{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:74XFD52X7LXI3NFS4JVZZNLMPD","short_pith_number":"pith:74XFD52X","canonical_record":{"source":{"id":"2310.00206","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-30T00:50:22Z","cross_cats_sorted":[],"title_canon_sha256":"bc5143a8975cd0ddafbc7904cf8f5208259aca310a2d6775de10b46035a3c728","abstract_canon_sha256":"c7402b2de9c59beed07b883c15629dec7c4adbfc4327f2b4c4ca53c417263c3e"},"schema_version":"1.0"},"canonical_sha256":"ff2e51f757faee8db4b2e26b9cb56c78e4c09203b4aa3872fd7fee8681eb41e6","source":{"kind":"arxiv","id":"2310.00206","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.00206","created_at":"2026-07-05T07:53:31Z"},{"alias_kind":"arxiv_version","alias_value":"2310.00206v2","created_at":"2026-07-05T07:53:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.00206","created_at":"2026-07-05T07:53:31Z"},{"alias_kind":"pith_short_12","alias_value":"74XFD52X7LXI","created_at":"2026-07-05T07:53:31Z"},{"alias_kind":"pith_short_16","alias_value":"74XFD52X7LXI3NFS","created_at":"2026-07-05T07:53:31Z"},{"alias_kind":"pith_short_8","alias_value":"74XFD52X","created_at":"2026-07-05T07:53:31Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:74XFD52X7LXI3NFS4JVZZNLMPD","target":"record","payload":{"canonical_record":{"source":{"id":"2310.00206","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-30T00:50:22Z","cross_cats_sorted":[],"title_canon_sha256":"bc5143a8975cd0ddafbc7904cf8f5208259aca310a2d6775de10b46035a3c728","abstract_canon_sha256":"c7402b2de9c59beed07b883c15629dec7c4adbfc4327f2b4c4ca53c417263c3e"},"schema_version":"1.0"},"canonical_sha256":"ff2e51f757faee8db4b2e26b9cb56c78e4c09203b4aa3872fd7fee8681eb41e6","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:53:31.381798Z","signature_b64":"9w1WC/uWpFZLu9yWtuajmTEF/+c5QBwiDQAM4DDbN3geyeAM+f2mRdE9eL2LEmgXosKtdDb1Es45ykL4vBtgAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ff2e51f757faee8db4b2e26b9cb56c78e4c09203b4aa3872fd7fee8681eb41e6","last_reissued_at":"2026-07-05T07:53:31.381328Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:53:31.381328Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2310.00206","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":"2026-07-05T07:53:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"etvq7TiyaOJnieo+QVMItNM53vnXY99wJvpuOpZ4oTCaWmEqCeKEJzYuUKZZkxsELk1Vi0B67Pab296qiomLAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-13T16:47:44.088907Z"},"content_sha256":"02a6570545dc8bbc5d05ee83ae3c08e3a46e54ccefba071a83aa1a660fcae0fb","schema_version":"1.0","event_id":"sha256:02a6570545dc8bbc5d05ee83ae3c08e3a46e54ccefba071a83aa1a660fcae0fb"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:74XFD52X7LXI3NFS4JVZZNLMPD","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"An Investigation of Multi-feature Extraction and Super-resolution with Fast Microphone Arrays","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Brian Coltin, Eric T. Chang, Ioannis Kymissis, Jingxi Xu, Matei Ciocarlie, Peter Ballentine, Runsheng Wang, Trey Smith","submitted_at":"2023-09-30T00:50:22Z","abstract_excerpt":"In this work, we use MEMS microphones as vibration sensors to simultaneously classify texture and estimate contact position and velocity. Vibration sensors are an important facet of both human and robotic tactile sensing, providing fast detection of contact and onset of slip. Microphones are an attractive option for implementing vibration sensing as they offer a fast response and can be sampled quickly, are affordable, and occupy a very small footprint. Our prototype sensor uses only a sparse array (8-9 mm spacing) of distributed MEMS microphones (<$1, 3.76 x 2.95 x 1.10 mm) embedded under an "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.00206","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2310.00206/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":"2026-07-05T07:53:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9eHg7rECae4ZlOdQMDo3HeUL66+7eCe7E3gEMCjqE+3EE4Xm38/XaIdrrTUB+Q6pvokeXezGbgcMXcjLWSKGBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-13T16:47:44.089290Z"},"content_sha256":"f78f5fab3139624d1cfdc8033f7e1f9f7d81406ef47bebd4239ec3b9679a6594","schema_version":"1.0","event_id":"sha256:f78f5fab3139624d1cfdc8033f7e1f9f7d81406ef47bebd4239ec3b9679a6594"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/74XFD52X7LXI3NFS4JVZZNLMPD/bundle.json","state_url":"https://pith.science/pith/74XFD52X7LXI3NFS4JVZZNLMPD/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/74XFD52X7LXI3NFS4JVZZNLMPD/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":"2026-07-13T16:47:44Z","links":{"resolver":"https://pith.science/pith/74XFD52X7LXI3NFS4JVZZNLMPD","bundle":"https://pith.science/pith/74XFD52X7LXI3NFS4JVZZNLMPD/bundle.json","state":"https://pith.science/pith/74XFD52X7LXI3NFS4JVZZNLMPD/state.json","well_known_bundle":"https://pith.science/.well-known/pith/74XFD52X7LXI3NFS4JVZZNLMPD/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:74XFD52X7LXI3NFS4JVZZNLMPD","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":"c7402b2de9c59beed07b883c15629dec7c4adbfc4327f2b4c4ca53c417263c3e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-30T00:50:22Z","title_canon_sha256":"bc5143a8975cd0ddafbc7904cf8f5208259aca310a2d6775de10b46035a3c728"},"schema_version":"1.0","source":{"id":"2310.00206","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.00206","created_at":"2026-07-05T07:53:31Z"},{"alias_kind":"arxiv_version","alias_value":"2310.00206v2","created_at":"2026-07-05T07:53:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.00206","created_at":"2026-07-05T07:53:31Z"},{"alias_kind":"pith_short_12","alias_value":"74XFD52X7LXI","created_at":"2026-07-05T07:53:31Z"},{"alias_kind":"pith_short_16","alias_value":"74XFD52X7LXI3NFS","created_at":"2026-07-05T07:53:31Z"},{"alias_kind":"pith_short_8","alias_value":"74XFD52X","created_at":"2026-07-05T07:53:31Z"}],"graph_snapshots":[{"event_id":"sha256:f78f5fab3139624d1cfdc8033f7e1f9f7d81406ef47bebd4239ec3b9679a6594","target":"graph","created_at":"2026-07-05T07:53:31Z","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/2310.00206/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this work, we use MEMS microphones as vibration sensors to simultaneously classify texture and estimate contact position and velocity. Vibration sensors are an important facet of both human and robotic tactile sensing, providing fast detection of contact and onset of slip. Microphones are an attractive option for implementing vibration sensing as they offer a fast response and can be sampled quickly, are affordable, and occupy a very small footprint. Our prototype sensor uses only a sparse array (8-9 mm spacing) of distributed MEMS microphones (<$1, 3.76 x 2.95 x 1.10 mm) embedded under an ","authors_text":"Brian Coltin, Eric T. Chang, Ioannis Kymissis, Jingxi Xu, Matei Ciocarlie, Peter Ballentine, Runsheng Wang, Trey Smith","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-30T00:50:22Z","title":"An Investigation of Multi-feature Extraction and Super-resolution with Fast Microphone Arrays"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.00206","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":"sha256:02a6570545dc8bbc5d05ee83ae3c08e3a46e54ccefba071a83aa1a660fcae0fb","target":"record","created_at":"2026-07-05T07:53:31Z","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":"c7402b2de9c59beed07b883c15629dec7c4adbfc4327f2b4c4ca53c417263c3e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-30T00:50:22Z","title_canon_sha256":"bc5143a8975cd0ddafbc7904cf8f5208259aca310a2d6775de10b46035a3c728"},"schema_version":"1.0","source":{"id":"2310.00206","kind":"arxiv","version":2}},"canonical_sha256":"ff2e51f757faee8db4b2e26b9cb56c78e4c09203b4aa3872fd7fee8681eb41e6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ff2e51f757faee8db4b2e26b9cb56c78e4c09203b4aa3872fd7fee8681eb41e6","first_computed_at":"2026-07-05T07:53:31.381328Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:53:31.381328Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"9w1WC/uWpFZLu9yWtuajmTEF/+c5QBwiDQAM4DDbN3geyeAM+f2mRdE9eL2LEmgXosKtdDb1Es45ykL4vBtgAw==","signature_status":"signed_v1","signed_at":"2026-07-05T07:53:31.381798Z","signed_message":"canonical_sha256_bytes"},"source_id":"2310.00206","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:02a6570545dc8bbc5d05ee83ae3c08e3a46e54ccefba071a83aa1a660fcae0fb","sha256:f78f5fab3139624d1cfdc8033f7e1f9f7d81406ef47bebd4239ec3b9679a6594"],"state_sha256":"6677eb8c0980769ef5e34f261e67d9965bea3c567bccbf2f317aada050ca79f6"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"jm5IXQTJYZ4vv4WE56xIGMhy6xE0HuoVbYK5YI0ycnJSVflC55P51JN7o5CG6nS9Pq2PFnIfh54C7TUctcZUCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-13T16:47:44.091424Z","bundle_sha256":"88e07075f136c7e61cf9e2cf3348121423abf5c89d015f086269eb122b0440ee"}}