{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:AOU2LIBRV6ZLQR4Y6JEQXVSZNN","short_pith_number":"pith:AOU2LIBR","canonical_record":{"source":{"id":"2407.18843","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-26T16:09:33Z","cross_cats_sorted":["physics.bio-ph","physics.flu-dyn"],"title_canon_sha256":"84b1a5f7145b2704b9d93342394c407cc3f487cdc5375c719bccb18a9eedce9f","abstract_canon_sha256":"b3af04f26a28836445c7235e761636afd470b0f06495d5f515793ab2ab8d7321"},"schema_version":"1.0"},"canonical_sha256":"03a9a5a031afb2b84798f2490bd6596b707bfc426d55a4fcd24ce01a897bc680","source":{"kind":"arxiv","id":"2407.18843","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.18843","created_at":"2026-07-05T08:48:55Z"},{"alias_kind":"arxiv_version","alias_value":"2407.18843v1","created_at":"2026-07-05T08:48:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.18843","created_at":"2026-07-05T08:48:55Z"},{"alias_kind":"pith_short_12","alias_value":"AOU2LIBRV6ZL","created_at":"2026-07-05T08:48:55Z"},{"alias_kind":"pith_short_16","alias_value":"AOU2LIBRV6ZLQR4Y","created_at":"2026-07-05T08:48:55Z"},{"alias_kind":"pith_short_8","alias_value":"AOU2LIBR","created_at":"2026-07-05T08:48:55Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:AOU2LIBRV6ZLQR4Y6JEQXVSZNN","target":"record","payload":{"canonical_record":{"source":{"id":"2407.18843","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-26T16:09:33Z","cross_cats_sorted":["physics.bio-ph","physics.flu-dyn"],"title_canon_sha256":"84b1a5f7145b2704b9d93342394c407cc3f487cdc5375c719bccb18a9eedce9f","abstract_canon_sha256":"b3af04f26a28836445c7235e761636afd470b0f06495d5f515793ab2ab8d7321"},"schema_version":"1.0"},"canonical_sha256":"03a9a5a031afb2b84798f2490bd6596b707bfc426d55a4fcd24ce01a897bc680","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:48:55.444714Z","signature_b64":"aBJSul+pdzxtsgamLcbEu7MjSvlzraIeMv73vDS5Y7PRw52SH6IVcVfDP7NR7L1LpHi5ucjoxQ37EbKAMkXrAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"03a9a5a031afb2b84798f2490bd6596b707bfc426d55a4fcd24ce01a897bc680","last_reissued_at":"2026-07-05T08:48:55.444284Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:48:55.444284Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2407.18843","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":"2026-07-05T08:48:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"EIQW2fW7ni4+hKszO6lwgtfYvGrKXrM2pNZEpdNoqlX71taFAipAQRgTdtjp0R32+a162J3TciHvOZ28VYv9Cw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T06:36:09.298170Z"},"content_sha256":"caf509d34d94f8f36d868182b1c6344d940e072769e6639e97ef49c2d5110497","schema_version":"1.0","event_id":"sha256:caf509d34d94f8f36d868182b1c6344d940e072769e6639e97ef49c2d5110497"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:AOU2LIBRV6ZLQR4Y6JEQXVSZNN","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Morphing median fin enhances untethered bionic robotic tuna's linear acceleration and turning maneuverability","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["physics.bio-ph","physics.flu-dyn"],"primary_cat":"cs.RO","authors_text":"Hongbin Huang, Jinhu Zhang, Wei Zheng, Wei Zhou, Yu Zhang, Zhibin Liu, Zhonglu Lin","submitted_at":"2024-07-26T16:09:33Z","abstract_excerpt":"Median fins of fish-like swimmers play a crucial role in linear acceleration and maneuvering processes. However, few research focused on untethered robotic fish experiments. Imitating the behaviour of real tuna, we developed a free-swimming bionic tuna with a foldable dorsal fin. The erection of dorsal fin, at proper conditions, can reduce head heave by 50%, enhance linear acceleration by 15.7%, increase turning angular velocity by 32.78%, and turning radius decreasing by 33.13%. Conversely, erecting the dorsal fin increases the wetted surface area, resulting in decreased maximum speed and eff"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.18843","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2407.18843/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":"2026-07-05T08:48:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"92oNCkLUE39xpqyzJ70rhCGcMnVwRBX/kij3Utsfvobd5nmU3AHV/gdXhjUxF6cabNE8ZmlMdeuxyNpHCphyCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T06:36:09.298560Z"},"content_sha256":"647383400c89f410cde10d86cefd2c533922bd13ba3a80fd6fe9610cd6bdd10e","schema_version":"1.0","event_id":"sha256:647383400c89f410cde10d86cefd2c533922bd13ba3a80fd6fe9610cd6bdd10e"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/AOU2LIBRV6ZLQR4Y6JEQXVSZNN/bundle.json","state_url":"https://pith.science/pith/AOU2LIBRV6ZLQR4Y6JEQXVSZNN/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/AOU2LIBRV6ZLQR4Y6JEQXVSZNN/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":"2026-07-07T06:36:09Z","links":{"resolver":"https://pith.science/pith/AOU2LIBRV6ZLQR4Y6JEQXVSZNN","bundle":"https://pith.science/pith/AOU2LIBRV6ZLQR4Y6JEQXVSZNN/bundle.json","state":"https://pith.science/pith/AOU2LIBRV6ZLQR4Y6JEQXVSZNN/state.json","well_known_bundle":"https://pith.science/.well-known/pith/AOU2LIBRV6ZLQR4Y6JEQXVSZNN/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:AOU2LIBRV6ZLQR4Y6JEQXVSZNN","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":"b3af04f26a28836445c7235e761636afd470b0f06495d5f515793ab2ab8d7321","cross_cats_sorted":["physics.bio-ph","physics.flu-dyn"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-26T16:09:33Z","title_canon_sha256":"84b1a5f7145b2704b9d93342394c407cc3f487cdc5375c719bccb18a9eedce9f"},"schema_version":"1.0","source":{"id":"2407.18843","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.18843","created_at":"2026-07-05T08:48:55Z"},{"alias_kind":"arxiv_version","alias_value":"2407.18843v1","created_at":"2026-07-05T08:48:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.18843","created_at":"2026-07-05T08:48:55Z"},{"alias_kind":"pith_short_12","alias_value":"AOU2LIBRV6ZL","created_at":"2026-07-05T08:48:55Z"},{"alias_kind":"pith_short_16","alias_value":"AOU2LIBRV6ZLQR4Y","created_at":"2026-07-05T08:48:55Z"},{"alias_kind":"pith_short_8","alias_value":"AOU2LIBR","created_at":"2026-07-05T08:48:55Z"}],"graph_snapshots":[{"event_id":"sha256:647383400c89f410cde10d86cefd2c533922bd13ba3a80fd6fe9610cd6bdd10e","target":"graph","created_at":"2026-07-05T08:48:55Z","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/2407.18843/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Median fins of fish-like swimmers play a crucial role in linear acceleration and maneuvering processes. However, few research focused on untethered robotic fish experiments. Imitating the behaviour of real tuna, we developed a free-swimming bionic tuna with a foldable dorsal fin. The erection of dorsal fin, at proper conditions, can reduce head heave by 50%, enhance linear acceleration by 15.7%, increase turning angular velocity by 32.78%, and turning radius decreasing by 33.13%. Conversely, erecting the dorsal fin increases the wetted surface area, resulting in decreased maximum speed and eff","authors_text":"Hongbin Huang, Jinhu Zhang, Wei Zheng, Wei Zhou, Yu Zhang, Zhibin Liu, Zhonglu Lin","cross_cats":["physics.bio-ph","physics.flu-dyn"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-26T16:09:33Z","title":"Morphing median fin enhances untethered bionic robotic tuna's linear acceleration and turning maneuverability"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.18843","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:caf509d34d94f8f36d868182b1c6344d940e072769e6639e97ef49c2d5110497","target":"record","created_at":"2026-07-05T08:48:55Z","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":"b3af04f26a28836445c7235e761636afd470b0f06495d5f515793ab2ab8d7321","cross_cats_sorted":["physics.bio-ph","physics.flu-dyn"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-26T16:09:33Z","title_canon_sha256":"84b1a5f7145b2704b9d93342394c407cc3f487cdc5375c719bccb18a9eedce9f"},"schema_version":"1.0","source":{"id":"2407.18843","kind":"arxiv","version":1}},"canonical_sha256":"03a9a5a031afb2b84798f2490bd6596b707bfc426d55a4fcd24ce01a897bc680","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"03a9a5a031afb2b84798f2490bd6596b707bfc426d55a4fcd24ce01a897bc680","first_computed_at":"2026-07-05T08:48:55.444284Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:48:55.444284Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"aBJSul+pdzxtsgamLcbEu7MjSvlzraIeMv73vDS5Y7PRw52SH6IVcVfDP7NR7L1LpHi5ucjoxQ37EbKAMkXrAg==","signature_status":"signed_v1","signed_at":"2026-07-05T08:48:55.444714Z","signed_message":"canonical_sha256_bytes"},"source_id":"2407.18843","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:caf509d34d94f8f36d868182b1c6344d940e072769e6639e97ef49c2d5110497","sha256:647383400c89f410cde10d86cefd2c533922bd13ba3a80fd6fe9610cd6bdd10e"],"state_sha256":"0e8f1b7c88fe010c34e9a1f62ca06baca50cc807505829431a3e42545672c30c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"GwkQKrEbO9OKC7KJhDytVd0/WHBWTY8Ax1+6TZF3DM6e0S6kPFaozAC+R6CYqvrcW0S2hLagO88Hf87JYphHCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T06:36:09.300611Z","bundle_sha256":"a01406815b794986b3381d744dd5c19a5ecd4fc211c427e81ec4e42fd122479e"}}