The philosophy of imprisonment is fairly vast, I believe.
But hard/philosophical requirements notwithstanding, prisons tend to be what they are. The famous moral philosopher Jeremy Bentham designed some a "modern" prison system with some of these goals in mind, especially reform. The result was quite horrific.
Note that the exaggerated theoretical horrors of Bentham's panopticon are the mundane reality of modern non-prison life under camera and cell phone surveillance.
Being watched by guards isn't one of the top 10 worst aspects of living in prison.
But hard/philosophical requirements notwithstanding, prisons tend to be what they are. The famous moral philosopher Jeremy Bentham designed some a "modern" prison system with some of these goals in mind, especially reform. The result was quite horrific.