{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:B37G7FQ3GR35FCXEBAG2Q5F2XI","short_pith_number":"pith:B37G7FQ3","canonical_record":{"source":{"id":"2111.06120","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"eess.SY","submitted_at":"2021-11-11T09:46:23Z","cross_cats_sorted":["cs.SY","math.DS"],"title_canon_sha256":"be9e01bcd292adfbea24c99acd42d99d218f3f65bc9f90d6bec230eaac51d091","abstract_canon_sha256":"bc81a0ca6861b0be49d5441d5c629555ecda19cc731887a47a70737f2bae5829"},"schema_version":"1.0"},"canonical_sha256":"0efe6f961b3477d28ae4080da874baba183927562ebd26f855b378c13a7caee4","source":{"kind":"arxiv","id":"2111.06120","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2111.06120","created_at":"2026-07-05T09:30:00Z"},{"alias_kind":"arxiv_version","alias_value":"2111.06120v2","created_at":"2026-07-05T09:30:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2111.06120","created_at":"2026-07-05T09:30:00Z"},{"alias_kind":"pith_short_12","alias_value":"B37G7FQ3GR35","created_at":"2026-07-05T09:30:00Z"},{"alias_kind":"pith_short_16","alias_value":"B37G7FQ3GR35FCXE","created_at":"2026-07-05T09:30:00Z"},{"alias_kind":"pith_short_8","alias_value":"B37G7FQ3","created_at":"2026-07-05T09:30:00Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:B37G7FQ3GR35FCXEBAG2Q5F2XI","target":"record","payload":{"canonical_record":{"source":{"id":"2111.06120","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"eess.SY","submitted_at":"2021-11-11T09:46:23Z","cross_cats_sorted":["cs.SY","math.DS"],"title_canon_sha256":"be9e01bcd292adfbea24c99acd42d99d218f3f65bc9f90d6bec230eaac51d091","abstract_canon_sha256":"bc81a0ca6861b0be49d5441d5c629555ecda19cc731887a47a70737f2bae5829"},"schema_version":"1.0"},"canonical_sha256":"0efe6f961b3477d28ae4080da874baba183927562ebd26f855b378c13a7caee4","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:30:00.707941Z","signature_b64":"5NLgZXSWXO4dvS0+A8TkPag/k3RYUwXvl/E1X8eMeZ2Gl1XIynjNRLous83f7z9zWEFgWhH3Qg639ICQiohXBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0efe6f961b3477d28ae4080da874baba183927562ebd26f855b378c13a7caee4","last_reissued_at":"2026-07-05T09:30:00.707379Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:30:00.707379Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2111.06120","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":"2026-07-05T09:30:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2Zk+/f4VcPXIPp9GFbg6270A471MFdmUgCRiWz57plJte6dsFYZtFh1pmINTjzsTaHDNiWj4VOyKGKEFIKGQBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T14:25:59.035455Z"},"content_sha256":"8aae6803c68edc1355d87e2e3778635644b0ee6c80bac8ceaaa2c5ff2502b81c","schema_version":"1.0","event_id":"sha256:8aae6803c68edc1355d87e2e3778635644b0ee6c80bac8ceaaa2c5ff2502b81c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:B37G7FQ3GR35FCXEBAG2Q5F2XI","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"On Neural Network Identification for Low-Speed Ship Maneuvering Model","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.SY","math.DS"],"primary_cat":"eess.SY","authors_text":"Atsuo Maki, Dimas M. Rachman, Kouki Wakita, Tohga Shimoji, Umeda Naoya, Yoshiki Miyauchi, Youhei Akimoto","submitted_at":"2021-11-11T09:46:23Z","abstract_excerpt":"Several studies on ship maneuvering models have been conducted using captive model tests or computational fluid dynamics (CFD) and physical models, such as the maneuvering modeling group (MMG) model. A new system identification method for generating a low-speed maneuvering model using recurrent neural networks (RNNs) and free running model tests is proposed in this study. We especially focus on a low-speed maneuver such as the final phase in berthing to achieve automatic berthing control. Accurate dynamic modeling with minimum modeling error is highly desired to establish a model-based control"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2111.06120","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/2111.06120/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":"2026-07-05T09:30:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"l6i05bnWjBy99hL4Rs4krtfQ3o2uToNC15bQPYZq+NiKGQnyCdXKqRCdnsIjds3L9PQR9ssITcK2HAHZEfUNDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T14:25:59.036009Z"},"content_sha256":"c0dbd15ccc7eb327cfb65f31d900a73f09adae850d753a4f19eeb50172827318","schema_version":"1.0","event_id":"sha256:c0dbd15ccc7eb327cfb65f31d900a73f09adae850d753a4f19eeb50172827318"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/B37G7FQ3GR35FCXEBAG2Q5F2XI/bundle.json","state_url":"https://pith.science/pith/B37G7FQ3GR35FCXEBAG2Q5F2XI/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/B37G7FQ3GR35FCXEBAG2Q5F2XI/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":"2026-08-23T14:25:59Z","links":{"resolver":"https://pith.science/pith/B37G7FQ3GR35FCXEBAG2Q5F2XI","bundle":"https://pith.science/pith/B37G7FQ3GR35FCXEBAG2Q5F2XI/bundle.json","state":"https://pith.science/pith/B37G7FQ3GR35FCXEBAG2Q5F2XI/state.json","well_known_bundle":"https://pith.science/.well-known/pith/B37G7FQ3GR35FCXEBAG2Q5F2XI/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:B37G7FQ3GR35FCXEBAG2Q5F2XI","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":"bc81a0ca6861b0be49d5441d5c629555ecda19cc731887a47a70737f2bae5829","cross_cats_sorted":["cs.SY","math.DS"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"eess.SY","submitted_at":"2021-11-11T09:46:23Z","title_canon_sha256":"be9e01bcd292adfbea24c99acd42d99d218f3f65bc9f90d6bec230eaac51d091"},"schema_version":"1.0","source":{"id":"2111.06120","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2111.06120","created_at":"2026-07-05T09:30:00Z"},{"alias_kind":"arxiv_version","alias_value":"2111.06120v2","created_at":"2026-07-05T09:30:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2111.06120","created_at":"2026-07-05T09:30:00Z"},{"alias_kind":"pith_short_12","alias_value":"B37G7FQ3GR35","created_at":"2026-07-05T09:30:00Z"},{"alias_kind":"pith_short_16","alias_value":"B37G7FQ3GR35FCXE","created_at":"2026-07-05T09:30:00Z"},{"alias_kind":"pith_short_8","alias_value":"B37G7FQ3","created_at":"2026-07-05T09:30:00Z"}],"graph_snapshots":[{"event_id":"sha256:c0dbd15ccc7eb327cfb65f31d900a73f09adae850d753a4f19eeb50172827318","target":"graph","created_at":"2026-07-05T09:30:00Z","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/2111.06120/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Several studies on ship maneuvering models have been conducted using captive model tests or computational fluid dynamics (CFD) and physical models, such as the maneuvering modeling group (MMG) model. A new system identification method for generating a low-speed maneuvering model using recurrent neural networks (RNNs) and free running model tests is proposed in this study. We especially focus on a low-speed maneuver such as the final phase in berthing to achieve automatic berthing control. Accurate dynamic modeling with minimum modeling error is highly desired to establish a model-based control","authors_text":"Atsuo Maki, Dimas M. Rachman, Kouki Wakita, Tohga Shimoji, Umeda Naoya, Yoshiki Miyauchi, Youhei Akimoto","cross_cats":["cs.SY","math.DS"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"eess.SY","submitted_at":"2021-11-11T09:46:23Z","title":"On Neural Network Identification for Low-Speed Ship Maneuvering Model"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2111.06120","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":"sha256:8aae6803c68edc1355d87e2e3778635644b0ee6c80bac8ceaaa2c5ff2502b81c","target":"record","created_at":"2026-07-05T09:30:00Z","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":"bc81a0ca6861b0be49d5441d5c629555ecda19cc731887a47a70737f2bae5829","cross_cats_sorted":["cs.SY","math.DS"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"eess.SY","submitted_at":"2021-11-11T09:46:23Z","title_canon_sha256":"be9e01bcd292adfbea24c99acd42d99d218f3f65bc9f90d6bec230eaac51d091"},"schema_version":"1.0","source":{"id":"2111.06120","kind":"arxiv","version":2}},"canonical_sha256":"0efe6f961b3477d28ae4080da874baba183927562ebd26f855b378c13a7caee4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0efe6f961b3477d28ae4080da874baba183927562ebd26f855b378c13a7caee4","first_computed_at":"2026-07-05T09:30:00.707379Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:30:00.707379Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"5NLgZXSWXO4dvS0+A8TkPag/k3RYUwXvl/E1X8eMeZ2Gl1XIynjNRLous83f7z9zWEFgWhH3Qg639ICQiohXBg==","signature_status":"signed_v1","signed_at":"2026-07-05T09:30:00.707941Z","signed_message":"canonical_sha256_bytes"},"source_id":"2111.06120","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8aae6803c68edc1355d87e2e3778635644b0ee6c80bac8ceaaa2c5ff2502b81c","sha256:c0dbd15ccc7eb327cfb65f31d900a73f09adae850d753a4f19eeb50172827318"],"state_sha256":"97fb582d0574641ce802cba5e302d7d43f542e5b24dbb7247af0738852d2c6d4"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"eWraUiq/WFlTwUMfJcTeHOraZKeNLMhUN9KTDfyS1hehSDdm1p3lDblBGD4jXYq9Rr+iyK3yawmXhzb038tVAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-23T14:25:59.040882Z","bundle_sha256":"4b9f7132f4a5f744817be576982b372f18f8fee68b586c47cc45c04145ef45f6"}}