{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:6IZXDF4NBJQK4UFUZBCG5MY5OZ","short_pith_number":"pith:6IZXDF4N","canonical_record":{"source":{"id":"2111.05682","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-11-10T13:41:59Z","cross_cats_sorted":["physics.flu-dyn"],"title_canon_sha256":"314b11a609d00744bb9b504ebeb28189d177a7b30fa27c8d0185de108128b673","abstract_canon_sha256":"a8b822fe63c098a56526766d7a148242e48fe95f54a8dd85ffeea9c3e7d3d149"},"schema_version":"1.0"},"canonical_sha256":"f23371978d0a60ae50b4c8446eb31d76660ceed57d810b9633031fc996e51e6b","source":{"kind":"arxiv","id":"2111.05682","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2111.05682","created_at":"2026-07-05T03:30:47Z"},{"alias_kind":"arxiv_version","alias_value":"2111.05682v1","created_at":"2026-07-05T03:30:47Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2111.05682","created_at":"2026-07-05T03:30:47Z"},{"alias_kind":"pith_short_12","alias_value":"6IZXDF4NBJQK","created_at":"2026-07-05T03:30:47Z"},{"alias_kind":"pith_short_16","alias_value":"6IZXDF4NBJQK4UFU","created_at":"2026-07-05T03:30:47Z"},{"alias_kind":"pith_short_8","alias_value":"6IZXDF4N","created_at":"2026-07-05T03:30:47Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:6IZXDF4NBJQK4UFUZBCG5MY5OZ","target":"record","payload":{"canonical_record":{"source":{"id":"2111.05682","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-11-10T13:41:59Z","cross_cats_sorted":["physics.flu-dyn"],"title_canon_sha256":"314b11a609d00744bb9b504ebeb28189d177a7b30fa27c8d0185de108128b673","abstract_canon_sha256":"a8b822fe63c098a56526766d7a148242e48fe95f54a8dd85ffeea9c3e7d3d149"},"schema_version":"1.0"},"canonical_sha256":"f23371978d0a60ae50b4c8446eb31d76660ceed57d810b9633031fc996e51e6b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:30:47.036116Z","signature_b64":"Bz0wuXh8vlTuLQVdi382SBd1feJpkJJT4yrCOzNAo+SyERbIAQS8oS282Y9PYUSS9jmGvknrokcb1chaGhVVDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f23371978d0a60ae50b4c8446eb31d76660ceed57d810b9633031fc996e51e6b","last_reissued_at":"2026-07-05T03:30:47.035712Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:30:47.035712Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2111.05682","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":"2026-07-05T03:30:47Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DCnrhuwtUarnpKX3TaAGVJJRRigi+UEi4cM9m1wRczXI03rkLj+nkzfapm4uDlbx/YYyE6TjSmnjpuACfftOBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T10:37:57.561640Z"},"content_sha256":"3bc442f331705c3ecc3533277bf0d9f1c83363c81fc952a77be014905cdecb7c","schema_version":"1.0","event_id":"sha256:3bc442f331705c3ecc3533277bf0d9f1c83363c81fc952a77be014905cdecb7c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:6IZXDF4NBJQK4UFUZBCG5MY5OZ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Effects of Design and Hydrodynamic Parameters on Optimized Swimming for Simulated, Fish-inspired Robots","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["physics.flu-dyn"],"primary_cat":"cs.RO","authors_text":"Bo Cheng, Donghao Li, Hankun Deng, Yagiz E. Bayiz","submitted_at":"2021-11-10T13:41:59Z","abstract_excerpt":"In this work we developed a mathematical model and a simulation platform for a fish-inspired robotic template, namely Magnetic, Modular, Undulatory Robotics ($\\mu$Bots). Through this platform, we systematically explored the effects of design and fluid parameters on the swimming performance via reinforcement learning. The mathematical model was composed of two interacting subsystems, the robot dynamics and the hydrodynamics, and the hydrodynamic model consisted of reactive components (added-mass and pressure forces) and resistive components (drag and friction forces), which were then nondimensi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2111.05682","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/2111.05682/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":"2026-07-05T03:30:47Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"S0h4tz4xLVyVskj8JH5liKDjoJvayWSduQWTCV42d+ywZjOkIxs6D4Wh4yK9tECwEIcHe7S+ZP4JEa7Yv7ZqCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T10:37:57.562636Z"},"content_sha256":"21cd2b64a8e35cd895a419a46907fa0733daaad06dac819a9a4603dd43b3f4bd","schema_version":"1.0","event_id":"sha256:21cd2b64a8e35cd895a419a46907fa0733daaad06dac819a9a4603dd43b3f4bd"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/6IZXDF4NBJQK4UFUZBCG5MY5OZ/bundle.json","state_url":"https://pith.science/pith/6IZXDF4NBJQK4UFUZBCG5MY5OZ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/6IZXDF4NBJQK4UFUZBCG5MY5OZ/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":"2026-08-05T10:37:57Z","links":{"resolver":"https://pith.science/pith/6IZXDF4NBJQK4UFUZBCG5MY5OZ","bundle":"https://pith.science/pith/6IZXDF4NBJQK4UFUZBCG5MY5OZ/bundle.json","state":"https://pith.science/pith/6IZXDF4NBJQK4UFUZBCG5MY5OZ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/6IZXDF4NBJQK4UFUZBCG5MY5OZ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:6IZXDF4NBJQK4UFUZBCG5MY5OZ","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":"a8b822fe63c098a56526766d7a148242e48fe95f54a8dd85ffeea9c3e7d3d149","cross_cats_sorted":["physics.flu-dyn"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-11-10T13:41:59Z","title_canon_sha256":"314b11a609d00744bb9b504ebeb28189d177a7b30fa27c8d0185de108128b673"},"schema_version":"1.0","source":{"id":"2111.05682","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2111.05682","created_at":"2026-07-05T03:30:47Z"},{"alias_kind":"arxiv_version","alias_value":"2111.05682v1","created_at":"2026-07-05T03:30:47Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2111.05682","created_at":"2026-07-05T03:30:47Z"},{"alias_kind":"pith_short_12","alias_value":"6IZXDF4NBJQK","created_at":"2026-07-05T03:30:47Z"},{"alias_kind":"pith_short_16","alias_value":"6IZXDF4NBJQK4UFU","created_at":"2026-07-05T03:30:47Z"},{"alias_kind":"pith_short_8","alias_value":"6IZXDF4N","created_at":"2026-07-05T03:30:47Z"}],"graph_snapshots":[{"event_id":"sha256:21cd2b64a8e35cd895a419a46907fa0733daaad06dac819a9a4603dd43b3f4bd","target":"graph","created_at":"2026-07-05T03:30:47Z","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/2111.05682/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this work we developed a mathematical model and a simulation platform for a fish-inspired robotic template, namely Magnetic, Modular, Undulatory Robotics ($\\mu$Bots). Through this platform, we systematically explored the effects of design and fluid parameters on the swimming performance via reinforcement learning. The mathematical model was composed of two interacting subsystems, the robot dynamics and the hydrodynamics, and the hydrodynamic model consisted of reactive components (added-mass and pressure forces) and resistive components (drag and friction forces), which were then nondimensi","authors_text":"Bo Cheng, Donghao Li, Hankun Deng, Yagiz E. Bayiz","cross_cats":["physics.flu-dyn"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-11-10T13:41:59Z","title":"Effects of Design and Hydrodynamic Parameters on Optimized Swimming for Simulated, Fish-inspired Robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2111.05682","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":"sha256:3bc442f331705c3ecc3533277bf0d9f1c83363c81fc952a77be014905cdecb7c","target":"record","created_at":"2026-07-05T03:30:47Z","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":"a8b822fe63c098a56526766d7a148242e48fe95f54a8dd85ffeea9c3e7d3d149","cross_cats_sorted":["physics.flu-dyn"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-11-10T13:41:59Z","title_canon_sha256":"314b11a609d00744bb9b504ebeb28189d177a7b30fa27c8d0185de108128b673"},"schema_version":"1.0","source":{"id":"2111.05682","kind":"arxiv","version":1}},"canonical_sha256":"f23371978d0a60ae50b4c8446eb31d76660ceed57d810b9633031fc996e51e6b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f23371978d0a60ae50b4c8446eb31d76660ceed57d810b9633031fc996e51e6b","first_computed_at":"2026-07-05T03:30:47.035712Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:30:47.035712Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Bz0wuXh8vlTuLQVdi382SBd1feJpkJJT4yrCOzNAo+SyERbIAQS8oS282Y9PYUSS9jmGvknrokcb1chaGhVVDw==","signature_status":"signed_v1","signed_at":"2026-07-05T03:30:47.036116Z","signed_message":"canonical_sha256_bytes"},"source_id":"2111.05682","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3bc442f331705c3ecc3533277bf0d9f1c83363c81fc952a77be014905cdecb7c","sha256:21cd2b64a8e35cd895a419a46907fa0733daaad06dac819a9a4603dd43b3f4bd"],"state_sha256":"4915bb13383b52aa2f920a06758ba4f39268d8833b821eb6a7914fa71035cad1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7FGB59h5KteQsBWVqTySzH5z3BzdccEmYWYLXpUx8WiTunrFt8ftN17n6cY18UMh57Dj+o8XzW0FZiyXeA0qCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T10:37:57.569257Z","bundle_sha256":"dbecf7126fdbf5d269281419df8c09d7b5196b3b87efc03937ccffd0002edc95"}}