{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:7CK4VV6DF2ARJKLU7VFGOH3FLP","short_pith_number":"pith:7CK4VV6D","canonical_record":{"source":{"id":"1903.09816","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-23T12:58:57Z","cross_cats_sorted":[],"title_canon_sha256":"9aa10131d074cadcb0c38995b8fbf267678c74b0b70eec0eb00477767dd999f3","abstract_canon_sha256":"64a4161006c6bc4e22aa8ba55ca925169ca7f58882f8006ad057e9e531afe3fd"},"schema_version":"1.0"},"canonical_sha256":"f895cad7c32e8114a974fd4a671f655bcf0f21fd44675cbc2d784fbac9f53b0c","source":{"kind":"arxiv","id":"1903.09816","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1903.09816","created_at":"2026-05-17T23:50:35Z"},{"alias_kind":"arxiv_version","alias_value":"1903.09816v1","created_at":"2026-05-17T23:50:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1903.09816","created_at":"2026-05-17T23:50:35Z"},{"alias_kind":"pith_short_12","alias_value":"7CK4VV6DF2AR","created_at":"2026-05-18T12:33:12Z"},{"alias_kind":"pith_short_16","alias_value":"7CK4VV6DF2ARJKLU","created_at":"2026-05-18T12:33:12Z"},{"alias_kind":"pith_short_8","alias_value":"7CK4VV6D","created_at":"2026-05-18T12:33:12Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:7CK4VV6DF2ARJKLU7VFGOH3FLP","target":"record","payload":{"canonical_record":{"source":{"id":"1903.09816","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-23T12:58:57Z","cross_cats_sorted":[],"title_canon_sha256":"9aa10131d074cadcb0c38995b8fbf267678c74b0b70eec0eb00477767dd999f3","abstract_canon_sha256":"64a4161006c6bc4e22aa8ba55ca925169ca7f58882f8006ad057e9e531afe3fd"},"schema_version":"1.0"},"canonical_sha256":"f895cad7c32e8114a974fd4a671f655bcf0f21fd44675cbc2d784fbac9f53b0c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:50:35.420156Z","signature_b64":"h3TDdV3lcM1P7M2g0i6r3KOowOnUARlfuPQhG0lthci0hyxLDp1TpVZFNE1CJZkAyovSihQ0MxCmcnBrHltNAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f895cad7c32e8114a974fd4a671f655bcf0f21fd44675cbc2d784fbac9f53b0c","last_reissued_at":"2026-05-17T23:50:35.419479Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:50:35.419479Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1903.09816","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":"2026-05-17T23:50:35Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"UItcvEtptzbMlRE1ysl02DUMDyPswkZNGB6MoWjKNiNhRx8r9pSd66jBg+dr2og91Teop2DFRpbszdWe4iamBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-23T17:39:10.372071Z"},"content_sha256":"cd38afa9a16dbfa6149db6e285781f79b8bb6cac09d86f2813b978ccb7862295","schema_version":"1.0","event_id":"sha256:cd38afa9a16dbfa6149db6e285781f79b8bb6cac09d86f2813b978ccb7862295"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:7CK4VV6DF2ARJKLU7VFGOH3FLP","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Control Barrier Functions for Mechanical Systems: Theory and Application to Robotic Grasping","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chris Manzie, Denny Oetomo, Peter Choong, Wenceslao Shaw Cortez","submitted_at":"2019-03-23T12:58:57Z","abstract_excerpt":"Control barrier functions have been demonstrated to be a useful method of ensuring constraint satisfaction for a wide class of controllers, however existing results are mostly restricted to continuous time systems of relative degree one. Mechanical systems, including robots, are typically second-order systems in which the control occurs at the force/torque level. These systems have velocity and position constraints (i.e. relative degree two) that are vital for safety and/or task execution. Additionally, mechanical systems are typically controlled digitally as sampled-data systems. The contribu"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1903.09816","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":""},"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":"2026-05-17T23:50:35Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"LjS7AmNogozvkCGtEvR6Po7nmOSosruC9VJLZTLwWmODlf0wRZjMn8BCu2JhILMipnZfUeuLZ4LXJUm1WDCZAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-23T17:39:10.372550Z"},"content_sha256":"5fbba091974e4e90a16e68a97994b21586ed1d89827511a99b9f8c331d3e0b05","schema_version":"1.0","event_id":"sha256:5fbba091974e4e90a16e68a97994b21586ed1d89827511a99b9f8c331d3e0b05"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/7CK4VV6DF2ARJKLU7VFGOH3FLP/bundle.json","state_url":"https://pith.science/pith/7CK4VV6DF2ARJKLU7VFGOH3FLP/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/7CK4VV6DF2ARJKLU7VFGOH3FLP/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":"2026-06-23T17:39:10Z","links":{"resolver":"https://pith.science/pith/7CK4VV6DF2ARJKLU7VFGOH3FLP","bundle":"https://pith.science/pith/7CK4VV6DF2ARJKLU7VFGOH3FLP/bundle.json","state":"https://pith.science/pith/7CK4VV6DF2ARJKLU7VFGOH3FLP/state.json","well_known_bundle":"https://pith.science/.well-known/pith/7CK4VV6DF2ARJKLU7VFGOH3FLP/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:7CK4VV6DF2ARJKLU7VFGOH3FLP","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":"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}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1903.09816","created_at":"2026-05-17T23:50:35Z"},{"alias_kind":"arxiv_version","alias_value":"1903.09816v1","created_at":"2026-05-17T23:50:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1903.09816","created_at":"2026-05-17T23:50:35Z"},{"alias_kind":"pith_short_12","alias_value":"7CK4VV6DF2AR","created_at":"2026-05-18T12:33:12Z"},{"alias_kind":"pith_short_16","alias_value":"7CK4VV6DF2ARJKLU","created_at":"2026-05-18T12:33:12Z"},{"alias_kind":"pith_short_8","alias_value":"7CK4VV6D","created_at":"2026-05-18T12:33:12Z"}],"graph_snapshots":[{"event_id":"sha256:5fbba091974e4e90a16e68a97994b21586ed1d89827511a99b9f8c331d3e0b05","target":"graph","created_at":"2026-05-17T23:50:35Z","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"},"paper":{"abstract_excerpt":"Control barrier functions have been demonstrated to be a useful method of ensuring constraint satisfaction for a wide class of controllers, however existing results are mostly restricted to continuous time systems of relative degree one. Mechanical systems, including robots, are typically second-order systems in which the control occurs at the force/torque level. These systems have velocity and position constraints (i.e. relative degree two) that are vital for safety and/or task execution. Additionally, mechanical systems are typically controlled digitally as sampled-data systems. The contribu","authors_text":"Chris Manzie, Denny Oetomo, Peter Choong, Wenceslao Shaw Cortez","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-23T12:58:57Z","title":"Control Barrier Functions for Mechanical Systems: Theory and Application to Robotic Grasping"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1903.09816","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:cd38afa9a16dbfa6149db6e285781f79b8bb6cac09d86f2813b978ccb7862295","target":"record","created_at":"2026-05-17T23:50:35Z","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":"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}},"canonical_sha256":"f895cad7c32e8114a974fd4a671f655bcf0f21fd44675cbc2d784fbac9f53b0c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f895cad7c32e8114a974fd4a671f655bcf0f21fd44675cbc2d784fbac9f53b0c","first_computed_at":"2026-05-17T23:50:35.419479Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:50:35.419479Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"h3TDdV3lcM1P7M2g0i6r3KOowOnUARlfuPQhG0lthci0hyxLDp1TpVZFNE1CJZkAyovSihQ0MxCmcnBrHltNAQ==","signature_status":"signed_v1","signed_at":"2026-05-17T23:50:35.420156Z","signed_message":"canonical_sha256_bytes"},"source_id":"1903.09816","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:cd38afa9a16dbfa6149db6e285781f79b8bb6cac09d86f2813b978ccb7862295","sha256:5fbba091974e4e90a16e68a97994b21586ed1d89827511a99b9f8c331d3e0b05"],"state_sha256":"82c57abc8f939c293915d12a7d41fff59c0644d83935204341e61cea5ef6d8e0"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"aGDN47OavrmtoVcJ+4ZPDTcETzyXpdm5TXYbQdUa9sGIeoUsg2Rja0SDScJd+gKif/BLQCuUAi2J/PKcsKBbDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-23T17:39:10.375096Z","bundle_sha256":"6c938de23b570ea6df7876e94d4e956f4363512f949226677a16c1e1d8ac6115"}}