{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:B6QUTSSP5JHRN2CPMSNBVCV6XU","short_pith_number":"pith:B6QUTSSP","canonical_record":{"source":{"id":"2309.06725","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-09-13T05:00:47Z","cross_cats_sorted":[],"title_canon_sha256":"9bef8a07e180da55d87ddd5c4713d1428130b15810c18e2ef2781d895b501b65","abstract_canon_sha256":"538803f362fd6314eb730f596b3df718c1d96275be3ad97bb84690e9834af4c5"},"schema_version":"1.0"},"canonical_sha256":"0fa149ca4fea4f16e84f649a1a8abebd081370d11fb5e0c5454700fb5d9fd700","source":{"kind":"arxiv","id":"2309.06725","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.06725","created_at":"2026-07-05T06:50:21Z"},{"alias_kind":"arxiv_version","alias_value":"2309.06725v1","created_at":"2026-07-05T06:50:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.06725","created_at":"2026-07-05T06:50:21Z"},{"alias_kind":"pith_short_12","alias_value":"B6QUTSSP5JHR","created_at":"2026-07-05T06:50:21Z"},{"alias_kind":"pith_short_16","alias_value":"B6QUTSSP5JHRN2CP","created_at":"2026-07-05T06:50:21Z"},{"alias_kind":"pith_short_8","alias_value":"B6QUTSSP","created_at":"2026-07-05T06:50:21Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:B6QUTSSP5JHRN2CPMSNBVCV6XU","target":"record","payload":{"canonical_record":{"source":{"id":"2309.06725","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-09-13T05:00:47Z","cross_cats_sorted":[],"title_canon_sha256":"9bef8a07e180da55d87ddd5c4713d1428130b15810c18e2ef2781d895b501b65","abstract_canon_sha256":"538803f362fd6314eb730f596b3df718c1d96275be3ad97bb84690e9834af4c5"},"schema_version":"1.0"},"canonical_sha256":"0fa149ca4fea4f16e84f649a1a8abebd081370d11fb5e0c5454700fb5d9fd700","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:50:21.744555Z","signature_b64":"5CRGIEDNE3KXAAspqBVrkyJVfXTiYcQHoQaZ6wF7pKiCzSiiJfnM+cuaPYRtSo94VsKmKAtKL1wn9hjRsk0tCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0fa149ca4fea4f16e84f649a1a8abebd081370d11fb5e0c5454700fb5d9fd700","last_reissued_at":"2026-07-05T06:50:21.744050Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:50:21.744050Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2309.06725","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":"2026-07-05T06:50:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"RZu0Pd9K5bA80MIPLjmE8tQ+DsZQe9ULq1OpVQaiCx0eroRT7qL0edwgxf6iITl3AHHRXVTCtBcFpcjnOyP9Bw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-15T04:06:38.511632Z"},"content_sha256":"68d7156ebb22503351168439911b96a6b05f88fe230864243f88d7bc76cb7ea5","schema_version":"1.0","event_id":"sha256:68d7156ebb22503351168439911b96a6b05f88fe230864243f88d7bc76cb7ea5"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:B6QUTSSP5JHRN2CPMSNBVCV6XU","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Solar-powered shape-changing origami microfliers","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alberto Aliseda, Am\\'elie Ferran, Dennis Yin, Kyle Johnson, Raul Villanueva, Sawyer Fuller, Shyamnath Gollakota, Tilboon Elberier, Vicente Arroyos, Vikram Iyer","submitted_at":"2023-09-13T05:00:47Z","abstract_excerpt":"Using wind to disperse microfliers that fall like seeds and leaves can help automate large-scale sensor deployments. Here, we present battery-free microfliers that can change shape in mid-air to vary their dispersal distance. We design origami microfliers using bi-stable leaf-out structures and uncover an important property: a simple change in the shape of these origami structures causes two dramatically different falling behaviors. When unfolded and flat, the microfliers exhibit a tumbling behavior that increases lateral displacement in the wind. When folded inward, their orientation is stabi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.06725","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/2309.06725/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":"2026-07-05T06:50:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WxYuonuvdP3JNHyhT4AmOTDvlFts4C4CDDNeRoBDe/HbcL7cxu5e25Q0q6FBGURCnbtV3+cNukn3DG9u+ockAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-15T04:06:38.512168Z"},"content_sha256":"ec150e2cc485875c7f1a8fe19bf7f90e4d0bf3691559682925dcd47ce9d178e3","schema_version":"1.0","event_id":"sha256:ec150e2cc485875c7f1a8fe19bf7f90e4d0bf3691559682925dcd47ce9d178e3"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/B6QUTSSP5JHRN2CPMSNBVCV6XU/bundle.json","state_url":"https://pith.science/pith/B6QUTSSP5JHRN2CPMSNBVCV6XU/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/B6QUTSSP5JHRN2CPMSNBVCV6XU/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":"2026-08-15T04:06:38Z","links":{"resolver":"https://pith.science/pith/B6QUTSSP5JHRN2CPMSNBVCV6XU","bundle":"https://pith.science/pith/B6QUTSSP5JHRN2CPMSNBVCV6XU/bundle.json","state":"https://pith.science/pith/B6QUTSSP5JHRN2CPMSNBVCV6XU/state.json","well_known_bundle":"https://pith.science/.well-known/pith/B6QUTSSP5JHRN2CPMSNBVCV6XU/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:B6QUTSSP5JHRN2CPMSNBVCV6XU","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":"538803f362fd6314eb730f596b3df718c1d96275be3ad97bb84690e9834af4c5","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-09-13T05:00:47Z","title_canon_sha256":"9bef8a07e180da55d87ddd5c4713d1428130b15810c18e2ef2781d895b501b65"},"schema_version":"1.0","source":{"id":"2309.06725","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.06725","created_at":"2026-07-05T06:50:21Z"},{"alias_kind":"arxiv_version","alias_value":"2309.06725v1","created_at":"2026-07-05T06:50:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.06725","created_at":"2026-07-05T06:50:21Z"},{"alias_kind":"pith_short_12","alias_value":"B6QUTSSP5JHR","created_at":"2026-07-05T06:50:21Z"},{"alias_kind":"pith_short_16","alias_value":"B6QUTSSP5JHRN2CP","created_at":"2026-07-05T06:50:21Z"},{"alias_kind":"pith_short_8","alias_value":"B6QUTSSP","created_at":"2026-07-05T06:50:21Z"}],"graph_snapshots":[{"event_id":"sha256:ec150e2cc485875c7f1a8fe19bf7f90e4d0bf3691559682925dcd47ce9d178e3","target":"graph","created_at":"2026-07-05T06:50:21Z","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/2309.06725/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Using wind to disperse microfliers that fall like seeds and leaves can help automate large-scale sensor deployments. Here, we present battery-free microfliers that can change shape in mid-air to vary their dispersal distance. We design origami microfliers using bi-stable leaf-out structures and uncover an important property: a simple change in the shape of these origami structures causes two dramatically different falling behaviors. When unfolded and flat, the microfliers exhibit a tumbling behavior that increases lateral displacement in the wind. When folded inward, their orientation is stabi","authors_text":"Alberto Aliseda, Am\\'elie Ferran, Dennis Yin, Kyle Johnson, Raul Villanueva, Sawyer Fuller, Shyamnath Gollakota, Tilboon Elberier, Vicente Arroyos, Vikram Iyer","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-09-13T05:00:47Z","title":"Solar-powered shape-changing origami microfliers"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.06725","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":"sha256:68d7156ebb22503351168439911b96a6b05f88fe230864243f88d7bc76cb7ea5","target":"record","created_at":"2026-07-05T06:50:21Z","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":"538803f362fd6314eb730f596b3df718c1d96275be3ad97bb84690e9834af4c5","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-09-13T05:00:47Z","title_canon_sha256":"9bef8a07e180da55d87ddd5c4713d1428130b15810c18e2ef2781d895b501b65"},"schema_version":"1.0","source":{"id":"2309.06725","kind":"arxiv","version":1}},"canonical_sha256":"0fa149ca4fea4f16e84f649a1a8abebd081370d11fb5e0c5454700fb5d9fd700","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0fa149ca4fea4f16e84f649a1a8abebd081370d11fb5e0c5454700fb5d9fd700","first_computed_at":"2026-07-05T06:50:21.744050Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:50:21.744050Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"5CRGIEDNE3KXAAspqBVrkyJVfXTiYcQHoQaZ6wF7pKiCzSiiJfnM+cuaPYRtSo94VsKmKAtKL1wn9hjRsk0tCw==","signature_status":"signed_v1","signed_at":"2026-07-05T06:50:21.744555Z","signed_message":"canonical_sha256_bytes"},"source_id":"2309.06725","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:68d7156ebb22503351168439911b96a6b05f88fe230864243f88d7bc76cb7ea5","sha256:ec150e2cc485875c7f1a8fe19bf7f90e4d0bf3691559682925dcd47ce9d178e3"],"state_sha256":"4660f4cdc2e733046a72f243b827b5dca7e26b331c32ce2b7ff7595de5173bf5"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"39wv0nG+P3Jd41ztup80sU9+mHmHrfaPki7RtIrdOqO93ZPfiEhweJEHw+MzrSiXNGP/7x4LCCadYnPlXSpfAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-15T04:06:38.517851Z","bundle_sha256":"38308e0c6238d3d91eb9f6b028240601c712771128c8d83bf9f87d39785c6cf4"}}