{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:A33VQB6YXI7WRQBNEFOEI5TBUR","short_pith_number":"pith:A33VQB6Y","canonical_record":{"source":{"id":"2206.15077","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2022-06-30T07:20:07Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"9d8df142969ba35b64c49722dc45f9d852b21fff9cdca079f82628907df70506","abstract_canon_sha256":"846e52943af54a8cee7bb7099a8146bde0f10ed9256bf15017e6a0bb9b7d29b7"},"schema_version":"1.0"},"canonical_sha256":"06f75807d8ba3f68c02d215c447661a4659ab71a0e31ccf7765be06e22edac39","source":{"kind":"arxiv","id":"2206.15077","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2206.15077","created_at":"2026-07-05T12:05:05Z"},{"alias_kind":"arxiv_version","alias_value":"2206.15077v2","created_at":"2026-07-05T12:05:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2206.15077","created_at":"2026-07-05T12:05:05Z"},{"alias_kind":"pith_short_12","alias_value":"A33VQB6YXI7W","created_at":"2026-07-05T12:05:05Z"},{"alias_kind":"pith_short_16","alias_value":"A33VQB6YXI7WRQBN","created_at":"2026-07-05T12:05:05Z"},{"alias_kind":"pith_short_8","alias_value":"A33VQB6Y","created_at":"2026-07-05T12:05:05Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:A33VQB6YXI7WRQBNEFOEI5TBUR","target":"record","payload":{"canonical_record":{"source":{"id":"2206.15077","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2022-06-30T07:20:07Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"9d8df142969ba35b64c49722dc45f9d852b21fff9cdca079f82628907df70506","abstract_canon_sha256":"846e52943af54a8cee7bb7099a8146bde0f10ed9256bf15017e6a0bb9b7d29b7"},"schema_version":"1.0"},"canonical_sha256":"06f75807d8ba3f68c02d215c447661a4659ab71a0e31ccf7765be06e22edac39","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T12:05:05.452762Z","signature_b64":"RyJ7hRbg747LJVNnt1BaOsBVD7t0SBGZEE7cO1Hrvl8eaLLnNX1C+cpZPitb/sT7QZskpLvIzcy4cdIBUlsEBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"06f75807d8ba3f68c02d215c447661a4659ab71a0e31ccf7765be06e22edac39","last_reissued_at":"2026-07-05T12:05:05.452262Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T12:05:05.452262Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2206.15077","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":"2026-07-05T12:05:05Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4hvYjHOKAWY71UKTAIdebGza9vEzInwaIh4QY0pHnEq3pCQ/UpITTooMUL3R+KYKrP4GTHXwY9SNjCeu1Ci2Aw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T03:13:59.850726Z"},"content_sha256":"de967ef431796fc7771000691aa27c7c06318787794a8cf74727c433fca17401","schema_version":"1.0","event_id":"sha256:de967ef431796fc7771000691aa27c7c06318787794a8cf74727c433fca17401"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:A33VQB6YXI7WRQBNEFOEI5TBUR","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Attitude Control of Rigid Bodies: A Survey of Representations, Topological Obstructions, and Stabilization Techniques","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Dandan Zhang, Hongye Su","submitted_at":"2022-06-30T07:20:07Z","abstract_excerpt":"This paper reviews the attitude control problems for rigid-body systems, starting from the attitude representation for rigid body kinematics. Highly redundant rotation matrix defines the attitude orientation globally and uniquely by 9 parameters, which is the most fundamental one, without any singularities; minimum 3-parameter Euler angles or (modified) Rodrigues parameters define the attitude orientation neither globally nor uniquely, but the former exhibits kinematical singularity and Gimbal lock, while the latter two exhibit geometrical singularity; once-redundant axis-angle or unit quatern"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2206.15077","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/2206.15077/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":"2026-07-05T12:05:05Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1efrAFbyxAPT33T3YD1OZeY6ZoPFC63PpLtZJSJoLZf44fU8RYUBDWvRX6h9puD5hHYLMrxWdo0DREpzKrpCBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T03:13:59.851405Z"},"content_sha256":"b54065a9bf67fad2448e3a65e68e3090b4ba1144e9d1f49a58b01403dadef20b","schema_version":"1.0","event_id":"sha256:b54065a9bf67fad2448e3a65e68e3090b4ba1144e9d1f49a58b01403dadef20b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/A33VQB6YXI7WRQBNEFOEI5TBUR/bundle.json","state_url":"https://pith.science/pith/A33VQB6YXI7WRQBNEFOEI5TBUR/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/A33VQB6YXI7WRQBNEFOEI5TBUR/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":"2026-08-21T03:13:59Z","links":{"resolver":"https://pith.science/pith/A33VQB6YXI7WRQBNEFOEI5TBUR","bundle":"https://pith.science/pith/A33VQB6YXI7WRQBNEFOEI5TBUR/bundle.json","state":"https://pith.science/pith/A33VQB6YXI7WRQBNEFOEI5TBUR/state.json","well_known_bundle":"https://pith.science/.well-known/pith/A33VQB6YXI7WRQBNEFOEI5TBUR/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:A33VQB6YXI7WRQBNEFOEI5TBUR","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":"846e52943af54a8cee7bb7099a8146bde0f10ed9256bf15017e6a0bb9b7d29b7","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2022-06-30T07:20:07Z","title_canon_sha256":"9d8df142969ba35b64c49722dc45f9d852b21fff9cdca079f82628907df70506"},"schema_version":"1.0","source":{"id":"2206.15077","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2206.15077","created_at":"2026-07-05T12:05:05Z"},{"alias_kind":"arxiv_version","alias_value":"2206.15077v2","created_at":"2026-07-05T12:05:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2206.15077","created_at":"2026-07-05T12:05:05Z"},{"alias_kind":"pith_short_12","alias_value":"A33VQB6YXI7W","created_at":"2026-07-05T12:05:05Z"},{"alias_kind":"pith_short_16","alias_value":"A33VQB6YXI7WRQBN","created_at":"2026-07-05T12:05:05Z"},{"alias_kind":"pith_short_8","alias_value":"A33VQB6Y","created_at":"2026-07-05T12:05:05Z"}],"graph_snapshots":[{"event_id":"sha256:b54065a9bf67fad2448e3a65e68e3090b4ba1144e9d1f49a58b01403dadef20b","target":"graph","created_at":"2026-07-05T12:05:05Z","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/2206.15077/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper reviews the attitude control problems for rigid-body systems, starting from the attitude representation for rigid body kinematics. Highly redundant rotation matrix defines the attitude orientation globally and uniquely by 9 parameters, which is the most fundamental one, without any singularities; minimum 3-parameter Euler angles or (modified) Rodrigues parameters define the attitude orientation neither globally nor uniquely, but the former exhibits kinematical singularity and Gimbal lock, while the latter two exhibit geometrical singularity; once-redundant axis-angle or unit quatern","authors_text":"Dandan Zhang, Hongye Su","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2022-06-30T07:20:07Z","title":"Attitude Control of Rigid Bodies: A Survey of Representations, Topological Obstructions, and Stabilization Techniques"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2206.15077","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:de967ef431796fc7771000691aa27c7c06318787794a8cf74727c433fca17401","target":"record","created_at":"2026-07-05T12:05:05Z","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":"846e52943af54a8cee7bb7099a8146bde0f10ed9256bf15017e6a0bb9b7d29b7","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2022-06-30T07:20:07Z","title_canon_sha256":"9d8df142969ba35b64c49722dc45f9d852b21fff9cdca079f82628907df70506"},"schema_version":"1.0","source":{"id":"2206.15077","kind":"arxiv","version":2}},"canonical_sha256":"06f75807d8ba3f68c02d215c447661a4659ab71a0e31ccf7765be06e22edac39","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"06f75807d8ba3f68c02d215c447661a4659ab71a0e31ccf7765be06e22edac39","first_computed_at":"2026-07-05T12:05:05.452262Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T12:05:05.452262Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"RyJ7hRbg747LJVNnt1BaOsBVD7t0SBGZEE7cO1Hrvl8eaLLnNX1C+cpZPitb/sT7QZskpLvIzcy4cdIBUlsEBA==","signature_status":"signed_v1","signed_at":"2026-07-05T12:05:05.452762Z","signed_message":"canonical_sha256_bytes"},"source_id":"2206.15077","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:de967ef431796fc7771000691aa27c7c06318787794a8cf74727c433fca17401","sha256:b54065a9bf67fad2448e3a65e68e3090b4ba1144e9d1f49a58b01403dadef20b"],"state_sha256":"41efefc1444b1b0f5df1c9d50ae7ce83d49cc4c08c079eb80ef48dbc2a401105"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"goli3C3tFyg6uK0bDQXe95zZzU/SrJUwmw9fT6DMSagGMLHiitnkcdJboVOEWqAuhg52RRz0PeBTUppp7IqTDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-21T03:13:59.857310Z","bundle_sha256":"4db29ac607ac951c521e5fea6fe3aaf94c1f80679e269570076426a37984d95a"}}