{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:BEQCDE6GMDFETTOTTEDSDWNT2H","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":"b4c78ff958aed732282f61f26e413b831f4c1ab8f4ce82e166033be16290b71c","cross_cats_sorted":["math.OC"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-06-28T17:17:04Z","title_canon_sha256":"317de0db0d45630dd0bc88335c54d9871125b133c060a407fb7da0f59c273338"},"schema_version":"1.0","source":{"id":"2406.20061","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.20061","created_at":"2026-07-05T08:37:58Z"},{"alias_kind":"arxiv_version","alias_value":"2406.20061v1","created_at":"2026-07-05T08:37:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.20061","created_at":"2026-07-05T08:37:58Z"},{"alias_kind":"pith_short_12","alias_value":"BEQCDE6GMDFE","created_at":"2026-07-05T08:37:58Z"},{"alias_kind":"pith_short_16","alias_value":"BEQCDE6GMDFETTOT","created_at":"2026-07-05T08:37:58Z"},{"alias_kind":"pith_short_8","alias_value":"BEQCDE6G","created_at":"2026-07-05T08:37:58Z"}],"graph_snapshots":[{"event_id":"sha256:66e43b4e5806d55b0ecf025c035e5dbb81eb5cd828a84c4e7cc7bf3f51141a07","target":"graph","created_at":"2026-07-05T08:37:58Z","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/2406.20061/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Flying insects can perform rapid, sophisticated maneuvers like backflips, sharp banked turns, and in-flight collision recovery. To emulate these in aerial robots weighing less than a gram, known as flying insect robots (FIRs), a fast and responsive control system is essential. To date, these have largely been, at their core, elaborations of proportional-integral-derivative (PID)-type feedback control. Without exception, their gains have been painstakingly tuned by hand. Aggressive maneuvers have further required task-specific tuning. Optimal control has the potential to mitigate these issues, ","authors_text":"Daksh Dhingra, Kadierdan Kaheman, Sawyer B. Fuller","cross_cats":["math.OC"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-06-28T17:17:04Z","title":"Modeling and LQR Control of Insect Sized Flapping Wing Robot"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.20061","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":"sha256:4349d03df526b03e53d2936c1f321cccb596c0aaffe7ce6482ffd5f59cecdea0","target":"record","created_at":"2026-07-05T08:37:58Z","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":"b4c78ff958aed732282f61f26e413b831f4c1ab8f4ce82e166033be16290b71c","cross_cats_sorted":["math.OC"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-06-28T17:17:04Z","title_canon_sha256":"317de0db0d45630dd0bc88335c54d9871125b133c060a407fb7da0f59c273338"},"schema_version":"1.0","source":{"id":"2406.20061","kind":"arxiv","version":1}},"canonical_sha256":"09202193c660ca49cdd3990721d9b3d1deee39d3e6095765e62bfa184c6c8eab","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"09202193c660ca49cdd3990721d9b3d1deee39d3e6095765e62bfa184c6c8eab","first_computed_at":"2026-07-05T08:37:58.560499Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:37:58.560499Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"g8bUjinpFMD5/tpY8982vzD53K+43pyeCp7k5VCboKTHvPpUMwm8qtCK5zEPuyq0luMhNRegDJWXO9QWVmyXDg==","signature_status":"signed_v1","signed_at":"2026-07-05T08:37:58.560938Z","signed_message":"canonical_sha256_bytes"},"source_id":"2406.20061","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4349d03df526b03e53d2936c1f321cccb596c0aaffe7ce6482ffd5f59cecdea0","sha256:66e43b4e5806d55b0ecf025c035e5dbb81eb5cd828a84c4e7cc7bf3f51141a07"],"state_sha256":"0dffd81aa7be843f7a75078835e1bb062da49ae9d7e3323673cda7a43b6d671e"}