{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2018:3EFYCF6BL4H3FKSK224INEP25X","short_pith_number":"pith:3EFYCF6B","schema_version":"1.0","canonical_sha256":"d90b8117c15f0fb2aa4ad6b88691faedd8afdf1f2c8c4ccbea879d4933cb0913","source":{"kind":"arxiv","id":"1804.03756","version":1},"attestation_state":"computed","paper":{"title":"Design and Control of an Aerial Manipulator for Contact-based Inspection","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Christos Papachristos, Kostas Alexis, Varun Nayak","submitted_at":"2018-04-11T00:06:28Z","abstract_excerpt":"Manipulator dynamics, external forces and moments raise issues in stability and efficient control during aerial manipulation. Additionally, multirotor Micro Aerial Vehicles impose stringent limits on payload, actuation and system states. In view of these challenges, this work addressed the design and control of a 3-DoF serial aerial manipulator for contact inspection. A lightweight design with sufficient dexterous workspace for NDT (Non-Destructive Testing) inspection is presented. This operation requires the regulation of normal force on the inspected point. Contact dynamics have been discuss"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"1804.03756","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-04-11T00:06:28Z","cross_cats_sorted":[],"title_canon_sha256":"873337f2972d8d6745d3370d61c71ec964f2fb751b5976cc1a333c92731faf3b","abstract_canon_sha256":"5a0ad64ad09645f703398a9183623dd6d55e94d378c47f295e0ef389cc6d1ba2"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:18:43.156897Z","signature_b64":"MHtArSvIiwr0218SVn7R5UjSzT1YL2Ap2G1LtZmruHAZr3duEbgqZTsmTKK4k1lK6dukFRsEgOMcY90TrG8jDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d90b8117c15f0fb2aa4ad6b88691faedd8afdf1f2c8c4ccbea879d4933cb0913","last_reissued_at":"2026-05-18T00:18:43.156420Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:18:43.156420Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Design and Control of an Aerial Manipulator for Contact-based Inspection","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Christos Papachristos, Kostas Alexis, Varun Nayak","submitted_at":"2018-04-11T00:06:28Z","abstract_excerpt":"Manipulator dynamics, external forces and moments raise issues in stability and efficient control during aerial manipulation. Additionally, multirotor Micro Aerial Vehicles impose stringent limits on payload, actuation and system states. In view of these challenges, this work addressed the design and control of a 3-DoF serial aerial manipulator for contact inspection. A lightweight design with sufficient dexterous workspace for NDT (Non-Destructive Testing) inspection is presented. This operation requires the regulation of normal force on the inspected point. Contact dynamics have been discuss"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1804.03756","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"},"aliases":[{"alias_kind":"arxiv","alias_value":"1804.03756","created_at":"2026-05-18T00:18:43.156510+00:00"},{"alias_kind":"arxiv_version","alias_value":"1804.03756v1","created_at":"2026-05-18T00:18:43.156510+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1804.03756","created_at":"2026-05-18T00:18:43.156510+00:00"},{"alias_kind":"pith_short_12","alias_value":"3EFYCF6BL4H3","created_at":"2026-05-18T12:32:02.567920+00:00"},{"alias_kind":"pith_short_16","alias_value":"3EFYCF6BL4H3FKSK","created_at":"2026-05-18T12:32:02.567920+00:00"},{"alias_kind":"pith_short_8","alias_value":"3EFYCF6B","created_at":"2026-05-18T12:32:02.567920+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/3EFYCF6BL4H3FKSK224INEP25X","json":"https://pith.science/pith/3EFYCF6BL4H3FKSK224INEP25X.json","graph_json":"https://pith.science/api/pith-number/3EFYCF6BL4H3FKSK224INEP25X/graph.json","events_json":"https://pith.science/api/pith-number/3EFYCF6BL4H3FKSK224INEP25X/events.json","paper":"https://pith.science/paper/3EFYCF6B"},"agent_actions":{"view_html":"https://pith.science/pith/3EFYCF6BL4H3FKSK224INEP25X","download_json":"https://pith.science/pith/3EFYCF6BL4H3FKSK224INEP25X.json","view_paper":"https://pith.science/paper/3EFYCF6B","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1804.03756&json=true","fetch_graph":"https://pith.science/api/pith-number/3EFYCF6BL4H3FKSK224INEP25X/graph.json","fetch_events":"https://pith.science/api/pith-number/3EFYCF6BL4H3FKSK224INEP25X/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/3EFYCF6BL4H3FKSK224INEP25X/action/timestamp_anchor","attest_storage":"https://pith.science/pith/3EFYCF6BL4H3FKSK224INEP25X/action/storage_attestation","attest_author":"https://pith.science/pith/3EFYCF6BL4H3FKSK224INEP25X/action/author_attestation","sign_citation":"https://pith.science/pith/3EFYCF6BL4H3FKSK224INEP25X/action/citation_signature","submit_replication":"https://pith.science/pith/3EFYCF6BL4H3FKSK224INEP25X/action/replication_record"}},"created_at":"2026-05-18T00:18:43.156510+00:00","updated_at":"2026-05-18T00:18:43.156510+00:00"}