{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:5SUIWFA4PH4IBZYXET72CHS435","short_pith_number":"pith:5SUIWFA4","canonical_record":{"source":{"id":"2111.00489","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-10-31T13:06:41Z","cross_cats_sorted":[],"title_canon_sha256":"cfbe29701f75d2b224342160e365e1eb4a1756566f4a5ae0e424d15e213d1f63","abstract_canon_sha256":"961f26cf35a92cbb2bc82a73c168657a1ef8ce425bb34f6c94791d1796982567"},"schema_version":"1.0"},"canonical_sha256":"eca88b141c79f880e71724ffa11e5cdf64b28c7f5caf38577a9c880e75649b14","source":{"kind":"arxiv","id":"2111.00489","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2111.00489","created_at":"2026-07-05T03:27:43Z"},{"alias_kind":"arxiv_version","alias_value":"2111.00489v1","created_at":"2026-07-05T03:27:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2111.00489","created_at":"2026-07-05T03:27:43Z"},{"alias_kind":"pith_short_12","alias_value":"5SUIWFA4PH4I","created_at":"2026-07-05T03:27:43Z"},{"alias_kind":"pith_short_16","alias_value":"5SUIWFA4PH4IBZYX","created_at":"2026-07-05T03:27:43Z"},{"alias_kind":"pith_short_8","alias_value":"5SUIWFA4","created_at":"2026-07-05T03:27:43Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:5SUIWFA4PH4IBZYXET72CHS435","target":"record","payload":{"canonical_record":{"source":{"id":"2111.00489","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-10-31T13:06:41Z","cross_cats_sorted":[],"title_canon_sha256":"cfbe29701f75d2b224342160e365e1eb4a1756566f4a5ae0e424d15e213d1f63","abstract_canon_sha256":"961f26cf35a92cbb2bc82a73c168657a1ef8ce425bb34f6c94791d1796982567"},"schema_version":"1.0"},"canonical_sha256":"eca88b141c79f880e71724ffa11e5cdf64b28c7f5caf38577a9c880e75649b14","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:27:43.232117Z","signature_b64":"a0aHjF/8DUjHrrr2Z7m9KFplkNp7zzSnDT40NtZz5shCsDNkgHVf/4K2MaYhaflBBudELLDgBURzYkcLNeSyAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"eca88b141c79f880e71724ffa11e5cdf64b28c7f5caf38577a9c880e75649b14","last_reissued_at":"2026-07-05T03:27:43.231715Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:27:43.231715Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2111.00489","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":"2026-07-05T03:27:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mjpLKV8Ftd3AsxnjJPX4qtinPrWb2febWFWJ7nLCHyGuzEfNo+ZWdneuK0LOgYjpB0hC3MS8DnMM8JQvk2V5AQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-14T21:15:58.828034Z"},"content_sha256":"e7f86ea50f6ccdde0cd37e2cc0b8141c6060258970107313c058ee0f61081d00","schema_version":"1.0","event_id":"sha256:e7f86ea50f6ccdde0cd37e2cc0b8141c6060258970107313c058ee0f61081d00"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:5SUIWFA4PH4IBZYXET72CHS435","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Integrated Modular Solution for Task Oriented Manipulator Configuration Design","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Anubhav Dogra, Ekta Singla, Sakshay Mahna, Srikant Sekhar Padhee","submitted_at":"2021-10-31T13:06:41Z","abstract_excerpt":"Modular and reconfigurable robotic systems have been designed to provide a customized solution for the non-repetitive tasks to be performed in a constrained environment. Customized solutions are normally extracted from task-based optimization of the possible manipulator configurations but the solution are not integrated, for providing the modular compositions directly. In this work, in the first phase, a strategy of finding unconventional optimal configurations with minimal number of degrees-of-freedom are discussed based upon the prescribed working locations and the cluttered environment. The"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2111.00489","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/2111.00489/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":"2026-07-05T03:27:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"l7Bbdq19eUB9Ft1UuL+iMEp1NO8j7qg9lIOZvi+noTH1RUvSRRC/mfwvr58Xot9m/NlFF0VWkksvj8K8e3HvBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-14T21:15:58.828412Z"},"content_sha256":"5f5c95e5b5f85ffedd7b88135ba18e6a4d71d80922b5e04c19ece749fcf264b3","schema_version":"1.0","event_id":"sha256:5f5c95e5b5f85ffedd7b88135ba18e6a4d71d80922b5e04c19ece749fcf264b3"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/5SUIWFA4PH4IBZYXET72CHS435/bundle.json","state_url":"https://pith.science/pith/5SUIWFA4PH4IBZYXET72CHS435/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/5SUIWFA4PH4IBZYXET72CHS435/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":"2026-07-14T21:15:58Z","links":{"resolver":"https://pith.science/pith/5SUIWFA4PH4IBZYXET72CHS435","bundle":"https://pith.science/pith/5SUIWFA4PH4IBZYXET72CHS435/bundle.json","state":"https://pith.science/pith/5SUIWFA4PH4IBZYXET72CHS435/state.json","well_known_bundle":"https://pith.science/.well-known/pith/5SUIWFA4PH4IBZYXET72CHS435/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:5SUIWFA4PH4IBZYXET72CHS435","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":"961f26cf35a92cbb2bc82a73c168657a1ef8ce425bb34f6c94791d1796982567","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-10-31T13:06:41Z","title_canon_sha256":"cfbe29701f75d2b224342160e365e1eb4a1756566f4a5ae0e424d15e213d1f63"},"schema_version":"1.0","source":{"id":"2111.00489","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2111.00489","created_at":"2026-07-05T03:27:43Z"},{"alias_kind":"arxiv_version","alias_value":"2111.00489v1","created_at":"2026-07-05T03:27:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2111.00489","created_at":"2026-07-05T03:27:43Z"},{"alias_kind":"pith_short_12","alias_value":"5SUIWFA4PH4I","created_at":"2026-07-05T03:27:43Z"},{"alias_kind":"pith_short_16","alias_value":"5SUIWFA4PH4IBZYX","created_at":"2026-07-05T03:27:43Z"},{"alias_kind":"pith_short_8","alias_value":"5SUIWFA4","created_at":"2026-07-05T03:27:43Z"}],"graph_snapshots":[{"event_id":"sha256:5f5c95e5b5f85ffedd7b88135ba18e6a4d71d80922b5e04c19ece749fcf264b3","target":"graph","created_at":"2026-07-05T03:27:43Z","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/2111.00489/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Modular and reconfigurable robotic systems have been designed to provide a customized solution for the non-repetitive tasks to be performed in a constrained environment. Customized solutions are normally extracted from task-based optimization of the possible manipulator configurations but the solution are not integrated, for providing the modular compositions directly. In this work, in the first phase, a strategy of finding unconventional optimal configurations with minimal number of degrees-of-freedom are discussed based upon the prescribed working locations and the cluttered environment. The","authors_text":"Anubhav Dogra, Ekta Singla, Sakshay Mahna, Srikant Sekhar Padhee","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-10-31T13:06:41Z","title":"Integrated Modular Solution for Task Oriented Manipulator Configuration Design"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2111.00489","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:e7f86ea50f6ccdde0cd37e2cc0b8141c6060258970107313c058ee0f61081d00","target":"record","created_at":"2026-07-05T03:27:43Z","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":"961f26cf35a92cbb2bc82a73c168657a1ef8ce425bb34f6c94791d1796982567","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-10-31T13:06:41Z","title_canon_sha256":"cfbe29701f75d2b224342160e365e1eb4a1756566f4a5ae0e424d15e213d1f63"},"schema_version":"1.0","source":{"id":"2111.00489","kind":"arxiv","version":1}},"canonical_sha256":"eca88b141c79f880e71724ffa11e5cdf64b28c7f5caf38577a9c880e75649b14","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"eca88b141c79f880e71724ffa11e5cdf64b28c7f5caf38577a9c880e75649b14","first_computed_at":"2026-07-05T03:27:43.231715Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:27:43.231715Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"a0aHjF/8DUjHrrr2Z7m9KFplkNp7zzSnDT40NtZz5shCsDNkgHVf/4K2MaYhaflBBudELLDgBURzYkcLNeSyAw==","signature_status":"signed_v1","signed_at":"2026-07-05T03:27:43.232117Z","signed_message":"canonical_sha256_bytes"},"source_id":"2111.00489","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e7f86ea50f6ccdde0cd37e2cc0b8141c6060258970107313c058ee0f61081d00","sha256:5f5c95e5b5f85ffedd7b88135ba18e6a4d71d80922b5e04c19ece749fcf264b3"],"state_sha256":"1e66f495cea8c35d353cd0dcaf0da6c75a0605b1448ac1912192a7243bf03e02"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xFSMZ0OPub0VCL4slnDOQevubBUMZXEH4oTX4yxntr6HljHMzMwdacDBwumENEgBkqjiyzMlolHuorvJhSkRAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-14T21:15:58.830812Z","bundle_sha256":"1ce3dacd5781c3215ba2f3b7188ddcb73c0704f304e08885aeefba05a7627beb"}}