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A reader following the printed text alone cannot reach it.","detected_doi":"10.1146/annurev-control-090419-075625","detected_arxiv_id":null,"ref_index":18,"audited_at":"2026-08-01T20:30:38.386608Z"}],"snapshot_sha256":"872713720aebd44e194f35865286baa2e0f99b9f489ef69d1ebf18272d687a1d"},"events":[{"event_id":16570,"event_type":"pith.integrity.v1","payload_sha256":"81c44a87f43b27ab0c49e5ac99100ae69a3e0c6ae42879a91073c398a4efd13d","signature_b64":"twdM2Qatk2mC5pv6ojeBGFzhG8Fw1EuF9pm0RdcxMqPK6xPtunE4ykFesV7eUWwBSQhuog/CvNsb3mLQWXfOBA==","signing_key_id":"pith-v1-2026-05","created_at":"2026-08-01T20:33:42.433488+00:00","payload":{"note":"DOI in the printed bibliography is fragmented by whitespace or line breaks. A longer candidate (10.1109/TAC.2016.2638961) was visible in the surrounding text but could not be confirmed against doi.org as printed.","snippet":"Ames, A. D., Xu, X., Grizzle, J. W., and Tabuada, P., “Control Barrier Function Based Quadratic Programs for Safety Critical Systems,”IEEE Transactions on Automatic Control, Vol. 62, No. 8, 2017, pp. 3861–3876. https://doi.org/10.1109/TAC.2","arxiv_id":"2607.16630","detector":"doi_compliance","evidence":{"ref_index":24,"verdict_class":"incontrovertible","resolved_title":null,"printed_excerpt":"10.1109/tac.2016","reconstructed_doi":"10.1109/TAC.2016.2638961"},"severity":"advisory","ref_index":24,"audited_at":"2026-08-01T20:30:38.386608Z","event_type":"pith.integrity.v1","detected_doi":"10.1109/TAC.2016.2638961","detector_url":"https://pith.science/pith-integrity-protocol#doi_compliance","external_url":null,"finding_type":"recoverable_identifier","evidence_hash":"a66cce69b671162b17acf40b0cf3efef91cfa23c26ac63878aaa0fc2497829a5","paper_version":1,"verdict_class":"incontrovertible","resolved_title":null,"detector_version":"1.1.0","detected_arxiv_id":null}},{"event_id":16569,"event_type":"pith.integrity.v1","payload_sha256":"c2d76906e67578fcd964fc30711a8e440c9cd9a0bf6b76a212425736aca5ef76","signature_b64":"fCzjyqUrb5DlQtEChGnTfvvkgcHB5Orw4X6znGgXQ/gu1to88C0V/25ybJHEwtI8D0fcFysO6XJr6xyDkm/mCQ==","signing_key_id":"pith-v1-2026-05","created_at":"2026-08-01T20:33:42.251062+00:00","payload":{"note":"DOI is split by whitespace or line breaks in the printed bibliography. 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