Pith Number

pith:4DCRSMEN

pith:2015:4DCRSMEN4W7LIPLVVCJNYXWIQ5

not attested not anchored not stored refs pending

State Estimation for Tensegrity Robots

Jeffrey M. Friesen, Jonathan Bruce, Ken Caluwaerts, Vytas SunSpiral

arxiv:1510.01240 v2 · 2015-10-05 · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{4DCRSMEN4W7LIPLVVCJNYXWIQ5}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Receipt and verification

First computed	2026-05-18T00:58:34.865168Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e0c519308de5beb43d75a892dc5ec8877917ac52ce419df52616756502c413ee

Aliases

arxiv: 1510.01240 · arxiv_version: 1510.01240v2 · doi: 10.48550/arxiv.1510.01240 · pith_short_12: 4DCRSMEN4W7L · pith_short_16: 4DCRSMEN4W7LIPLV · pith_short_8: 4DCRSMEN

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/4DCRSMEN4W7LIPLVVCJNYXWIQ5 \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: e0c519308de5beb43d75a892dc5ec8877917ac52ce419df52616756502c413ee

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f89754c73573dcc8e200f892f8bdfa610caca0c46eff4c12a394b9dd3516ffbe",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2015-10-05T17:14:30Z",
    "title_canon_sha256": "d778131a8028f611f042736498e68530cd1523a0c3502c309127fb3f9458e764"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1510.01240",
    "kind": "arxiv",
    "version": 2
  }
}