{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:3UZ37ZQCDB4PBXDV3TK2I4LFQV","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":"9e0653631b2e265ceb6b94eb15e92a21184fe9369a6ae7257b3efd6d8ab71dd8","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-06T06:51:12Z","title_canon_sha256":"7ca9f07c52db52396a80c4e1d2a99b85b732310962eca07e5b59599d03855926"},"schema_version":"1.0","source":{"id":"1604.01507","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1604.01507","created_at":"2026-05-18T00:36:04Z"},{"alias_kind":"arxiv_version","alias_value":"1604.01507v2","created_at":"2026-05-18T00:36:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1604.01507","created_at":"2026-05-18T00:36:04Z"},{"alias_kind":"pith_short_12","alias_value":"3UZ37ZQCDB4P","created_at":"2026-05-18T12:29:58Z"},{"alias_kind":"pith_short_16","alias_value":"3UZ37ZQCDB4PBXDV","created_at":"2026-05-18T12:29:58Z"},{"alias_kind":"pith_short_8","alias_value":"3UZ37ZQC","created_at":"2026-05-18T12:29:58Z"}],"graph_snapshots":[{"event_id":"sha256:f3fb68f035b025c888f5598acbde0fe32005f6ca27e2217ab00770e022f52fa7","target":"graph","created_at":"2026-05-18T00:36:04Z","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 considers the problem of manipulating a uniformly rotating chain: the chain is rotated at a constant angular speed around a fixed axis using a robotic manipulator. Manipulation is quasi-static in the sense that transitions are slow enough for the chain to be always in \"rotational\" equilibrium. The curve traced by the chain in a rotating plane -- its shape function -- can be determined by a simple force analysis, yet it possesses complex multi-solutions behavior typical of non-linear systems. We prove that the configuration space of the uniformly rotating chain is homeomorphic to a t","authors_text":"Hung Pham, Quang-Cuong Pham","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-06T06:51:12Z","title":"Robotic manipulation of a rotating chain"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1604.01507","kind":"arxiv","version":2},"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":"sha256:6bf724120c5a07480c556716cf1606a06f28f1efab298267b1b85cbb7322c3c6","target":"record","created_at":"2026-05-18T00:36:04Z","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":"9e0653631b2e265ceb6b94eb15e92a21184fe9369a6ae7257b3efd6d8ab71dd8","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-06T06:51:12Z","title_canon_sha256":"7ca9f07c52db52396a80c4e1d2a99b85b732310962eca07e5b59599d03855926"},"schema_version":"1.0","source":{"id":"1604.01507","kind":"arxiv","version":2}},"canonical_sha256":"dd33bfe6021878f0dc75dcd5a471658576cf1631681c6e820f0c2f1f298088c8","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"dd33bfe6021878f0dc75dcd5a471658576cf1631681c6e820f0c2f1f298088c8","first_computed_at":"2026-05-18T00:36:04.040986Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:36:04.040986Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"SN4/M3Hu+JSd3Owh+iJ4Ll0BDaZbCCN7DXsqbnUTXk6caoelLWLYlSHz+br9fXxMcZoEI+qq6mPhi9oNKt5uBg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:36:04.041588Z","signed_message":"canonical_sha256_bytes"},"source_id":"1604.01507","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6bf724120c5a07480c556716cf1606a06f28f1efab298267b1b85cbb7322c3c6","sha256:f3fb68f035b025c888f5598acbde0fe32005f6ca27e2217ab00770e022f52fa7"],"state_sha256":"f7ada68f7ff35d1aca18e7bb0f56023a79e86c848860deba4bb0504db4e4bcd6"}