Pith Number

pith:BS4ET4W7

pith:2021:BS4ET4W7FZBNBBX5IFKE7BAKMP

not attested not anchored not stored refs pending

Robust Control of a Multi-Axis Shape Memory Alloy-Driven Soft Manipulator

Andrew P. Sabelhaus, Carmel Majidi, Zach J. Patterson

arxiv:2110.10022 v2 · 2021-10-19 · cs.RO

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{BS4ET4W7FZBNBBX5IFKE7BAKMP}

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	2026-07-05T09:26:11.880545Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

0cb849f2df2e42d086fd41544f840a63f15c28796d95d5545293bf27ce7cf3fb

Aliases

arxiv: 2110.10022 · arxiv_version: 2110.10022v2 · doi: 10.48550/arxiv.2110.10022 · pith_short_12: BS4ET4W7FZBN · pith_short_16: BS4ET4W7FZBNBBX5 · pith_short_8: BS4ET4W7

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/BS4ET4W7FZBNBBX5IFKE7BAKMP \
  | 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: 0cb849f2df2e42d086fd41544f840a63f15c28796d95d5545293bf27ce7cf3fb

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "eb0954abf66af1d5cab81db9677f4924aaedf38afda2bbd1c7d2cbf67db44a15",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-10-19T14:42:53Z",
    "title_canon_sha256": "9bfa4c814316992bc29f3a5bd85da5e56367637e3332a101ab1f268b824b6ee8"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2110.10022",
    "kind": "arxiv",
    "version": 2
  }
}