{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2015:6D4NCYTL3LOWBACM3OHHML3L5P","short_pith_number":"pith:6D4NCYTL","canonical_record":{"source":{"id":"1503.02300","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2015-03-08T17:54:26Z","cross_cats_sorted":[],"title_canon_sha256":"7c6712267f8104469afd78cde393e7948d15251de5cb0c00af22a91feec38da2","abstract_canon_sha256":"420a4582515cb9f4c6849aba641bc8d562d32403e2431bc131df280d98be90be"},"schema_version":"1.0"},"canonical_sha256":"f0f8d1626bdadd60804cdb8e762f6bebf3b8a4888321670a62193efb409b8f90","source":{"kind":"arxiv","id":"1503.02300","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1503.02300","created_at":"2026-05-18T01:04:09Z"},{"alias_kind":"arxiv_version","alias_value":"1503.02300v2","created_at":"2026-05-18T01:04:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1503.02300","created_at":"2026-05-18T01:04:09Z"},{"alias_kind":"pith_short_12","alias_value":"6D4NCYTL3LOW","created_at":"2026-05-18T12:29:07Z"},{"alias_kind":"pith_short_16","alias_value":"6D4NCYTL3LOWBACM","created_at":"2026-05-18T12:29:07Z"},{"alias_kind":"pith_short_8","alias_value":"6D4NCYTL","created_at":"2026-05-18T12:29:07Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2015:6D4NCYTL3LOWBACM3OHHML3L5P","target":"record","payload":{"canonical_record":{"source":{"id":"1503.02300","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2015-03-08T17:54:26Z","cross_cats_sorted":[],"title_canon_sha256":"7c6712267f8104469afd78cde393e7948d15251de5cb0c00af22a91feec38da2","abstract_canon_sha256":"420a4582515cb9f4c6849aba641bc8d562d32403e2431bc131df280d98be90be"},"schema_version":"1.0"},"canonical_sha256":"f0f8d1626bdadd60804cdb8e762f6bebf3b8a4888321670a62193efb409b8f90","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:04:09.511231Z","signature_b64":"ES4vxc3v/hrfkWtw5NsOr01DIh9q7Ojb/xYB/6zjrRqxayClR/nxQNq+ptJOTsdxO22EZdUyN4Dry2EPI4q+AQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f0f8d1626bdadd60804cdb8e762f6bebf3b8a4888321670a62193efb409b8f90","last_reissued_at":"2026-05-18T01:04:09.510622Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:04:09.510622Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1503.02300","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T01:04:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"t9Jnf7agAeG+Qc45AO/B/HxLJfQmZ06agMY+wsntjSxGWiIWFZIIo9mppmpYyoM8FyltJb3xrhiJ67j4HINxDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-17T18:45:34.604680Z"},"content_sha256":"e469f928b750890bfd1e83dd764e4ed19555835ffe27ca452478d555755b64e1","schema_version":"1.0","event_id":"sha256:e469f928b750890bfd1e83dd764e4ed19555835ffe27ca452478d555755b64e1"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2015:6D4NCYTL3LOWBACM3OHHML3L5P","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Model Predictive Control under Timing Constraints induced by Controller Area Networks","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.SY","authors_text":"Fumin Zhang, Zhenwu Shi","submitted_at":"2015-03-08T17:54:26Z","abstract_excerpt":"When multiple model predictive controllers are implemented on a shared control area network (CAN), their performance may degrade due to the inhomogeneous timing and delays among messages. The priority based real-time scheduling of messages on the CAN introduces complex timing of events, especially when the types and number of messages change at runtime. This paper introduces a novel hybrid timing model to make runtime predictions on the timing of the messages for a finite time window. Controllers can be designed using the optimization algorithms for model predictive control by considering the "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1503.02300","kind":"arxiv","version":2},"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":"2026-05-18T01:04:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/CGd4FIXVlo/e5ovRKrI1+foVCizH+o21frPXo3IgUDDxE0C+1UJx/DIoz3/HyALwXpa78DaqYgBunFSq/MzAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-17T18:45:34.605219Z"},"content_sha256":"ef826e817a86c1ec18e4928a474224fc65051933d39923a82f35ea3eff6ba1db","schema_version":"1.0","event_id":"sha256:ef826e817a86c1ec18e4928a474224fc65051933d39923a82f35ea3eff6ba1db"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/6D4NCYTL3LOWBACM3OHHML3L5P/bundle.json","state_url":"https://pith.science/pith/6D4NCYTL3LOWBACM3OHHML3L5P/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/6D4NCYTL3LOWBACM3OHHML3L5P/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":"2026-08-17T18:45:34Z","links":{"resolver":"https://pith.science/pith/6D4NCYTL3LOWBACM3OHHML3L5P","bundle":"https://pith.science/pith/6D4NCYTL3LOWBACM3OHHML3L5P/bundle.json","state":"https://pith.science/pith/6D4NCYTL3LOWBACM3OHHML3L5P/state.json","well_known_bundle":"https://pith.science/.well-known/pith/6D4NCYTL3LOWBACM3OHHML3L5P/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2015:6D4NCYTL3LOWBACM3OHHML3L5P","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":"420a4582515cb9f4c6849aba641bc8d562d32403e2431bc131df280d98be90be","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2015-03-08T17:54:26Z","title_canon_sha256":"7c6712267f8104469afd78cde393e7948d15251de5cb0c00af22a91feec38da2"},"schema_version":"1.0","source":{"id":"1503.02300","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1503.02300","created_at":"2026-05-18T01:04:09Z"},{"alias_kind":"arxiv_version","alias_value":"1503.02300v2","created_at":"2026-05-18T01:04:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1503.02300","created_at":"2026-05-18T01:04:09Z"},{"alias_kind":"pith_short_12","alias_value":"6D4NCYTL3LOW","created_at":"2026-05-18T12:29:07Z"},{"alias_kind":"pith_short_16","alias_value":"6D4NCYTL3LOWBACM","created_at":"2026-05-18T12:29:07Z"},{"alias_kind":"pith_short_8","alias_value":"6D4NCYTL","created_at":"2026-05-18T12:29:07Z"}],"graph_snapshots":[{"event_id":"sha256:ef826e817a86c1ec18e4928a474224fc65051933d39923a82f35ea3eff6ba1db","target":"graph","created_at":"2026-05-18T01:04:09Z","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":"When multiple model predictive controllers are implemented on a shared control area network (CAN), their performance may degrade due to the inhomogeneous timing and delays among messages. The priority based real-time scheduling of messages on the CAN introduces complex timing of events, especially when the types and number of messages change at runtime. This paper introduces a novel hybrid timing model to make runtime predictions on the timing of the messages for a finite time window. Controllers can be designed using the optimization algorithms for model predictive control by considering the ","authors_text":"Fumin Zhang, Zhenwu Shi","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2015-03-08T17:54:26Z","title":"Model Predictive Control under Timing Constraints induced by Controller Area Networks"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1503.02300","kind":"arxiv","version":2},"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:e469f928b750890bfd1e83dd764e4ed19555835ffe27ca452478d555755b64e1","target":"record","created_at":"2026-05-18T01:04:09Z","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":"420a4582515cb9f4c6849aba641bc8d562d32403e2431bc131df280d98be90be","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2015-03-08T17:54:26Z","title_canon_sha256":"7c6712267f8104469afd78cde393e7948d15251de5cb0c00af22a91feec38da2"},"schema_version":"1.0","source":{"id":"1503.02300","kind":"arxiv","version":2}},"canonical_sha256":"f0f8d1626bdadd60804cdb8e762f6bebf3b8a4888321670a62193efb409b8f90","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f0f8d1626bdadd60804cdb8e762f6bebf3b8a4888321670a62193efb409b8f90","first_computed_at":"2026-05-18T01:04:09.510622Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:04:09.510622Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ES4vxc3v/hrfkWtw5NsOr01DIh9q7Ojb/xYB/6zjrRqxayClR/nxQNq+ptJOTsdxO22EZdUyN4Dry2EPI4q+AQ==","signature_status":"signed_v1","signed_at":"2026-05-18T01:04:09.511231Z","signed_message":"canonical_sha256_bytes"},"source_id":"1503.02300","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e469f928b750890bfd1e83dd764e4ed19555835ffe27ca452478d555755b64e1","sha256:ef826e817a86c1ec18e4928a474224fc65051933d39923a82f35ea3eff6ba1db"],"state_sha256":"25a020b090e68f75a4c65215c7ebe3491cde8f154760c09997c4608d56066328"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"U08WscmCj/1GP4iyTH4ifj02vc5uyLHhPZm7vf0Q/WWtWz4CYZtOLmvMwDWTyHo0RNsHfAN0XIVxPQu//3J8DQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-17T18:45:34.609083Z","bundle_sha256":"30dcaae6e266f18c7e6c1abd4bce5065a101d7b35c0699350b6d1d1645205183"}}