{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:4A4PF6YY5JZHWAKU44F34D3WVG","short_pith_number":"pith:4A4PF6YY","canonical_record":{"source":{"id":"2112.15127","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-12-30T16:51:25Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"af6f44ba291670e496bb058aab071503a45f46c137ff4cb66246a70390e39df4","abstract_canon_sha256":"295f96c6d03a715bb3b27e59e1080745bb38216290514ea6fe1a5a018a903253"},"schema_version":"1.0"},"canonical_sha256":"e038f2fb18ea727b0154e70bbe0f76a98443d3919b007eb5a10c38d80283d4ad","source":{"kind":"arxiv","id":"2112.15127","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2112.15127","created_at":"2026-07-05T03:44:37Z"},{"alias_kind":"arxiv_version","alias_value":"2112.15127v1","created_at":"2026-07-05T03:44:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2112.15127","created_at":"2026-07-05T03:44:37Z"},{"alias_kind":"pith_short_12","alias_value":"4A4PF6YY5JZH","created_at":"2026-07-05T03:44:37Z"},{"alias_kind":"pith_short_16","alias_value":"4A4PF6YY5JZHWAKU","created_at":"2026-07-05T03:44:37Z"},{"alias_kind":"pith_short_8","alias_value":"4A4PF6YY","created_at":"2026-07-05T03:44:37Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:4A4PF6YY5JZHWAKU44F34D3WVG","target":"record","payload":{"canonical_record":{"source":{"id":"2112.15127","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-12-30T16:51:25Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"af6f44ba291670e496bb058aab071503a45f46c137ff4cb66246a70390e39df4","abstract_canon_sha256":"295f96c6d03a715bb3b27e59e1080745bb38216290514ea6fe1a5a018a903253"},"schema_version":"1.0"},"canonical_sha256":"e038f2fb18ea727b0154e70bbe0f76a98443d3919b007eb5a10c38d80283d4ad","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:44:37.019769Z","signature_b64":"8xHUzmiPpsqTBPzEwV1u3bKRgVyTHycU8Wc3Hxjn3UV9AEKCg2dDhYDvA68x1uOkFUHX4or7J2UQKs9ZoooyCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e038f2fb18ea727b0154e70bbe0f76a98443d3919b007eb5a10c38d80283d4ad","last_reissued_at":"2026-07-05T03:44:37.019283Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:44:37.019283Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2112.15127","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":"2026-07-05T03:44:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dMM5PkF6c3Iwm/oZX0bJ2LVpAQC3JSOe7TSh3wFccmeltbYYuYCOsGLVxhufvniiEib3CnQtwwBIn4XWhK/9BQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T05:31:08.494655Z"},"content_sha256":"35bc07263e202a7a5fa8d155387e73236264e9b1d06203b7ca158374f7aad649","schema_version":"1.0","event_id":"sha256:35bc07263e202a7a5fa8d155387e73236264e9b1d06203b7ca158374f7aad649"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:4A4PF6YY5JZHWAKU44F34D3WVG","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Towards Automated Sample Collection and Return in Extreme Underwater Environments","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Gideon Billings, Matthew Johnson-Roberson, Matthew Walter, Oscar Pizarro, Richard Camilli","submitted_at":"2021-12-30T16:51:25Z","abstract_excerpt":"In this report, we present the system design, operational strategy, and results of coordinated multi-vehicle field demonstrations of autonomous marine robotic technologies in search-for-life missions within the Pacific shelf margin of Costa Rica and the Santorini-Kolumbo caldera complex, which serve as analogs to environments that may exist in oceans beyond Earth. This report focuses on the automation of ROV manipulator operations for targeted biological sample-collection-and-return from the seafloor. In the context of future extraterrestrial exploration missions to ocean worlds, an ROV is an "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2112.15127","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/2112.15127/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":"2026-07-05T03:44:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6k9GMA8AWq/fgmOcGo4Z5e79Yqn6fuOx5kW2YJImcW44vzCkf9KFOM4W8McxU8H+0y8wxGrlOIk7c0UDHpOBCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T05:31:08.495191Z"},"content_sha256":"4652978af7f3a634982c22cfc745c920db017c46936dccb0e811324e58690de4","schema_version":"1.0","event_id":"sha256:4652978af7f3a634982c22cfc745c920db017c46936dccb0e811324e58690de4"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/4A4PF6YY5JZHWAKU44F34D3WVG/bundle.json","state_url":"https://pith.science/pith/4A4PF6YY5JZHWAKU44F34D3WVG/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/4A4PF6YY5JZHWAKU44F34D3WVG/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":"2026-08-09T05:31:08Z","links":{"resolver":"https://pith.science/pith/4A4PF6YY5JZHWAKU44F34D3WVG","bundle":"https://pith.science/pith/4A4PF6YY5JZHWAKU44F34D3WVG/bundle.json","state":"https://pith.science/pith/4A4PF6YY5JZHWAKU44F34D3WVG/state.json","well_known_bundle":"https://pith.science/.well-known/pith/4A4PF6YY5JZHWAKU44F34D3WVG/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:4A4PF6YY5JZHWAKU44F34D3WVG","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":"295f96c6d03a715bb3b27e59e1080745bb38216290514ea6fe1a5a018a903253","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-12-30T16:51:25Z","title_canon_sha256":"af6f44ba291670e496bb058aab071503a45f46c137ff4cb66246a70390e39df4"},"schema_version":"1.0","source":{"id":"2112.15127","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2112.15127","created_at":"2026-07-05T03:44:37Z"},{"alias_kind":"arxiv_version","alias_value":"2112.15127v1","created_at":"2026-07-05T03:44:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2112.15127","created_at":"2026-07-05T03:44:37Z"},{"alias_kind":"pith_short_12","alias_value":"4A4PF6YY5JZH","created_at":"2026-07-05T03:44:37Z"},{"alias_kind":"pith_short_16","alias_value":"4A4PF6YY5JZHWAKU","created_at":"2026-07-05T03:44:37Z"},{"alias_kind":"pith_short_8","alias_value":"4A4PF6YY","created_at":"2026-07-05T03:44:37Z"}],"graph_snapshots":[{"event_id":"sha256:4652978af7f3a634982c22cfc745c920db017c46936dccb0e811324e58690de4","target":"graph","created_at":"2026-07-05T03:44:37Z","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/2112.15127/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this report, we present the system design, operational strategy, and results of coordinated multi-vehicle field demonstrations of autonomous marine robotic technologies in search-for-life missions within the Pacific shelf margin of Costa Rica and the Santorini-Kolumbo caldera complex, which serve as analogs to environments that may exist in oceans beyond Earth. This report focuses on the automation of ROV manipulator operations for targeted biological sample-collection-and-return from the seafloor. In the context of future extraterrestrial exploration missions to ocean worlds, an ROV is an ","authors_text":"Gideon Billings, Matthew Johnson-Roberson, Matthew Walter, Oscar Pizarro, Richard Camilli","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-12-30T16:51:25Z","title":"Towards Automated Sample Collection and Return in Extreme Underwater Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2112.15127","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":"sha256:35bc07263e202a7a5fa8d155387e73236264e9b1d06203b7ca158374f7aad649","target":"record","created_at":"2026-07-05T03:44:37Z","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":"295f96c6d03a715bb3b27e59e1080745bb38216290514ea6fe1a5a018a903253","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-12-30T16:51:25Z","title_canon_sha256":"af6f44ba291670e496bb058aab071503a45f46c137ff4cb66246a70390e39df4"},"schema_version":"1.0","source":{"id":"2112.15127","kind":"arxiv","version":1}},"canonical_sha256":"e038f2fb18ea727b0154e70bbe0f76a98443d3919b007eb5a10c38d80283d4ad","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e038f2fb18ea727b0154e70bbe0f76a98443d3919b007eb5a10c38d80283d4ad","first_computed_at":"2026-07-05T03:44:37.019283Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:44:37.019283Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"8xHUzmiPpsqTBPzEwV1u3bKRgVyTHycU8Wc3Hxjn3UV9AEKCg2dDhYDvA68x1uOkFUHX4or7J2UQKs9ZoooyCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T03:44:37.019769Z","signed_message":"canonical_sha256_bytes"},"source_id":"2112.15127","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:35bc07263e202a7a5fa8d155387e73236264e9b1d06203b7ca158374f7aad649","sha256:4652978af7f3a634982c22cfc745c920db017c46936dccb0e811324e58690de4"],"state_sha256":"5f3a288cba8beea221c94f72fbcff9764bc452d266f4940f72c286fdf33980bd"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"SVO2jDErOw/2UISp3cZP2vILGW1fHfLx47/UMbttV1RI+w8RdwHRSPVb7aV6kKMbBDj4MziF7NNPT303s4PLDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-09T05:31:08.499552Z","bundle_sha256":"759f17cba8b28b9d6eeae08e932f7bfcd10e8f3df97e88ffebf88c13a92ba64f"}}