti-static packaging all passed on-site review. After Xu Man signed, PG-P03 sent it into the transponder shielding box.

After the first group of real low-voltage tests started, the oscillation startup edge was eleven milliseconds later than the nominal upper limit in the archives.

This deviation was within the allowable range of component aging, which would push the protection interval of the first-tier short pulse close to the lower limit.

The second-tier pulse pre-written by Jiang Lin in the instruction tree was immediately selected, and the new sequence still maintained a sufficient distance from the battery protection line.

Shadow Star needed to supplement eighty-two groups of physical boundaries, and the test table listed combinations of different internal resistances, temperatures, clock deviations, and cable voltage drops.

According to the original manual operation cycle, power outage, stabilization, replacement, and review alone would take more than twenty-one hours.

Xu Kaiyang drew a circle around that number with a pen and glanced at the countdown on the wall.

"This batch of engineering units cannot be put on all four workstations at the same time."

"The transponder is only responsible for adding a real oscillation startup baseline to the eighty-two groups of parameters."

Jiang Lin split the test table into one group of real transponder boundaries and three groups of equivalent load boundaries.

"Three units will continue running equivalent loads, and PG-P05 will be responsible for the real parts."

The new workstation allocation was written into the scheduling table, and the four platforms began rotating harnesses, loads, and shielding boxes.

The real-part oscillation startup baseline was re-measured every eight groups, temperature drift and aging deviation were recorded separately, and the remaining combinations were completed by the calibrated programmable load.

In the final sixteen hours, the engineering unit entered and exited the shielding box eleven times in front of PG-P05.

Each time, the long-stroke robotic arm first fastened the grounding clip, confirmed the power-off label, and then replaced the clock and cable voltage drop combination from deep within the cabinet.

During the tenth replacement, a bundle of cables hooked onto the mounting base behind the cabinet, and the wrist tension exceeded the safety boundary in the operation map.

PG-P05 maintained the current clamping force and sent the rear camera image back to the operation console.

The mounting base blocked the long arm's line of sight, and the root of the cable was only fully visible in PG-P01's lateral camera.

Jiang Lin transferred PG-P01 to the other side of the shielding box, pressed the root of the harness from above with the left arm, replaced the right arm with a hook-shaped guide head, and pushed the cable stuck behind the mounting base outward by two centimeters.

PG-P05's wrist tension subsequently returned below the limit, and the long arm continued to complete the replacement.

This collaborative operation was completely saved, and Jiang Lin wrote the shareable field of view and contact constraints into the A0 version scheduling program.

Twenty-seven minutes before the countdown reached zero, the eighty-second group of boundaries was completed.

Shadow Star completed a total of 486 groups of Physics boundary tests, and the mission simulator expanded over 80,000 groups of state samples based on the measured parameters.

All samples reached safety branches along the instruction tree, with no memory miswriting, overcurrent wake-up, or attitude actuator misoperation occurring.

In the review system, "Lack of engineering star equivalent verification records" turned from yellow to green, and qingqiong-1's recovery command tree obtained engineering verification clearance.

After signing in the verification column, Xu Kaiyang also signed Low Entropy Workshop's four sets of mobile operation prototypes into the stage acceptance.

Chen Yan froze the tool usage records of G-Operator Version A0, and the home page of the dataset retained the complete hardware serial numbers of PG-P01, PG-P02, PG-P03, and PG-P05.

The four rescue-retired machines were still parked around Shadow Star, and the robotic arms had already begun rearranging the harnesses for the next set of internal tests.

Liang Zhixia walked in from outside the observation window and took away the stage acceptance form on the workbench.

"I asked the finance department to issue the invoice."

She glanced at the four machines still working.

"If someone comes to ask later, how should this set be quoted?"

"Quote the hexapod platform, robotic arms, tool library, and operation data separately."

"Not calling it a general-purpose robot?"

Jiang Lin took off the force feedback gloves and put them back into the storage rack on the side of the operation console.

"Version A0 is only universal within these cabinets."

Liang Zhixia wrote "mobile operation platform" in the quotation remarks, leaving "embodied robot" for later.

Three hours remained until qingqiong-1's next available uplink window.

Xu Kaiyang sent the cleared verification report back to the mission hall, opened the key box simultaneously with Song Yao, and began generating the authorization for this uplink window.