Pith Number

pith:7CK4VV6D

pith:2019:7CK4VV6DF2ARJKLU7VFGOH3FLP

not attested not anchored not stored refs pending

Control Barrier Functions for Mechanical Systems: Theory and Application to Robotic Grasping

Chris Manzie, Denny Oetomo, Peter Choong, Wenceslao Shaw Cortez

arxiv:1903.09816 v1 · 2019-03-23 · 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{7CK4VV6DF2ARJKLU7VFGOH3FLP}

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	2026-05-17T23:50:35.419479Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

f895cad7c32e8114a974fd4a671f655bcf0f21fd44675cbc2d784fbac9f53b0c

Aliases

arxiv: 1903.09816 · arxiv_version: 1903.09816v1 · doi: 10.48550/arxiv.1903.09816 · pith_short_12: 7CK4VV6DF2AR · pith_short_16: 7CK4VV6DF2ARJKLU · pith_short_8: 7CK4VV6D

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/7CK4VV6DF2ARJKLU7VFGOH3FLP \
  | 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: f895cad7c32e8114a974fd4a671f655bcf0f21fd44675cbc2d784fbac9f53b0c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "64a4161006c6bc4e22aa8ba55ca925169ca7f58882f8006ad057e9e531afe3fd",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-03-23T12:58:57Z",
    "title_canon_sha256": "9aa10131d074cadcb0c38995b8fbf267678c74b0b70eec0eb00477767dd999f3"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1903.09816",
    "kind": "arxiv",
    "version": 1
  }
}