{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:22KT75BXPIBRKUOTTY6QL7LVVG","short_pith_number":"pith:22KT75BX","canonical_record":{"source":{"id":"1608.01889","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2016-08-05T14:07:04Z","cross_cats_sorted":["math.OC"],"title_canon_sha256":"47f73ebc70cc370252f3f9ebdf128f6e06c896144c64bf8f031a6bb271720dda","abstract_canon_sha256":"7a78abd6ab913380cc98844d0099bfe079b66534f03cc961c57578f73a1f1597"},"schema_version":"1.0"},"canonical_sha256":"d6953ff4377a031551d39e3d05fd75a987bae04ed5ae9aceb068d9c1d3fc0ac0","source":{"kind":"arxiv","id":"1608.01889","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1608.01889","created_at":"2026-05-18T00:50:37Z"},{"alias_kind":"arxiv_version","alias_value":"1608.01889v2","created_at":"2026-05-18T00:50:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1608.01889","created_at":"2026-05-18T00:50:37Z"},{"alias_kind":"pith_short_12","alias_value":"22KT75BXPIBR","created_at":"2026-05-18T12:29:52Z"},{"alias_kind":"pith_short_16","alias_value":"22KT75BXPIBRKUOT","created_at":"2026-05-18T12:29:52Z"},{"alias_kind":"pith_short_8","alias_value":"22KT75BX","created_at":"2026-05-18T12:29:52Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:22KT75BXPIBRKUOTTY6QL7LVVG","target":"record","payload":{"canonical_record":{"source":{"id":"1608.01889","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2016-08-05T14:07:04Z","cross_cats_sorted":["math.OC"],"title_canon_sha256":"47f73ebc70cc370252f3f9ebdf128f6e06c896144c64bf8f031a6bb271720dda","abstract_canon_sha256":"7a78abd6ab913380cc98844d0099bfe079b66534f03cc961c57578f73a1f1597"},"schema_version":"1.0"},"canonical_sha256":"d6953ff4377a031551d39e3d05fd75a987bae04ed5ae9aceb068d9c1d3fc0ac0","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:50:37.809775Z","signature_b64":"82TmJOndtfACEs4iEDOGRJLl8rUkOQ3U2AgN7zSd1h+NnkLfKrTE0vtxAL94WsU2fi8L6ruimksekLhNHRTwDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d6953ff4377a031551d39e3d05fd75a987bae04ed5ae9aceb068d9c1d3fc0ac0","last_reissued_at":"2026-05-18T00:50:37.809131Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:50:37.809131Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1608.01889","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:50:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Z9XlGsgwS8Ci6IRuP7eUNMFci+GZ6r6+sLYyt39f0oCvgsXHl9t5hSl8u0I4zD59Sfo/sdtcOTD8dVRmH1cUAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-11T02:37:03.493170Z"},"content_sha256":"462c1f254a45678d8e848ae9dc7fdcfbbc9d556574ea3549816557defc249ebe","schema_version":"1.0","event_id":"sha256:462c1f254a45678d8e848ae9dc7fdcfbbc9d556574ea3549816557defc249ebe"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:22KT75BXPIBRKUOTTY6QL7LVVG","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Autonomous Take-Off and Flight of a Tethered Aircraft for Airborne Wind Energy","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["math.OC"],"primary_cat":"cs.SY","authors_text":"Christian Ohler, Eric Nguyen-Van, Felix Rager, Lorenzo Fagiano, Stephan Schnez","submitted_at":"2016-08-05T14:07:04Z","abstract_excerpt":"A control design approach to achieve fully autonomous take-off and flight maneuvers with a tethered aircraft is presented and demonstrated in real-world flight tests with a small-scale prototype. A ground station equipped with a controlled winch and a linear motion system accelerates the aircraft to take-off speed and controls the tether reeling in order to limit the pulling force. This setup corresponds to airborne wind energy systems with ground-based energy generation and rigid aircrafts. A simple model of the aircraft's dynamics is introduced and its parameters are identified from experime"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1608.01889","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:50:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zvY8GsOEv3c9CIRRnLb88zcRFm7I1vTf8042PjoUYJgxWW4ZzPuBpN3AkMsxT3Vtr5wbEHwbq+sQIO1XHtnuAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-11T02:37:03.493846Z"},"content_sha256":"4145b90cf0dd9a4379588093ea57986f2ac3e69d9b1af1d57c46410c03dc2e6f","schema_version":"1.0","event_id":"sha256:4145b90cf0dd9a4379588093ea57986f2ac3e69d9b1af1d57c46410c03dc2e6f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/22KT75BXPIBRKUOTTY6QL7LVVG/bundle.json","state_url":"https://pith.science/pith/22KT75BXPIBRKUOTTY6QL7LVVG/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/22KT75BXPIBRKUOTTY6QL7LVVG/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-06-11T02:37:03Z","links":{"resolver":"https://pith.science/pith/22KT75BXPIBRKUOTTY6QL7LVVG","bundle":"https://pith.science/pith/22KT75BXPIBRKUOTTY6QL7LVVG/bundle.json","state":"https://pith.science/pith/22KT75BXPIBRKUOTTY6QL7LVVG/state.json","well_known_bundle":"https://pith.science/.well-known/pith/22KT75BXPIBRKUOTTY6QL7LVVG/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:22KT75BXPIBRKUOTTY6QL7LVVG","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"7a78abd6ab913380cc98844d0099bfe079b66534f03cc961c57578f73a1f1597","cross_cats_sorted":["math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2016-08-05T14:07:04Z","title_canon_sha256":"47f73ebc70cc370252f3f9ebdf128f6e06c896144c64bf8f031a6bb271720dda"},"schema_version":"1.0","source":{"id":"1608.01889","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1608.01889","created_at":"2026-05-18T00:50:37Z"},{"alias_kind":"arxiv_version","alias_value":"1608.01889v2","created_at":"2026-05-18T00:50:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1608.01889","created_at":"2026-05-18T00:50:37Z"},{"alias_kind":"pith_short_12","alias_value":"22KT75BXPIBR","created_at":"2026-05-18T12:29:52Z"},{"alias_kind":"pith_short_16","alias_value":"22KT75BXPIBRKUOT","created_at":"2026-05-18T12:29:52Z"},{"alias_kind":"pith_short_8","alias_value":"22KT75BX","created_at":"2026-05-18T12:29:52Z"}],"graph_snapshots":[{"event_id":"sha256:4145b90cf0dd9a4379588093ea57986f2ac3e69d9b1af1d57c46410c03dc2e6f","target":"graph","created_at":"2026-05-18T00:50:37Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"paper":{"abstract_excerpt":"A control design approach to achieve fully autonomous take-off and flight maneuvers with a tethered aircraft is presented and demonstrated in real-world flight tests with a small-scale prototype. A ground station equipped with a controlled winch and a linear motion system accelerates the aircraft to take-off speed and controls the tether reeling in order to limit the pulling force. This setup corresponds to airborne wind energy systems with ground-based energy generation and rigid aircrafts. A simple model of the aircraft's dynamics is introduced and its parameters are identified from experime","authors_text":"Christian Ohler, Eric Nguyen-Van, Felix Rager, Lorenzo Fagiano, Stephan Schnez","cross_cats":["math.OC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2016-08-05T14:07:04Z","title":"Autonomous Take-Off and Flight of a Tethered Aircraft for Airborne Wind Energy"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1608.01889","kind":"arxiv","version":2},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:462c1f254a45678d8e848ae9dc7fdcfbbc9d556574ea3549816557defc249ebe","target":"record","created_at":"2026-05-18T00:50:37Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"7a78abd6ab913380cc98844d0099bfe079b66534f03cc961c57578f73a1f1597","cross_cats_sorted":["math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2016-08-05T14:07:04Z","title_canon_sha256":"47f73ebc70cc370252f3f9ebdf128f6e06c896144c64bf8f031a6bb271720dda"},"schema_version":"1.0","source":{"id":"1608.01889","kind":"arxiv","version":2}},"canonical_sha256":"d6953ff4377a031551d39e3d05fd75a987bae04ed5ae9aceb068d9c1d3fc0ac0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d6953ff4377a031551d39e3d05fd75a987bae04ed5ae9aceb068d9c1d3fc0ac0","first_computed_at":"2026-05-18T00:50:37.809131Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:50:37.809131Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"82TmJOndtfACEs4iEDOGRJLl8rUkOQ3U2AgN7zSd1h+NnkLfKrTE0vtxAL94WsU2fi8L6ruimksekLhNHRTwDA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:50:37.809775Z","signed_message":"canonical_sha256_bytes"},"source_id":"1608.01889","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:462c1f254a45678d8e848ae9dc7fdcfbbc9d556574ea3549816557defc249ebe","sha256:4145b90cf0dd9a4379588093ea57986f2ac3e69d9b1af1d57c46410c03dc2e6f"],"state_sha256":"bd9842a72668912019e1e668f1fb4bdca7a6873dc843bcbba76cfa529d6bbe2f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"iLgQN1zlv9XgUFPgwYQ6R3N59/fk0WQGynyLD0X2KTUSTL1Lt0eWz/IOC3HOpa/2lfxM9lqe9uoUZ4GThNAYBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-11T02:37:03.497521Z","bundle_sha256":"1d505db7fdd6f5108a523b8d5d126dbb27826bd6a0f6b8f8fab65c05bc00332d"}}