{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:2MONHM2J52KYKLGZOS4OSDXWAS","short_pith_number":"pith:2MONHM2J","canonical_record":{"source":{"id":"2311.00197","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-11-01T00:06:03Z","cross_cats_sorted":[],"title_canon_sha256":"4015dc8dfb3c76a17c3e8a9dc61cd258b759bdb1aec0950c5ab3c094bd7a071e","abstract_canon_sha256":"1ed51a304287ad64e64e62d55d1cb48d3c3a356402509e3e30adfd2d3836b95c"},"schema_version":"1.0"},"canonical_sha256":"d31cd3b349ee95852cd974b8e90ef6049efbb2d8901edf6ba16c36ab1b34339b","source":{"kind":"arxiv","id":"2311.00197","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2311.00197","created_at":"2026-07-05T07:07:43Z"},{"alias_kind":"arxiv_version","alias_value":"2311.00197v1","created_at":"2026-07-05T07:07:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2311.00197","created_at":"2026-07-05T07:07:43Z"},{"alias_kind":"pith_short_12","alias_value":"2MONHM2J52KY","created_at":"2026-07-05T07:07:43Z"},{"alias_kind":"pith_short_16","alias_value":"2MONHM2J52KYKLGZ","created_at":"2026-07-05T07:07:43Z"},{"alias_kind":"pith_short_8","alias_value":"2MONHM2J","created_at":"2026-07-05T07:07:43Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:2MONHM2J52KYKLGZOS4OSDXWAS","target":"record","payload":{"canonical_record":{"source":{"id":"2311.00197","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-11-01T00:06:03Z","cross_cats_sorted":[],"title_canon_sha256":"4015dc8dfb3c76a17c3e8a9dc61cd258b759bdb1aec0950c5ab3c094bd7a071e","abstract_canon_sha256":"1ed51a304287ad64e64e62d55d1cb48d3c3a356402509e3e30adfd2d3836b95c"},"schema_version":"1.0"},"canonical_sha256":"d31cd3b349ee95852cd974b8e90ef6049efbb2d8901edf6ba16c36ab1b34339b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:07:43.702299Z","signature_b64":"bWc/vCAtk2d9uBgOjkuTjE+Dor6OYbIO0c7mV7w8fGUSwxMt4StGpktU4f1+wjq8f+RefbFpkdUEtyblQqgbAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d31cd3b349ee95852cd974b8e90ef6049efbb2d8901edf6ba16c36ab1b34339b","last_reissued_at":"2026-07-05T07:07:43.701822Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:07:43.701822Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2311.00197","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T07:07:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"E7GPXcysU4ycBG1uhxbNiXqabLOfLh/SvuriOC1hbj41mV/g2WDEkaXwx4bL+TLFWhXgFzemyAPr1d+8DCHZBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-05T15:21:28.495418Z"},"content_sha256":"a98497a05b2c3046fb3f3a8c4d4f68789cb8170a6031a0284d8432bf113049b7","schema_version":"1.0","event_id":"sha256:a98497a05b2c3046fb3f3a8c4d4f68789cb8170a6031a0284d8432bf113049b7"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:2MONHM2J52KYKLGZOS4OSDXWAS","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Design, Modeling, and Control of a Low-Cost and Rapid Response Soft-Growing Manipulator for Orchard Operations","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Christopher Ninatanta, Ethan Tuck, Jack Coleman, Jack Spieker, Jiecai Luo, Jordan Kurtz, Justin Allen, Manoj Karkee, Matthew D. Whiting, Ming Luo, Qin Zhang, Ryan Dorosh, Zixuan He","submitted_at":"2023-11-01T00:06:03Z","abstract_excerpt":"Tree fruit growers around the world are facing labor shortages for critical operations, including harvest and pruning. There is a great interest in developing robotic solutions for these labor-intensive tasks, but current efforts have been prohibitively costly, slow, or require a reconfiguration of the orchard in order to function. In this paper, we introduce an alternative approach to robotics using a novel and low-cost soft-growing robotic platform. Our platform features the ability to extend up to 1.2 m linearly at a maximum speed of 0.27 m/s. The soft-growing robotic arm can operate with a"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2311.00197","kind":"arxiv","version":1},"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/2311.00197/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":"2026-07-05T07:07:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"h80yEFROCxCV+2NXPfsOLkAjbMrX0v542yXMn4tJCpsx0Tpjq2HGV5fFRlbVZaKDKZRwwsD/offbW45ive8ZDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-05T15:21:28.496598Z"},"content_sha256":"99632f15df7fdf0e401ce5d0d0d62446b202e53d9d8ad2e6ba0068b30bf02f07","schema_version":"1.0","event_id":"sha256:99632f15df7fdf0e401ce5d0d0d62446b202e53d9d8ad2e6ba0068b30bf02f07"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/2MONHM2J52KYKLGZOS4OSDXWAS/bundle.json","state_url":"https://pith.science/pith/2MONHM2J52KYKLGZOS4OSDXWAS/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/2MONHM2J52KYKLGZOS4OSDXWAS/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":"2026-07-05T15:21:28Z","links":{"resolver":"https://pith.science/pith/2MONHM2J52KYKLGZOS4OSDXWAS","bundle":"https://pith.science/pith/2MONHM2J52KYKLGZOS4OSDXWAS/bundle.json","state":"https://pith.science/pith/2MONHM2J52KYKLGZOS4OSDXWAS/state.json","well_known_bundle":"https://pith.science/.well-known/pith/2MONHM2J52KYKLGZOS4OSDXWAS/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:2MONHM2J52KYKLGZOS4OSDXWAS","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":"1ed51a304287ad64e64e62d55d1cb48d3c3a356402509e3e30adfd2d3836b95c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-11-01T00:06:03Z","title_canon_sha256":"4015dc8dfb3c76a17c3e8a9dc61cd258b759bdb1aec0950c5ab3c094bd7a071e"},"schema_version":"1.0","source":{"id":"2311.00197","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2311.00197","created_at":"2026-07-05T07:07:43Z"},{"alias_kind":"arxiv_version","alias_value":"2311.00197v1","created_at":"2026-07-05T07:07:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2311.00197","created_at":"2026-07-05T07:07:43Z"},{"alias_kind":"pith_short_12","alias_value":"2MONHM2J52KY","created_at":"2026-07-05T07:07:43Z"},{"alias_kind":"pith_short_16","alias_value":"2MONHM2J52KYKLGZ","created_at":"2026-07-05T07:07:43Z"},{"alias_kind":"pith_short_8","alias_value":"2MONHM2J","created_at":"2026-07-05T07:07:43Z"}],"graph_snapshots":[{"event_id":"sha256:99632f15df7fdf0e401ce5d0d0d62446b202e53d9d8ad2e6ba0068b30bf02f07","target":"graph","created_at":"2026-07-05T07:07:43Z","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/2311.00197/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Tree fruit growers around the world are facing labor shortages for critical operations, including harvest and pruning. There is a great interest in developing robotic solutions for these labor-intensive tasks, but current efforts have been prohibitively costly, slow, or require a reconfiguration of the orchard in order to function. In this paper, we introduce an alternative approach to robotics using a novel and low-cost soft-growing robotic platform. Our platform features the ability to extend up to 1.2 m linearly at a maximum speed of 0.27 m/s. The soft-growing robotic arm can operate with a","authors_text":"Christopher Ninatanta, Ethan Tuck, Jack Coleman, Jack Spieker, Jiecai Luo, Jordan Kurtz, Justin Allen, Manoj Karkee, Matthew D. Whiting, Ming Luo, Qin Zhang, Ryan Dorosh, Zixuan He","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-11-01T00:06:03Z","title":"Design, Modeling, and Control of a Low-Cost and Rapid Response Soft-Growing Manipulator for Orchard Operations"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2311.00197","kind":"arxiv","version":1},"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:a98497a05b2c3046fb3f3a8c4d4f68789cb8170a6031a0284d8432bf113049b7","target":"record","created_at":"2026-07-05T07:07:43Z","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":"1ed51a304287ad64e64e62d55d1cb48d3c3a356402509e3e30adfd2d3836b95c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-11-01T00:06:03Z","title_canon_sha256":"4015dc8dfb3c76a17c3e8a9dc61cd258b759bdb1aec0950c5ab3c094bd7a071e"},"schema_version":"1.0","source":{"id":"2311.00197","kind":"arxiv","version":1}},"canonical_sha256":"d31cd3b349ee95852cd974b8e90ef6049efbb2d8901edf6ba16c36ab1b34339b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d31cd3b349ee95852cd974b8e90ef6049efbb2d8901edf6ba16c36ab1b34339b","first_computed_at":"2026-07-05T07:07:43.701822Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:07:43.701822Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"bWc/vCAtk2d9uBgOjkuTjE+Dor6OYbIO0c7mV7w8fGUSwxMt4StGpktU4f1+wjq8f+RefbFpkdUEtyblQqgbAg==","signature_status":"signed_v1","signed_at":"2026-07-05T07:07:43.702299Z","signed_message":"canonical_sha256_bytes"},"source_id":"2311.00197","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a98497a05b2c3046fb3f3a8c4d4f68789cb8170a6031a0284d8432bf113049b7","sha256:99632f15df7fdf0e401ce5d0d0d62446b202e53d9d8ad2e6ba0068b30bf02f07"],"state_sha256":"2b6043b4d588f23307190eb2fff6c5493d753824fd0b8af21dc249d5589fdb25"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bjqcSYLA8CYIiTCe5cEFbn66Tu1HQaYOt7j+7LLnrQTQQ2SePnTH3P7rxpi3ifTlAKBb4Mu9YOZqWIY1CeX0DA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-05T15:21:28.500647Z","bundle_sha256":"f4fbac8ded2e1e258b2c932aefc619527e8f4b71104dc24e5a16530394411a01"}}