{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:5JSRDB7JWBYDY66UJWKLHDKENF","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":"75e768c6400aa9647b1f5964d5ec8130557fb87261e0304ece103efeea0879ec","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-09-21T23:50:48Z","title_canon_sha256":"45b94a888e6ac8b4a05516d359364593729ce69229a6b60a4615e51df6c3670f"},"schema_version":"1.0","source":{"id":"1609.06779","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1609.06779","created_at":"2026-05-18T01:04:05Z"},{"alias_kind":"arxiv_version","alias_value":"1609.06779v1","created_at":"2026-05-18T01:04:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1609.06779","created_at":"2026-05-18T01:04:05Z"},{"alias_kind":"pith_short_12","alias_value":"5JSRDB7JWBYD","created_at":"2026-05-18T12:30:01Z"},{"alias_kind":"pith_short_16","alias_value":"5JSRDB7JWBYDY66U","created_at":"2026-05-18T12:30:01Z"},{"alias_kind":"pith_short_8","alias_value":"5JSRDB7J","created_at":"2026-05-18T12:30:01Z"}],"graph_snapshots":[{"event_id":"sha256:f1aa6d138be0ad7189147eae5b2f025fc2c0041119ef4b20c41415c89482d02b","target":"graph","created_at":"2026-05-18T01:04:05Z","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":"We propose a novel unifying scheme for parallel implementation of articulated robot dynamics algorithms. It is based on a unified Lie group notation for deriving the equations of motion of articulated robots, where various well-known forward algorithms differ only by their joint inertia matrix inversion strategies. This new scheme leads to a unified abstraction of state-of-the-art forward dynamics algorithms into combinations of block bi-diagonal and/or block tri-diagonal systems, which may be efficiently solved by parallel all-prefix-sum operations (scan) and parallel odd-even elimination (OE","authors_text":"Jia Pan, Yajue Yang, Yuanqing Wu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-09-21T23:50:48Z","title":"A Novel GPU-based Parallel Implementation Scheme and Performance Analysis of Robot Forward Dynamics Algorithms"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1609.06779","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":"sha256:966905d036582ef274aadac55234c20b0d793cdbd8b86293d39ab7633e0fe0ca","target":"record","created_at":"2026-05-18T01:04:05Z","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":"75e768c6400aa9647b1f5964d5ec8130557fb87261e0304ece103efeea0879ec","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-09-21T23:50:48Z","title_canon_sha256":"45b94a888e6ac8b4a05516d359364593729ce69229a6b60a4615e51df6c3670f"},"schema_version":"1.0","source":{"id":"1609.06779","kind":"arxiv","version":1}},"canonical_sha256":"ea651187e9b0703c7bd44d94b38d4469658947e6d0ac2585d1477cbed719ab87","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ea651187e9b0703c7bd44d94b38d4469658947e6d0ac2585d1477cbed719ab87","first_computed_at":"2026-05-18T01:04:05.111674Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:04:05.111674Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"QIII/uREA2QZ128MUrpzrcBUc/9vLfhmQoCylwAyraNPLVqfaWLJMZruqiLfB0ZL0A7y6JZBcI9KapA23NhEAA==","signature_status":"signed_v1","signed_at":"2026-05-18T01:04:05.112175Z","signed_message":"canonical_sha256_bytes"},"source_id":"1609.06779","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:966905d036582ef274aadac55234c20b0d793cdbd8b86293d39ab7633e0fe0ca","sha256:f1aa6d138be0ad7189147eae5b2f025fc2c0041119ef4b20c41415c89482d02b"],"state_sha256":"1495aa65a203c05db1fad393f85acba55e0a9835fb69bbf7c045259746de7f80"}