{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:2S4BA6JQTJKGVWTBJKY66ZR7V7","short_pith_number":"pith:2S4BA6JQ","canonical_record":{"source":{"id":"1611.07650","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-11-23T05:24:51Z","cross_cats_sorted":[],"title_canon_sha256":"97b6d2c0f8cce8c4e6149a70e62cd180b1d9e2f1abc84d05eefd87aebeec564c","abstract_canon_sha256":"2882ebee0af73a3891e8969e4ba1207707ed4ec8079f746f2f9144cefe0a8a6b"},"schema_version":"1.0"},"canonical_sha256":"d4b81079309a546ada614ab1ef663faff1ea43d8916cd465e46f784ad222d5ef","source":{"kind":"arxiv","id":"1611.07650","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1611.07650","created_at":"2026-05-18T00:57:00Z"},{"alias_kind":"arxiv_version","alias_value":"1611.07650v1","created_at":"2026-05-18T00:57:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1611.07650","created_at":"2026-05-18T00:57:00Z"},{"alias_kind":"pith_short_12","alias_value":"2S4BA6JQTJKG","created_at":"2026-05-18T12:29:55Z"},{"alias_kind":"pith_short_16","alias_value":"2S4BA6JQTJKGVWTB","created_at":"2026-05-18T12:29:55Z"},{"alias_kind":"pith_short_8","alias_value":"2S4BA6JQ","created_at":"2026-05-18T12:29:55Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:2S4BA6JQTJKGVWTBJKY66ZR7V7","target":"record","payload":{"canonical_record":{"source":{"id":"1611.07650","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-11-23T05:24:51Z","cross_cats_sorted":[],"title_canon_sha256":"97b6d2c0f8cce8c4e6149a70e62cd180b1d9e2f1abc84d05eefd87aebeec564c","abstract_canon_sha256":"2882ebee0af73a3891e8969e4ba1207707ed4ec8079f746f2f9144cefe0a8a6b"},"schema_version":"1.0"},"canonical_sha256":"d4b81079309a546ada614ab1ef663faff1ea43d8916cd465e46f784ad222d5ef","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:57:00.173867Z","signature_b64":"zXX/NTQn+lhQZdMFoeiR78uq0do/8p5bhoKwOEkwc82od5+siP/kD4NYbpIIMOVsAuj7O4YUQucMfMDisTlvCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d4b81079309a546ada614ab1ef663faff1ea43d8916cd465e46f784ad222d5ef","last_reissued_at":"2026-05-18T00:57:00.173372Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:57:00.173372Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1611.07650","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":"2026-05-18T00:57:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"obUVGkoKAXU4mBl2uOguET35xJR6w2VgyqH6cX8E1Yp+8x5XyppwmdOy7Ys3rXnUCboTvkgLnjUDXzHU4XwAAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-05T23:18:55.975912Z"},"content_sha256":"250a1be6f24698f5dd72c84dab1404e0d045fde1a7cdae749f6035a9948deb76","schema_version":"1.0","event_id":"sha256:250a1be6f24698f5dd72c84dab1404e0d045fde1a7cdae749f6035a9948deb76"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:2S4BA6JQTJKGVWTBJKY66ZR7V7","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"On the Design and Optimization of an Autonomous Microgravity Enabling Aerial Robot","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Eric Feron, John Franklin, Juan-Pablo Afman, Mark L. Mote, Thomas Gurriet","submitted_at":"2016-11-23T05:24:51Z","abstract_excerpt":"This paper describes the process and challenges behind the design and development of a micro-gravity enabling aerial robot. The vehicle, designed to provide at minimum 4 seconds of micro-gravity at an accuracy of .001 g's, is designed with suggestions and constraints from both academia and industry as well a regulatory agency. The feasibility of the flight mission is validated using a simulation environment, where models obtained from system identification of existing hardware are implemented to increase the fidelity of the simulation. The current development of a physical test bed is describe"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1611.07650","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":""},"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":"2026-05-18T00:57:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"MLdarVaDVlG40HpveRdFVRWSXFuM8qcgGr0vZLNOamEZdwdXb9lfcRZdE3/DipwG91w1cUv/owHOjxuvCd/uCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-05T23:18:55.976606Z"},"content_sha256":"ecca56db052e236105dcff26149f43ea62ce85b0a15963ec34d08a9fe70ce81c","schema_version":"1.0","event_id":"sha256:ecca56db052e236105dcff26149f43ea62ce85b0a15963ec34d08a9fe70ce81c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/2S4BA6JQTJKGVWTBJKY66ZR7V7/bundle.json","state_url":"https://pith.science/pith/2S4BA6JQTJKGVWTBJKY66ZR7V7/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/2S4BA6JQTJKGVWTBJKY66ZR7V7/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":"2026-06-05T23:18:55Z","links":{"resolver":"https://pith.science/pith/2S4BA6JQTJKGVWTBJKY66ZR7V7","bundle":"https://pith.science/pith/2S4BA6JQTJKGVWTBJKY66ZR7V7/bundle.json","state":"https://pith.science/pith/2S4BA6JQTJKGVWTBJKY66ZR7V7/state.json","well_known_bundle":"https://pith.science/.well-known/pith/2S4BA6JQTJKGVWTBJKY66ZR7V7/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:2S4BA6JQTJKGVWTBJKY66ZR7V7","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":"2882ebee0af73a3891e8969e4ba1207707ed4ec8079f746f2f9144cefe0a8a6b","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-11-23T05:24:51Z","title_canon_sha256":"97b6d2c0f8cce8c4e6149a70e62cd180b1d9e2f1abc84d05eefd87aebeec564c"},"schema_version":"1.0","source":{"id":"1611.07650","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1611.07650","created_at":"2026-05-18T00:57:00Z"},{"alias_kind":"arxiv_version","alias_value":"1611.07650v1","created_at":"2026-05-18T00:57:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1611.07650","created_at":"2026-05-18T00:57:00Z"},{"alias_kind":"pith_short_12","alias_value":"2S4BA6JQTJKG","created_at":"2026-05-18T12:29:55Z"},{"alias_kind":"pith_short_16","alias_value":"2S4BA6JQTJKGVWTB","created_at":"2026-05-18T12:29:55Z"},{"alias_kind":"pith_short_8","alias_value":"2S4BA6JQ","created_at":"2026-05-18T12:29:55Z"}],"graph_snapshots":[{"event_id":"sha256:ecca56db052e236105dcff26149f43ea62ce85b0a15963ec34d08a9fe70ce81c","target":"graph","created_at":"2026-05-18T00:57:00Z","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":"This paper describes the process and challenges behind the design and development of a micro-gravity enabling aerial robot. The vehicle, designed to provide at minimum 4 seconds of micro-gravity at an accuracy of .001 g's, is designed with suggestions and constraints from both academia and industry as well a regulatory agency. The feasibility of the flight mission is validated using a simulation environment, where models obtained from system identification of existing hardware are implemented to increase the fidelity of the simulation. The current development of a physical test bed is describe","authors_text":"Eric Feron, John Franklin, Juan-Pablo Afman, Mark L. Mote, Thomas Gurriet","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-11-23T05:24:51Z","title":"On the Design and Optimization of an Autonomous Microgravity Enabling Aerial Robot"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1611.07650","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":"sha256:250a1be6f24698f5dd72c84dab1404e0d045fde1a7cdae749f6035a9948deb76","target":"record","created_at":"2026-05-18T00:57:00Z","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":"2882ebee0af73a3891e8969e4ba1207707ed4ec8079f746f2f9144cefe0a8a6b","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-11-23T05:24:51Z","title_canon_sha256":"97b6d2c0f8cce8c4e6149a70e62cd180b1d9e2f1abc84d05eefd87aebeec564c"},"schema_version":"1.0","source":{"id":"1611.07650","kind":"arxiv","version":1}},"canonical_sha256":"d4b81079309a546ada614ab1ef663faff1ea43d8916cd465e46f784ad222d5ef","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d4b81079309a546ada614ab1ef663faff1ea43d8916cd465e46f784ad222d5ef","first_computed_at":"2026-05-18T00:57:00.173372Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:57:00.173372Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"zXX/NTQn+lhQZdMFoeiR78uq0do/8p5bhoKwOEkwc82od5+siP/kD4NYbpIIMOVsAuj7O4YUQucMfMDisTlvCg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:57:00.173867Z","signed_message":"canonical_sha256_bytes"},"source_id":"1611.07650","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:250a1be6f24698f5dd72c84dab1404e0d045fde1a7cdae749f6035a9948deb76","sha256:ecca56db052e236105dcff26149f43ea62ce85b0a15963ec34d08a9fe70ce81c"],"state_sha256":"b3357a928f4d54ed062990256d9eb2a6692303b06e9165dff1ecc342df22b6a9"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"X6UZp35i8Q+HFsF+8q/br26C7WTd0UOjodh7Vkph6ngu7AxHdHU2EC6qSNO5ozVmHTbAg2VC0SQEpQ4Br9jsBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-05T23:18:55.978789Z","bundle_sha256":"dc33c80019103553c252011e73ccb2ee12e2b821f93c63435010b91fc64de011"}}