{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:74NDLEOHZTB5CM73VJTHVYYULB","short_pith_number":"pith:74NDLEOH","canonical_record":{"source":{"id":"2608.08860","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2026-08-09T18:53:32Z","cross_cats_sorted":["cs.HC","cs.RO","cs.SY","physics.med-ph"],"title_canon_sha256":"63ebe17369940de9371ef3fddeec1b0f2d31ffb94c763a2661eacbbe8596bfe4","abstract_canon_sha256":"cf7b8959da51a1e63ad6241d8d6a0e943a1a3824d12111e31e50b2361e05e2ab"},"schema_version":"1.0"},"canonical_sha256":"ff1a3591c7ccc3d133fbaa667ae3145873810c4e122b560fb2c82197d7d6ef2a","source":{"kind":"arxiv","id":"2608.08860","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2608.08860","created_at":"2026-08-11T01:25:33Z"},{"alias_kind":"arxiv_version","alias_value":"2608.08860v1","created_at":"2026-08-11T01:25:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2608.08860","created_at":"2026-08-11T01:25:33Z"},{"alias_kind":"pith_short_12","alias_value":"74NDLEOHZTB5","created_at":"2026-08-11T01:25:33Z"},{"alias_kind":"pith_short_16","alias_value":"74NDLEOHZTB5CM73","created_at":"2026-08-11T01:25:33Z"},{"alias_kind":"pith_short_8","alias_value":"74NDLEOH","created_at":"2026-08-11T01:25:33Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:74NDLEOHZTB5CM73VJTHVYYULB","target":"record","payload":{"canonical_record":{"source":{"id":"2608.08860","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2026-08-09T18:53:32Z","cross_cats_sorted":["cs.HC","cs.RO","cs.SY","physics.med-ph"],"title_canon_sha256":"63ebe17369940de9371ef3fddeec1b0f2d31ffb94c763a2661eacbbe8596bfe4","abstract_canon_sha256":"cf7b8959da51a1e63ad6241d8d6a0e943a1a3824d12111e31e50b2361e05e2ab"},"schema_version":"1.0"},"canonical_sha256":"ff1a3591c7ccc3d133fbaa667ae3145873810c4e122b560fb2c82197d7d6ef2a","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-08-11T01:25:33.339755Z","signature_b64":"ErSy+zTjE4AuD9HmXqqUdxLcmfTAkS4aXLy9Po9LhBqMUrk4k8zEjLCCJX2Y3MRLtqe+nYlQg8yp03vBro9xCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ff1a3591c7ccc3d133fbaa667ae3145873810c4e122b560fb2c82197d7d6ef2a","last_reissued_at":"2026-08-11T01:25:33.337368Z","signature_status":"signed_v1","first_computed_at":"2026-08-11T01:25:33.337368Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2608.08860","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":"2026-08-11T01:25:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Y6wIXhTVMj5ONTuVeNm/2uBxIOPKzYUPHTuw3KznHaUonJ6/U4oqBAInsu9ZDSAB7GW9VtHlf05IoI0qtRiNDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T13:16:05.821037Z"},"content_sha256":"fb76e2fd3c86c58f5257b817b810ee8ddeca1ac812fee643360cb7ecd68235b7","schema_version":"1.0","event_id":"sha256:fb76e2fd3c86c58f5257b817b810ee8ddeca1ac812fee643360cb7ecd68235b7"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:74NDLEOHZTB5CM73VJTHVYYULB","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Preview-Based Relative-Motion Control of an Insertion Tool for Neural-Thread Placement in Pulsating Tissue","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.HC","cs.RO","cs.SY","physics.med-ph"],"primary_cat":"eess.SY","authors_text":"Yongyan Cao","submitted_at":"2026-08-09T18:53:32Z","abstract_excerpt":"Robotic neural-thread placement requires regulating the insertion-tool tip relative to tissue that moves with cardiac and respiratory pulsation. This paper develops a preview-based relative-motion controller that estimates latency-delayed periodic surface motion, predicts it over a short horizon, and uses offset-free model predictive control to regulate relative placement while limiting actuator effort and lateral relative velocity. In MuJoCo, the 1-DOF controller achieves 12.0\\um\\ free-space and 1.9\\um\\ contact RMS relative-placement error, versus 18.3/176.8\\um\\ for delayed-feedback impedance"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2608.08860","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/2608.08860/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":"2026-08-11T01:25:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Ka7ffxdTeZHgbX5HShvbSQO9HjdcFjZqwTrxK9FeqgheQRcMU/K0KDep5pcIz3nVvHIqkqmiQvYA8CWP6MXLBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T13:16:05.821419Z"},"content_sha256":"15aff103faff1b76dcf1d0a61b98320cfc38876398c8322e84d58c772140d840","schema_version":"1.0","event_id":"sha256:15aff103faff1b76dcf1d0a61b98320cfc38876398c8322e84d58c772140d840"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/74NDLEOHZTB5CM73VJTHVYYULB/bundle.json","state_url":"https://pith.science/pith/74NDLEOHZTB5CM73VJTHVYYULB/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/74NDLEOHZTB5CM73VJTHVYYULB/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":"2026-08-21T13:16:05Z","links":{"resolver":"https://pith.science/pith/74NDLEOHZTB5CM73VJTHVYYULB","bundle":"https://pith.science/pith/74NDLEOHZTB5CM73VJTHVYYULB/bundle.json","state":"https://pith.science/pith/74NDLEOHZTB5CM73VJTHVYYULB/state.json","well_known_bundle":"https://pith.science/.well-known/pith/74NDLEOHZTB5CM73VJTHVYYULB/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:74NDLEOHZTB5CM73VJTHVYYULB","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":"cf7b8959da51a1e63ad6241d8d6a0e943a1a3824d12111e31e50b2361e05e2ab","cross_cats_sorted":["cs.HC","cs.RO","cs.SY","physics.med-ph"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2026-08-09T18:53:32Z","title_canon_sha256":"63ebe17369940de9371ef3fddeec1b0f2d31ffb94c763a2661eacbbe8596bfe4"},"schema_version":"1.0","source":{"id":"2608.08860","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2608.08860","created_at":"2026-08-11T01:25:33Z"},{"alias_kind":"arxiv_version","alias_value":"2608.08860v1","created_at":"2026-08-11T01:25:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2608.08860","created_at":"2026-08-11T01:25:33Z"},{"alias_kind":"pith_short_12","alias_value":"74NDLEOHZTB5","created_at":"2026-08-11T01:25:33Z"},{"alias_kind":"pith_short_16","alias_value":"74NDLEOHZTB5CM73","created_at":"2026-08-11T01:25:33Z"},{"alias_kind":"pith_short_8","alias_value":"74NDLEOH","created_at":"2026-08-11T01:25:33Z"}],"graph_snapshots":[{"event_id":"sha256:15aff103faff1b76dcf1d0a61b98320cfc38876398c8322e84d58c772140d840","target":"graph","created_at":"2026-08-11T01:25:33Z","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/2608.08860/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Robotic neural-thread placement requires regulating the insertion-tool tip relative to tissue that moves with cardiac and respiratory pulsation. This paper develops a preview-based relative-motion controller that estimates latency-delayed periodic surface motion, predicts it over a short horizon, and uses offset-free model predictive control to regulate relative placement while limiting actuator effort and lateral relative velocity. In MuJoCo, the 1-DOF controller achieves 12.0\\um\\ free-space and 1.9\\um\\ contact RMS relative-placement error, versus 18.3/176.8\\um\\ for delayed-feedback impedance","authors_text":"Yongyan Cao","cross_cats":["cs.HC","cs.RO","cs.SY","physics.med-ph"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2026-08-09T18:53:32Z","title":"Preview-Based Relative-Motion Control of an Insertion Tool for Neural-Thread Placement in Pulsating Tissue"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2608.08860","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:fb76e2fd3c86c58f5257b817b810ee8ddeca1ac812fee643360cb7ecd68235b7","target":"record","created_at":"2026-08-11T01:25:33Z","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":"cf7b8959da51a1e63ad6241d8d6a0e943a1a3824d12111e31e50b2361e05e2ab","cross_cats_sorted":["cs.HC","cs.RO","cs.SY","physics.med-ph"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2026-08-09T18:53:32Z","title_canon_sha256":"63ebe17369940de9371ef3fddeec1b0f2d31ffb94c763a2661eacbbe8596bfe4"},"schema_version":"1.0","source":{"id":"2608.08860","kind":"arxiv","version":1}},"canonical_sha256":"ff1a3591c7ccc3d133fbaa667ae3145873810c4e122b560fb2c82197d7d6ef2a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ff1a3591c7ccc3d133fbaa667ae3145873810c4e122b560fb2c82197d7d6ef2a","first_computed_at":"2026-08-11T01:25:33.337368Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-08-11T01:25:33.337368Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ErSy+zTjE4AuD9HmXqqUdxLcmfTAkS4aXLy9Po9LhBqMUrk4k8zEjLCCJX2Y3MRLtqe+nYlQg8yp03vBro9xCg==","signature_status":"signed_v1","signed_at":"2026-08-11T01:25:33.339755Z","signed_message":"canonical_sha256_bytes"},"source_id":"2608.08860","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:fb76e2fd3c86c58f5257b817b810ee8ddeca1ac812fee643360cb7ecd68235b7","sha256:15aff103faff1b76dcf1d0a61b98320cfc38876398c8322e84d58c772140d840"],"state_sha256":"df5b17350d9b785c4fbd95150aea474825356c7b26ad739f50be2b851af0ad14"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"11OsUlmMWAsL2RyGAo0hWWv1/+wjYJI2h1s7HjxS2WJkBDPTdd0/uSY9340HlKujMio7V/0Vrj+at5Iy6sy5Dg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-21T13:16:05.824052Z","bundle_sha256":"0fff5492fbc2a9cf424be7bae71872d834e3a5b224507f7b7b43d20054686c3a"}}