{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:2EBQSDMQW6YSZG2GLPLUVARSM5","short_pith_number":"pith:2EBQSDMQ","canonical_record":{"source":{"id":"2512.05292","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-12-04T22:29:12Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"54dabcc350c192eddab5ca86909642ff8a1e950b26063c5f2a9d582f9ecf0361","abstract_canon_sha256":"7ce3f3b34e6e5f75cc933ca0c3d69b71a58cb6a551066ac953bc88aa2c2533db"},"schema_version":"1.0"},"canonical_sha256":"d103090d90b7b12c9b465bd74a82326761d442bc5c35c2e4c220e59f2c085b99","source":{"kind":"arxiv","id":"2512.05292","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2512.05292","created_at":"2026-07-21T02:22:24Z"},{"alias_kind":"arxiv_version","alias_value":"2512.05292v3","created_at":"2026-07-21T02:22:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2512.05292","created_at":"2026-07-21T02:22:24Z"},{"alias_kind":"pith_short_12","alias_value":"2EBQSDMQW6YS","created_at":"2026-07-21T02:22:24Z"},{"alias_kind":"pith_short_16","alias_value":"2EBQSDMQW6YSZG2G","created_at":"2026-07-21T02:22:24Z"},{"alias_kind":"pith_short_8","alias_value":"2EBQSDMQ","created_at":"2026-07-21T02:22:24Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:2EBQSDMQW6YSZG2GLPLUVARSM5","target":"record","payload":{"canonical_record":{"source":{"id":"2512.05292","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-12-04T22:29:12Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"54dabcc350c192eddab5ca86909642ff8a1e950b26063c5f2a9d582f9ecf0361","abstract_canon_sha256":"7ce3f3b34e6e5f75cc933ca0c3d69b71a58cb6a551066ac953bc88aa2c2533db"},"schema_version":"1.0"},"canonical_sha256":"d103090d90b7b12c9b465bd74a82326761d442bc5c35c2e4c220e59f2c085b99","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-21T02:22:24.489802Z","signature_b64":"G0Gq0rorYRPGVnfV+ax4mCP0P/uTgXHx4xlztQFJTnKCSZF47qpRWdnndo1XP7gOyITtLF9gGPWRJTjcpTlJBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d103090d90b7b12c9b465bd74a82326761d442bc5c35c2e4c220e59f2c085b99","last_reissued_at":"2026-07-21T02:22:24.488923Z","signature_status":"signed_v1","first_computed_at":"2026-07-21T02:22:24.488923Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2512.05292","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-21T02:22:24Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"XCaJA3AEMOXEEKL4nPsUzW37l1EDyQKRXmfNCwRlPc9l3g3BRQW6SJM4TA+IeP7F+bhPC+Z4/uxs/RuFK3/ODQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T19:01:27.104512Z"},"content_sha256":"9914d19dd8f005c3fdcd5112a51db52ca4e362af2a39007e864d73e6c5eb5aa4","schema_version":"1.0","event_id":"sha256:9914d19dd8f005c3fdcd5112a51db52ca4e362af2a39007e864d73e6c5eb5aa4"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:2EBQSDMQW6YSZG2GLPLUVARSM5","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Unified Disturbance Aware Safe Kinematic Control for Closed-Architecture Robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Bin Hu, Fan Zhang, Ge Lv, Hanz Richter, Jinfeng Chen, Joseph J. B. Mvogo Ahanda, Qin Lin","submitted_at":"2025-12-04T22:29:12Z","abstract_excerpt":"In commercial robotic systems, it is common to encounter a closed inner-loop torque controller that is not user-modifiable. However, the outer-loop controller, which sends kinematic commands such as position or velocity for the inner-loop controller to track, is typically exposed to users. In this work, we focus on the development of an easily integrated add-on at the outer-loop layer by combining disturbance rejection control and robust control barrier function for high-performance tracking and safe control of the whole dynamic system of an industrial manipulator. This is particularly benefic"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2512.05292","kind":"arxiv","version":3},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2512.05292/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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":"2026-07-21T02:22:24Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"oUyU0BvXzs8BNHWp3bXahTP/mX+L6GEE/ed6xP6jDG99xr0OTu+ApDshp0WEzcj1fzypaWhndgEAwhDRYGUOBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T19:01:27.105472Z"},"content_sha256":"6f0119edc10131a3556debf7e32aefb9a375beb1091e7d4d35fdb165ceedb3f2","schema_version":"1.0","event_id":"sha256:6f0119edc10131a3556debf7e32aefb9a375beb1091e7d4d35fdb165ceedb3f2"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/2EBQSDMQW6YSZG2GLPLUVARSM5/bundle.json","state_url":"https://pith.science/pith/2EBQSDMQW6YSZG2GLPLUVARSM5/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/2EBQSDMQW6YSZG2GLPLUVARSM5/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":"2026-08-04T19:01:27Z","links":{"resolver":"https://pith.science/pith/2EBQSDMQW6YSZG2GLPLUVARSM5","bundle":"https://pith.science/pith/2EBQSDMQW6YSZG2GLPLUVARSM5/bundle.json","state":"https://pith.science/pith/2EBQSDMQW6YSZG2GLPLUVARSM5/state.json","well_known_bundle":"https://pith.science/.well-known/pith/2EBQSDMQW6YSZG2GLPLUVARSM5/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:2EBQSDMQW6YSZG2GLPLUVARSM5","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":"7ce3f3b34e6e5f75cc933ca0c3d69b71a58cb6a551066ac953bc88aa2c2533db","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-12-04T22:29:12Z","title_canon_sha256":"54dabcc350c192eddab5ca86909642ff8a1e950b26063c5f2a9d582f9ecf0361"},"schema_version":"1.0","source":{"id":"2512.05292","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2512.05292","created_at":"2026-07-21T02:22:24Z"},{"alias_kind":"arxiv_version","alias_value":"2512.05292v3","created_at":"2026-07-21T02:22:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2512.05292","created_at":"2026-07-21T02:22:24Z"},{"alias_kind":"pith_short_12","alias_value":"2EBQSDMQW6YS","created_at":"2026-07-21T02:22:24Z"},{"alias_kind":"pith_short_16","alias_value":"2EBQSDMQW6YSZG2G","created_at":"2026-07-21T02:22:24Z"},{"alias_kind":"pith_short_8","alias_value":"2EBQSDMQ","created_at":"2026-07-21T02:22:24Z"}],"graph_snapshots":[{"event_id":"sha256:6f0119edc10131a3556debf7e32aefb9a375beb1091e7d4d35fdb165ceedb3f2","target":"graph","created_at":"2026-07-21T02:22:24Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2512.05292/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In commercial robotic systems, it is common to encounter a closed inner-loop torque controller that is not user-modifiable. However, the outer-loop controller, which sends kinematic commands such as position or velocity for the inner-loop controller to track, is typically exposed to users. In this work, we focus on the development of an easily integrated add-on at the outer-loop layer by combining disturbance rejection control and robust control barrier function for high-performance tracking and safe control of the whole dynamic system of an industrial manipulator. This is particularly benefic","authors_text":"Bin Hu, Fan Zhang, Ge Lv, Hanz Richter, Jinfeng Chen, Joseph J. B. Mvogo Ahanda, Qin Lin","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-12-04T22:29:12Z","title":"Unified Disturbance Aware Safe Kinematic Control for Closed-Architecture Robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2512.05292","kind":"arxiv","version":3},"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":"sha256:9914d19dd8f005c3fdcd5112a51db52ca4e362af2a39007e864d73e6c5eb5aa4","target":"record","created_at":"2026-07-21T02:22:24Z","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":"7ce3f3b34e6e5f75cc933ca0c3d69b71a58cb6a551066ac953bc88aa2c2533db","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-12-04T22:29:12Z","title_canon_sha256":"54dabcc350c192eddab5ca86909642ff8a1e950b26063c5f2a9d582f9ecf0361"},"schema_version":"1.0","source":{"id":"2512.05292","kind":"arxiv","version":3}},"canonical_sha256":"d103090d90b7b12c9b465bd74a82326761d442bc5c35c2e4c220e59f2c085b99","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d103090d90b7b12c9b465bd74a82326761d442bc5c35c2e4c220e59f2c085b99","first_computed_at":"2026-07-21T02:22:24.488923Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-21T02:22:24.488923Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"G0Gq0rorYRPGVnfV+ax4mCP0P/uTgXHx4xlztQFJTnKCSZF47qpRWdnndo1XP7gOyITtLF9gGPWRJTjcpTlJBA==","signature_status":"signed_v1","signed_at":"2026-07-21T02:22:24.489802Z","signed_message":"canonical_sha256_bytes"},"source_id":"2512.05292","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9914d19dd8f005c3fdcd5112a51db52ca4e362af2a39007e864d73e6c5eb5aa4","sha256:6f0119edc10131a3556debf7e32aefb9a375beb1091e7d4d35fdb165ceedb3f2"],"state_sha256":"bd6f85fbc8709db97636e9564cc141580b3339868bf6400e37d71c7e1b31abf8"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"f/xOkOWIadwx2c58E+ty18va+jFatXKxyDk9ppyWYVaUzLXYU3ByTacJ34igdheEFYdRIkZft6SG5CjF4ieiBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-04T19:01:27.128723Z","bundle_sha256":"d8125f52df64b9ce9ead7a73243d273502aa886079bbaee93cb43e5ea9fedbd7"}}