Pith Number

pith:4DQAFQG5

pith:2020:4DQAFQG5Z7CRGDEYOOABCF5JSN

not attested not anchored not stored refs pending

Modeling, Reduction, and Control of a Helically Actuated Inertial Soft Robotic Arm via the Koopman Operator

David A. Haggerty, Elliot W. Hawkes, Igor Mezi\'c, Michael J. Banks, Patrick C. Curtis

arxiv:2011.07939 v1 · 2020-11-16 · cs.RO · cs.SY · eess.SY

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{4DQAFQG5Z7CRGDEYOOABCF5JSN}

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	2026-07-05T01:51:55.834461Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e0e002c0ddcfc5130c9873801117a9935c5b43ae5617842fb14bc3903ebbf539

Aliases

arxiv: 2011.07939 · arxiv_version: 2011.07939v1 · doi: 10.48550/arxiv.2011.07939 · pith_short_12: 4DQAFQG5Z7CR · pith_short_16: 4DQAFQG5Z7CRGDEY · pith_short_8: 4DQAFQG5

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/4DQAFQG5Z7CRGDEYOOABCF5JSN \
  | 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: e0e002c0ddcfc5130c9873801117a9935c5b43ae5617842fb14bc3903ebbf539

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "76ba994c48b1b8cf2c280ffc1573a765b5934dc24dab062b2a461e85ee184e9b",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2020-11-16T13:38:11Z",
    "title_canon_sha256": "2cf6b31d66c7602406b67619701d015a25992e4b282365743cbb9e475baf80a2"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2011.07939",
    "kind": "arxiv",
    "version": 1
  }
}