{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2021:BZDPIIIQTUP76JHLF5XRYMDFGE","short_pith_number":"pith:BZDPIIIQ","schema_version":"1.0","canonical_sha256":"0e46f421109d1fff24eb2f6f1c3065310c4c4c745219be073d139d7f6012dd05","source":{"kind":"arxiv","id":"2103.16632","version":2},"attestation_state":"computed","paper":{"title":"Design and Control of a Midair-Reconfigurable Quadcopter using Unactuated Hinges","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jerry Tang, Mark W. Mueller, Nathan Bucki","submitted_at":"2021-03-30T19:18:02Z","abstract_excerpt":"A novel quadcopter capable of changing shape mid-flight is presented, allowing for operation in four configurations with the capability of sustained hover in three. This is accomplished without requiring actuators beyond the four motors typical of a quadcopter. Morphing is achieved through freely-rotating hinges that allow the vehicle arms to fold downwards by either reducing or reversing thrust forces. Constraints placed on the control inputs of the vehicle prevent the arms from folding or unfolding unexpectedly. This allows for the use of existing quadcopter controllers and trajectory genera"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2103.16632","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-03-30T19:18:02Z","cross_cats_sorted":[],"title_canon_sha256":"79dbea7edf9ae09ba4b8f5b4f83da28a0666047917a83a495b27ec221bcc7f0e","abstract_canon_sha256":"c747c1af867cde57e794d10c48eb9805c00b46f7e77231f7a16002a0a4b24df4"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:41:49.627837Z","signature_b64":"Xa5SDK8dd24uI1OVZ2ZQu3s//T5n1ZRRlTn5P9Xo8NqI/Tv7+pk7WIC5Fn4bkjV+f0wqHSgiiDg1h4sWy16pCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0e46f421109d1fff24eb2f6f1c3065310c4c4c745219be073d139d7f6012dd05","last_reissued_at":"2026-07-05T03:41:49.627415Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:41:49.627415Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Design and Control of a Midair-Reconfigurable Quadcopter using Unactuated Hinges","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jerry Tang, Mark W. Mueller, Nathan Bucki","submitted_at":"2021-03-30T19:18:02Z","abstract_excerpt":"A novel quadcopter capable of changing shape mid-flight is presented, allowing for operation in four configurations with the capability of sustained hover in three. This is accomplished without requiring actuators beyond the four motors typical of a quadcopter. Morphing is achieved through freely-rotating hinges that allow the vehicle arms to fold downwards by either reducing or reversing thrust forces. Constraints placed on the control inputs of the vehicle prevent the arms from folding or unfolding unexpectedly. This allows for the use of existing quadcopter controllers and trajectory genera"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2103.16632","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/2103.16632/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2103.16632","created_at":"2026-07-05T03:41:49.627476+00:00"},{"alias_kind":"arxiv_version","alias_value":"2103.16632v2","created_at":"2026-07-05T03:41:49.627476+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2103.16632","created_at":"2026-07-05T03:41:49.627476+00:00"},{"alias_kind":"pith_short_12","alias_value":"BZDPIIIQTUP7","created_at":"2026-07-05T03:41:49.627476+00:00"},{"alias_kind":"pith_short_16","alias_value":"BZDPIIIQTUP76JHL","created_at":"2026-07-05T03:41:49.627476+00:00"},{"alias_kind":"pith_short_8","alias_value":"BZDPIIIQ","created_at":"2026-07-05T03:41:49.627476+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":1,"internal_anchor_count":1,"sample":[{"citing_arxiv_id":"2505.15010","citing_title":"Shape-Adaptive Planning and Control for a Deformable Quadrotor","ref_index":5,"is_internal_anchor":true}]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/BZDPIIIQTUP76JHLF5XRYMDFGE","json":"https://pith.science/pith/BZDPIIIQTUP76JHLF5XRYMDFGE.json","graph_json":"https://pith.science/api/pith-number/BZDPIIIQTUP76JHLF5XRYMDFGE/graph.json","events_json":"https://pith.science/api/pith-number/BZDPIIIQTUP76JHLF5XRYMDFGE/events.json","paper":"https://pith.science/paper/BZDPIIIQ"},"agent_actions":{"view_html":"https://pith.science/pith/BZDPIIIQTUP76JHLF5XRYMDFGE","download_json":"https://pith.science/pith/BZDPIIIQTUP76JHLF5XRYMDFGE.json","view_paper":"https://pith.science/paper/BZDPIIIQ","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2103.16632&json=true","fetch_graph":"https://pith.science/api/pith-number/BZDPIIIQTUP76JHLF5XRYMDFGE/graph.json","fetch_events":"https://pith.science/api/pith-number/BZDPIIIQTUP76JHLF5XRYMDFGE/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/BZDPIIIQTUP76JHLF5XRYMDFGE/action/timestamp_anchor","attest_storage":"https://pith.science/pith/BZDPIIIQTUP76JHLF5XRYMDFGE/action/storage_attestation","attest_author":"https://pith.science/pith/BZDPIIIQTUP76JHLF5XRYMDFGE/action/author_attestation","sign_citation":"https://pith.science/pith/BZDPIIIQTUP76JHLF5XRYMDFGE/action/citation_signature","submit_replication":"https://pith.science/pith/BZDPIIIQTUP76JHLF5XRYMDFGE/action/replication_record"}},"created_at":"2026-07-05T03:41:49.627476+00:00","updated_at":"2026-07-05T03:41:49.627476+00:00"}