Pith Number

pith:5FQK5NH6

pith:2019:5FQK5NH6FN7FRG23UEKWEIRP5Y

not attested not anchored not stored refs pending

A hierarchical Lyapunov-based cascade adaptive control scheme for lower-limb exoskeleton

Shengli Song, Wei Jiang, Xinglong Zhang, Zhizhong Li

arxiv:1906.04968 v2 · 2019-06-12 · eess.SY · cs.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{5FQK5NH6FN7FRG23UEKWEIRP5Y}

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	2026-05-17T23:43:08.734462Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e960aeb4fe2b7e589b5ba11562222fee216d2566d26d91b263f98e817ec1f1e3

Aliases

arxiv: 1906.04968 · arxiv_version: 1906.04968v2 · doi: 10.48550/arxiv.1906.04968 · pith_short_12: 5FQK5NH6FN7F · pith_short_16: 5FQK5NH6FN7FRG23 · pith_short_8: 5FQK5NH6

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/5FQK5NH6FN7FRG23UEKWEIRP5Y \
  | 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: e960aeb4fe2b7e589b5ba11562222fee216d2566d26d91b263f98e817ec1f1e3

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "637f1b0ed04cf2bd12f455307ac09ae582ea3e13113af841c7b915c7695ddd9d",
    "cross_cats_sorted": [
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2019-06-12T06:59:08Z",
    "title_canon_sha256": "548f22b3794ece63a2b36f6b1270927dc111c9e84fcd91604b6514bc230b8995"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1906.04968",
    "kind": "arxiv",
    "version": 2
  }
}