Pith Number

pith:AFUTQTPS

pith:2021:AFUTQTPS65LCMK3HHZVKTHZ6RL

not attested not anchored not stored refs pending

GSG: A Granary Soft Gripper with Mechanical Force Sensing via 3-Dimensional Snap-Through Structure

Chao-Yu Chen, Chen-Hua Yeow, Chen Qiu, Haoyong Yu, Huixu Dong

arxiv:2111.04046 v1 · 2021-11-07 · cs.RO · cs.SY · eess.SY

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{AFUTQTPS65LCMK3HHZVKTHZ6RL}

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	2026-07-05T03:29:55.071221Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

0169384df2f756262b673e6aa99f3e8ac54107148fc92847a3deb84e7df6aef7

Aliases

arxiv: 2111.04046 · arxiv_version: 2111.04046v1 · doi: 10.48550/arxiv.2111.04046 · pith_short_12: AFUTQTPS65LC · pith_short_16: AFUTQTPS65LCMK3H · pith_short_8: AFUTQTPS

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/AFUTQTPS65LCMK3HHZVKTHZ6RL \
  | 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: 0169384df2f756262b673e6aa99f3e8ac54107148fc92847a3deb84e7df6aef7

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f5fa99ce358a18e92f22bf00e94d6fbd18ab0c9193b7606f53ba11b0d012a124",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-11-07T10:50:18Z",
    "title_canon_sha256": "94a3931ff8001e34fa33d6e333da9c94be6c0b3078d01373be92e0aa9a507748"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2111.04046",
    "kind": "arxiv",
    "version": 1
  }
}