{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:56BFBT22KFQEQGRSQWRI7RJKXV","short_pith_number":"pith:56BFBT22","canonical_record":{"source":{"id":"1902.00054","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-01-31T20:10:13Z","cross_cats_sorted":[],"title_canon_sha256":"8e3cd18def7a2846ba44779e0f5041e46ba07ffbf1d4e98bf23171273cfd7f5c","abstract_canon_sha256":"75522183f62b2abd0814d6bc732c77cfb20fe0a14e4be9cd4465c427096f5930"},"schema_version":"1.0"},"canonical_sha256":"ef8250cf5a5160481a3285a28fc52abd4881a1259c0a0a4f530dbf1fe0b93129","source":{"kind":"arxiv","id":"1902.00054","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1902.00054","created_at":"2026-05-17T23:54:58Z"},{"alias_kind":"arxiv_version","alias_value":"1902.00054v1","created_at":"2026-05-17T23:54:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1902.00054","created_at":"2026-05-17T23:54:58Z"},{"alias_kind":"pith_short_12","alias_value":"56BFBT22KFQE","created_at":"2026-05-18T12:33:10Z"},{"alias_kind":"pith_short_16","alias_value":"56BFBT22KFQEQGRS","created_at":"2026-05-18T12:33:10Z"},{"alias_kind":"pith_short_8","alias_value":"56BFBT22","created_at":"2026-05-18T12:33:10Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:56BFBT22KFQEQGRSQWRI7RJKXV","target":"record","payload":{"canonical_record":{"source":{"id":"1902.00054","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-01-31T20:10:13Z","cross_cats_sorted":[],"title_canon_sha256":"8e3cd18def7a2846ba44779e0f5041e46ba07ffbf1d4e98bf23171273cfd7f5c","abstract_canon_sha256":"75522183f62b2abd0814d6bc732c77cfb20fe0a14e4be9cd4465c427096f5930"},"schema_version":"1.0"},"canonical_sha256":"ef8250cf5a5160481a3285a28fc52abd4881a1259c0a0a4f530dbf1fe0b93129","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:54:58.352901Z","signature_b64":"pyMW0V5ruGcq2cBZQHpymwLCATN5Y79Wa4xocOh4xyfs/ewwSNMx9CMcff0+w/gafdHDokjQE/NsSGXbAzGwDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ef8250cf5a5160481a3285a28fc52abd4881a1259c0a0a4f530dbf1fe0b93129","last_reissued_at":"2026-05-17T23:54:58.352273Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:54:58.352273Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1902.00054","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":"2026-05-17T23:54:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ceZ4qfE96xrJcYePAL7xPXXj+SL02dsKWDN8eHJdEp5C9Du4vQtRvkDybQpDJuuDoUvO8huEqSr1/+0cBUB5Bw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-22T12:15:11.116145Z"},"content_sha256":"cff095d8f4476b7c1e8e427e329c32863f693a810cb39a668bd8bbc200e8f03a","schema_version":"1.0","event_id":"sha256:cff095d8f4476b7c1e8e427e329c32863f693a810cb39a668bd8bbc200e8f03a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:56BFBT22KFQEQGRSQWRI7RJKXV","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Comparison and Experimental Validation of Predictive Models for Soft, Fiber-Reinforced Actuators","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alan Wineman, Audrey Sedal, C David Remy, R Brent Gillespie","submitted_at":"2019-01-31T20:10:13Z","abstract_excerpt":"Successful soft robot modeling approaches appearing in recent literature have been based on a variety of distinct theories, including traditional robotic theory, continuum mechanics, and machine learning. Though specific modeling techniques have been developed for and validated against already realized systems, their strengths and weaknesses have not been explicitly compared against each other. In this paper, we show how three distinct model structures ---a lumped-parameter model, a continuum mechanical model, and a neural network--- compare in capturing the gross trends and specific features "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1902.00054","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":""},"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":"2026-05-17T23:54:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"PyApdXJlwTTGiFFIZY+eN1E/7IWQH4n1ue0sEm3Uw0n+fzYTiKYsNv5BC0V8eHfEoNMx6DlXJ9ldu/BWChcdBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-22T12:15:11.116847Z"},"content_sha256":"53aaf2f85fd85fd4656a32f41bb5cf779146511e9185a68c4b208f80de1bc3a8","schema_version":"1.0","event_id":"sha256:53aaf2f85fd85fd4656a32f41bb5cf779146511e9185a68c4b208f80de1bc3a8"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/56BFBT22KFQEQGRSQWRI7RJKXV/bundle.json","state_url":"https://pith.science/pith/56BFBT22KFQEQGRSQWRI7RJKXV/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/56BFBT22KFQEQGRSQWRI7RJKXV/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":"2026-06-22T12:15:11Z","links":{"resolver":"https://pith.science/pith/56BFBT22KFQEQGRSQWRI7RJKXV","bundle":"https://pith.science/pith/56BFBT22KFQEQGRSQWRI7RJKXV/bundle.json","state":"https://pith.science/pith/56BFBT22KFQEQGRSQWRI7RJKXV/state.json","well_known_bundle":"https://pith.science/.well-known/pith/56BFBT22KFQEQGRSQWRI7RJKXV/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:56BFBT22KFQEQGRSQWRI7RJKXV","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":"75522183f62b2abd0814d6bc732c77cfb20fe0a14e4be9cd4465c427096f5930","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-01-31T20:10:13Z","title_canon_sha256":"8e3cd18def7a2846ba44779e0f5041e46ba07ffbf1d4e98bf23171273cfd7f5c"},"schema_version":"1.0","source":{"id":"1902.00054","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1902.00054","created_at":"2026-05-17T23:54:58Z"},{"alias_kind":"arxiv_version","alias_value":"1902.00054v1","created_at":"2026-05-17T23:54:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1902.00054","created_at":"2026-05-17T23:54:58Z"},{"alias_kind":"pith_short_12","alias_value":"56BFBT22KFQE","created_at":"2026-05-18T12:33:10Z"},{"alias_kind":"pith_short_16","alias_value":"56BFBT22KFQEQGRS","created_at":"2026-05-18T12:33:10Z"},{"alias_kind":"pith_short_8","alias_value":"56BFBT22","created_at":"2026-05-18T12:33:10Z"}],"graph_snapshots":[{"event_id":"sha256:53aaf2f85fd85fd4656a32f41bb5cf779146511e9185a68c4b208f80de1bc3a8","target":"graph","created_at":"2026-05-17T23:54:58Z","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":"Successful soft robot modeling approaches appearing in recent literature have been based on a variety of distinct theories, including traditional robotic theory, continuum mechanics, and machine learning. Though specific modeling techniques have been developed for and validated against already realized systems, their strengths and weaknesses have not been explicitly compared against each other. In this paper, we show how three distinct model structures ---a lumped-parameter model, a continuum mechanical model, and a neural network--- compare in capturing the gross trends and specific features ","authors_text":"Alan Wineman, Audrey Sedal, C David Remy, R Brent Gillespie","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-01-31T20:10:13Z","title":"Comparison and Experimental Validation of Predictive Models for Soft, Fiber-Reinforced Actuators"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1902.00054","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:cff095d8f4476b7c1e8e427e329c32863f693a810cb39a668bd8bbc200e8f03a","target":"record","created_at":"2026-05-17T23:54:58Z","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":"75522183f62b2abd0814d6bc732c77cfb20fe0a14e4be9cd4465c427096f5930","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-01-31T20:10:13Z","title_canon_sha256":"8e3cd18def7a2846ba44779e0f5041e46ba07ffbf1d4e98bf23171273cfd7f5c"},"schema_version":"1.0","source":{"id":"1902.00054","kind":"arxiv","version":1}},"canonical_sha256":"ef8250cf5a5160481a3285a28fc52abd4881a1259c0a0a4f530dbf1fe0b93129","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ef8250cf5a5160481a3285a28fc52abd4881a1259c0a0a4f530dbf1fe0b93129","first_computed_at":"2026-05-17T23:54:58.352273Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:54:58.352273Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"pyMW0V5ruGcq2cBZQHpymwLCATN5Y79Wa4xocOh4xyfs/ewwSNMx9CMcff0+w/gafdHDokjQE/NsSGXbAzGwDA==","signature_status":"signed_v1","signed_at":"2026-05-17T23:54:58.352901Z","signed_message":"canonical_sha256_bytes"},"source_id":"1902.00054","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:cff095d8f4476b7c1e8e427e329c32863f693a810cb39a668bd8bbc200e8f03a","sha256:53aaf2f85fd85fd4656a32f41bb5cf779146511e9185a68c4b208f80de1bc3a8"],"state_sha256":"7d21e7e0129438bd07a7133b5762d342adcf7d4d00f0aa2db130d19e9958c5f1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kXPrV5fIsgMcTQDBf5Nx6PnX/zDyNZKTTnWVkTnrMP8Nwpplusgsm0fUhe0Rpxe0ShPbxZuz6KHSCL6HJBq3Dg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-22T12:15:11.119302Z","bundle_sha256":"5459a439164bad66955954373ec7aa2d0319e4c62ed26d1d2ef2710f4a32b514"}}