Pith Number

pith:6I5ECZXU

pith:2019:6I5ECZXUMSNXPCNM5ZNKIC76EH

not attested not anchored not stored refs pending

Towards Accurate Force Control of Series Elastic Actuators Exploiting a Robust Transmission Force Observer

Chan Lee, Jinoh Lee, Sehoon Oh

arxiv:1902.05338 v1 · 2019-02-14 · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{6I5ECZXUMSNXPCNM5ZNKIC76EH}

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	2026-05-17T23:54:01.147252Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

f23a4166f4649b7789acee5aa40bfe21c29210d50ff7f0f948725147a7cfa43e

Aliases

arxiv: 1902.05338 · arxiv_version: 1902.05338v1 · doi: 10.48550/arxiv.1902.05338 · pith_short_12: 6I5ECZXUMSNX · pith_short_16: 6I5ECZXUMSNXPCNM · pith_short_8: 6I5ECZXU

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/6I5ECZXUMSNXPCNM5ZNKIC76EH \
  | 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: f23a4166f4649b7789acee5aa40bfe21c29210d50ff7f0f948725147a7cfa43e

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9f6af45e0fa860efeb89a352f09362edf512f68b36342fa33c544c4989588a9d",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-02-14T13:06:18Z",
    "title_canon_sha256": "417a4f6119a645fdf246fb4196656deb53009f0ac1285b295d2981f67a88daf4"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1902.05338",
    "kind": "arxiv",
    "version": 1
  }
}