{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:4YHINVWB3GEKAU7LHL4R2347UD","short_pith_number":"pith:4YHINVWB","canonical_record":{"source":{"id":"2410.06953","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-09T14:51:54Z","cross_cats_sorted":[],"title_canon_sha256":"47f715be7425a39114ac54e898a8daea0256073903f037342fb8d3d75ac51534","abstract_canon_sha256":"24dfbeceb271755c5d47601c142211e2e1ed2488b743b15d97c9ac51889aff9f"},"schema_version":"1.0"},"canonical_sha256":"e60e86d6c1d988a053eb3af91d6f9fa0c893cb2e81abb63984fe25120c628c9a","source":{"kind":"arxiv","id":"2410.06953","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.06953","created_at":"2026-07-05T09:18:08Z"},{"alias_kind":"arxiv_version","alias_value":"2410.06953v1","created_at":"2026-07-05T09:18:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.06953","created_at":"2026-07-05T09:18:08Z"},{"alias_kind":"pith_short_12","alias_value":"4YHINVWB3GEK","created_at":"2026-07-05T09:18:08Z"},{"alias_kind":"pith_short_16","alias_value":"4YHINVWB3GEKAU7L","created_at":"2026-07-05T09:18:08Z"},{"alias_kind":"pith_short_8","alias_value":"4YHINVWB","created_at":"2026-07-05T09:18:08Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:4YHINVWB3GEKAU7LHL4R2347UD","target":"record","payload":{"canonical_record":{"source":{"id":"2410.06953","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-09T14:51:54Z","cross_cats_sorted":[],"title_canon_sha256":"47f715be7425a39114ac54e898a8daea0256073903f037342fb8d3d75ac51534","abstract_canon_sha256":"24dfbeceb271755c5d47601c142211e2e1ed2488b743b15d97c9ac51889aff9f"},"schema_version":"1.0"},"canonical_sha256":"e60e86d6c1d988a053eb3af91d6f9fa0c893cb2e81abb63984fe25120c628c9a","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:18:08.933948Z","signature_b64":"Sy3s72Bt//9mlgWE/of7PYvauUVkZTNDh8bZHZF2dlB0+NmblO4iiVHyMVn1eipifdxZKFexal6K0UNQeXGWAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e60e86d6c1d988a053eb3af91d6f9fa0c893cb2e81abb63984fe25120c628c9a","last_reissued_at":"2026-07-05T09:18:08.933444Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:18:08.933444Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2410.06953","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":"2026-07-05T09:18:08Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gE21ifQdHwQrGSckjq8hDXIJziAI/PJ8YmzIo+hAN42DlI7iKACwojiTl7RXgbWjH9RGodTOnIa16f9tXSJSAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T11:52:29.909341Z"},"content_sha256":"cdbd8c849f4deee5d31bdbd0f2b12a2c6547b978b3878eb64bb6b4ff4ebe8bef","schema_version":"1.0","event_id":"sha256:cdbd8c849f4deee5d31bdbd0f2b12a2c6547b978b3878eb64bb6b4ff4ebe8bef"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:4YHINVWB3GEKAU7LHL4R2347UD","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Control System Design and Experiments for Autonomous Underwater Helicopter Docking Procedure Based on Acoustic-inertial-optical Guidance","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Haoda Li, Liming Zhao, Rendong Feng, Xinyu An, Ying Chen, Zhenwei Rong, Zhipeng Li, Zhuoyu Zhang","submitted_at":"2024-10-09T14:51:54Z","abstract_excerpt":"A control system structure for the underwater docking procedure of an Autonomous Underwater Helicopter (AUH) is proposed in this paper, which utilizes acoustic-inertial-optical guidance. Unlike conventional Autonomous Underwater Vehicles (AUVs), the maneuverability requirements for AUHs are more stringent during the docking procedure, requiring it to remain stationary or have minimal horizontal movement while moving vertically. The docking procedure is divided into two stages: Homing and Landing, each stage utilizing different guidance methods. Additionally, a segmented aligning strategy opera"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.06953","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/2410.06953/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":"2026-07-05T09:18:08Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"W3iSOz84KFM9P9jSt/vW/BPnxXb7G5oHYUd9lGgSJOORs/lLi9SWmIBnQ8ErxauNJsONuLoy4HbibGP8Uwi4CA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T11:52:29.909850Z"},"content_sha256":"be05a45e90ff56f2d394fadb1a7cf256f49369e96c713b32d4da0f3bd92e543e","schema_version":"1.0","event_id":"sha256:be05a45e90ff56f2d394fadb1a7cf256f49369e96c713b32d4da0f3bd92e543e"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/4YHINVWB3GEKAU7LHL4R2347UD/bundle.json","state_url":"https://pith.science/pith/4YHINVWB3GEKAU7LHL4R2347UD/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/4YHINVWB3GEKAU7LHL4R2347UD/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":"2026-08-23T11:52:29Z","links":{"resolver":"https://pith.science/pith/4YHINVWB3GEKAU7LHL4R2347UD","bundle":"https://pith.science/pith/4YHINVWB3GEKAU7LHL4R2347UD/bundle.json","state":"https://pith.science/pith/4YHINVWB3GEKAU7LHL4R2347UD/state.json","well_known_bundle":"https://pith.science/.well-known/pith/4YHINVWB3GEKAU7LHL4R2347UD/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:4YHINVWB3GEKAU7LHL4R2347UD","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":"24dfbeceb271755c5d47601c142211e2e1ed2488b743b15d97c9ac51889aff9f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-09T14:51:54Z","title_canon_sha256":"47f715be7425a39114ac54e898a8daea0256073903f037342fb8d3d75ac51534"},"schema_version":"1.0","source":{"id":"2410.06953","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.06953","created_at":"2026-07-05T09:18:08Z"},{"alias_kind":"arxiv_version","alias_value":"2410.06953v1","created_at":"2026-07-05T09:18:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.06953","created_at":"2026-07-05T09:18:08Z"},{"alias_kind":"pith_short_12","alias_value":"4YHINVWB3GEK","created_at":"2026-07-05T09:18:08Z"},{"alias_kind":"pith_short_16","alias_value":"4YHINVWB3GEKAU7L","created_at":"2026-07-05T09:18:08Z"},{"alias_kind":"pith_short_8","alias_value":"4YHINVWB","created_at":"2026-07-05T09:18:08Z"}],"graph_snapshots":[{"event_id":"sha256:be05a45e90ff56f2d394fadb1a7cf256f49369e96c713b32d4da0f3bd92e543e","target":"graph","created_at":"2026-07-05T09:18:08Z","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/2410.06953/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"A control system structure for the underwater docking procedure of an Autonomous Underwater Helicopter (AUH) is proposed in this paper, which utilizes acoustic-inertial-optical guidance. Unlike conventional Autonomous Underwater Vehicles (AUVs), the maneuverability requirements for AUHs are more stringent during the docking procedure, requiring it to remain stationary or have minimal horizontal movement while moving vertically. The docking procedure is divided into two stages: Homing and Landing, each stage utilizing different guidance methods. Additionally, a segmented aligning strategy opera","authors_text":"Haoda Li, Liming Zhao, Rendong Feng, Xinyu An, Ying Chen, Zhenwei Rong, Zhipeng Li, Zhuoyu Zhang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-09T14:51:54Z","title":"Control System Design and Experiments for Autonomous Underwater Helicopter Docking Procedure Based on Acoustic-inertial-optical Guidance"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.06953","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:cdbd8c849f4deee5d31bdbd0f2b12a2c6547b978b3878eb64bb6b4ff4ebe8bef","target":"record","created_at":"2026-07-05T09:18:08Z","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":"24dfbeceb271755c5d47601c142211e2e1ed2488b743b15d97c9ac51889aff9f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-09T14:51:54Z","title_canon_sha256":"47f715be7425a39114ac54e898a8daea0256073903f037342fb8d3d75ac51534"},"schema_version":"1.0","source":{"id":"2410.06953","kind":"arxiv","version":1}},"canonical_sha256":"e60e86d6c1d988a053eb3af91d6f9fa0c893cb2e81abb63984fe25120c628c9a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e60e86d6c1d988a053eb3af91d6f9fa0c893cb2e81abb63984fe25120c628c9a","first_computed_at":"2026-07-05T09:18:08.933444Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:18:08.933444Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Sy3s72Bt//9mlgWE/of7PYvauUVkZTNDh8bZHZF2dlB0+NmblO4iiVHyMVn1eipifdxZKFexal6K0UNQeXGWAg==","signature_status":"signed_v1","signed_at":"2026-07-05T09:18:08.933948Z","signed_message":"canonical_sha256_bytes"},"source_id":"2410.06953","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:cdbd8c849f4deee5d31bdbd0f2b12a2c6547b978b3878eb64bb6b4ff4ebe8bef","sha256:be05a45e90ff56f2d394fadb1a7cf256f49369e96c713b32d4da0f3bd92e543e"],"state_sha256":"9864b9b91a63702157b2eb2ede0cd3d0a9a39f16c98cb42390a84a44c847f13a"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"J0FhhF+BGkYTSEx97u5xKhHdMIlrtdXKQk2wykHWhQZmmiEomcGqE3NF8ySYdji+M7yI8edEPo2WRW8JKLgcBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-23T11:52:29.914773Z","bundle_sha256":"6c5f5ad1b51117c4ffd00c183a066ce500c93b31570b3c7557f8985d6cbd1f37"}}