{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2014:CFBHZZUUIVP3YPYO5EDD7FDVTK","short_pith_number":"pith:CFBHZZUU","canonical_record":{"source":{"id":"1409.6234","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2014-09-22T16:37:46Z","cross_cats_sorted":[],"title_canon_sha256":"680b7161d203c5bf8a8b29704b1f8f68e36f221ccd9d3698700324e2b484d993","abstract_canon_sha256":"eb4569f2f9850a1deae69c2dc89cf339b9781ada86fd51869943651f999b2aca"},"schema_version":"1.0"},"canonical_sha256":"11427ce694455fbc3f0ee9063f94759a8af3082293c26419baa78a6661297df4","source":{"kind":"arxiv","id":"1409.6234","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1409.6234","created_at":"2026-05-18T02:42:13Z"},{"alias_kind":"arxiv_version","alias_value":"1409.6234v1","created_at":"2026-05-18T02:42:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1409.6234","created_at":"2026-05-18T02:42:13Z"},{"alias_kind":"pith_short_12","alias_value":"CFBHZZUUIVP3","created_at":"2026-05-18T12:28:22Z"},{"alias_kind":"pith_short_16","alias_value":"CFBHZZUUIVP3YPYO","created_at":"2026-05-18T12:28:22Z"},{"alias_kind":"pith_short_8","alias_value":"CFBHZZUU","created_at":"2026-05-18T12:28:22Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2014:CFBHZZUUIVP3YPYO5EDD7FDVTK","target":"record","payload":{"canonical_record":{"source":{"id":"1409.6234","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2014-09-22T16:37:46Z","cross_cats_sorted":[],"title_canon_sha256":"680b7161d203c5bf8a8b29704b1f8f68e36f221ccd9d3698700324e2b484d993","abstract_canon_sha256":"eb4569f2f9850a1deae69c2dc89cf339b9781ada86fd51869943651f999b2aca"},"schema_version":"1.0"},"canonical_sha256":"11427ce694455fbc3f0ee9063f94759a8af3082293c26419baa78a6661297df4","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T02:42:13.550796Z","signature_b64":"E75NNlqb1l6r4S6ceAFeHqf8sKc/1qQgP7m9EmbIvnvhAvQKHrTNzS9RKWt2+9dxZdvpMjL7iQQZ95CdUVvHCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"11427ce694455fbc3f0ee9063f94759a8af3082293c26419baa78a6661297df4","last_reissued_at":"2026-05-18T02:42:13.550237Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T02:42:13.550237Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1409.6234","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":"2026-05-18T02:42:13Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"pfedwLs7Qjx8EbujxUbw0NYpn69o2btRiZsFiLB98l4dtElTnbkvrAGP1p+pkUQV7ksF0dGEskzpTWAyuyhMBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-05T19:42:03.268120Z"},"content_sha256":"620d23bdd9d4ef170fcf7efd6dc4326a35da9ecbb75dd66397ef83f0c4cf7a79","schema_version":"1.0","event_id":"sha256:620d23bdd9d4ef170fcf7efd6dc4326a35da9ecbb75dd66397ef83f0c4cf7a79"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2014:CFBHZZUUIVP3YPYO5EDD7FDVTK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Accuracy Improvement of Robot-Based Milling Using an Enhanced Manipulator Model","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alexandr Klimchik (EM NANTES, Anatol Pashkevich (EM NANTES, Beno\\^it Furet (IRCCyN), Irccyn), St\\'ephane Caro (IRCCyN), Yier Wu (EM NANTES","submitted_at":"2014-09-22T16:37:46Z","abstract_excerpt":"The paper is devoted to the accuracy improvement of robot-based milling by using an enhanced manipulator model that takes into account both geometric and elastostatic factors. Particular attention is paid to the model parameters identification accuracy. In contrast to other works, the proposed approach takes into account impact of the gravity compensator and link weights on the manipulator elastostatic properties. In order to improve the identification accuracy, the industry oriented performance measure is used to define optimal measurement configurations and an enhanced partial pose measureme"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1409.6234","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":""},"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":"2026-05-18T02:42:13Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Rxyq2rKiiDJLNIoSmS7/X4oG6BmXBhdOLozgz2WdwJYW8FqgmJEOdPyzvwSqbvKG95ldnH6IvHWtgsNdHTedBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-05T19:42:03.268962Z"},"content_sha256":"6c84ca1e4f67050409f49c9baf331b5d907fa58d0b7af36a4b27202640376791","schema_version":"1.0","event_id":"sha256:6c84ca1e4f67050409f49c9baf331b5d907fa58d0b7af36a4b27202640376791"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/CFBHZZUUIVP3YPYO5EDD7FDVTK/bundle.json","state_url":"https://pith.science/pith/CFBHZZUUIVP3YPYO5EDD7FDVTK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/CFBHZZUUIVP3YPYO5EDD7FDVTK/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":"2026-06-05T19:42:03Z","links":{"resolver":"https://pith.science/pith/CFBHZZUUIVP3YPYO5EDD7FDVTK","bundle":"https://pith.science/pith/CFBHZZUUIVP3YPYO5EDD7FDVTK/bundle.json","state":"https://pith.science/pith/CFBHZZUUIVP3YPYO5EDD7FDVTK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/CFBHZZUUIVP3YPYO5EDD7FDVTK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2014:CFBHZZUUIVP3YPYO5EDD7FDVTK","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":"eb4569f2f9850a1deae69c2dc89cf339b9781ada86fd51869943651f999b2aca","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2014-09-22T16:37:46Z","title_canon_sha256":"680b7161d203c5bf8a8b29704b1f8f68e36f221ccd9d3698700324e2b484d993"},"schema_version":"1.0","source":{"id":"1409.6234","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1409.6234","created_at":"2026-05-18T02:42:13Z"},{"alias_kind":"arxiv_version","alias_value":"1409.6234v1","created_at":"2026-05-18T02:42:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1409.6234","created_at":"2026-05-18T02:42:13Z"},{"alias_kind":"pith_short_12","alias_value":"CFBHZZUUIVP3","created_at":"2026-05-18T12:28:22Z"},{"alias_kind":"pith_short_16","alias_value":"CFBHZZUUIVP3YPYO","created_at":"2026-05-18T12:28:22Z"},{"alias_kind":"pith_short_8","alias_value":"CFBHZZUU","created_at":"2026-05-18T12:28:22Z"}],"graph_snapshots":[{"event_id":"sha256:6c84ca1e4f67050409f49c9baf331b5d907fa58d0b7af36a4b27202640376791","target":"graph","created_at":"2026-05-18T02:42:13Z","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"},"paper":{"abstract_excerpt":"The paper is devoted to the accuracy improvement of robot-based milling by using an enhanced manipulator model that takes into account both geometric and elastostatic factors. Particular attention is paid to the model parameters identification accuracy. In contrast to other works, the proposed approach takes into account impact of the gravity compensator and link weights on the manipulator elastostatic properties. In order to improve the identification accuracy, the industry oriented performance measure is used to define optimal measurement configurations and an enhanced partial pose measureme","authors_text":"Alexandr Klimchik (EM NANTES, Anatol Pashkevich (EM NANTES, Beno\\^it Furet (IRCCyN), Irccyn), St\\'ephane Caro (IRCCyN), Yier Wu (EM NANTES","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2014-09-22T16:37:46Z","title":"Accuracy Improvement of Robot-Based Milling Using an Enhanced Manipulator Model"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1409.6234","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":"sha256:620d23bdd9d4ef170fcf7efd6dc4326a35da9ecbb75dd66397ef83f0c4cf7a79","target":"record","created_at":"2026-05-18T02:42:13Z","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":"eb4569f2f9850a1deae69c2dc89cf339b9781ada86fd51869943651f999b2aca","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2014-09-22T16:37:46Z","title_canon_sha256":"680b7161d203c5bf8a8b29704b1f8f68e36f221ccd9d3698700324e2b484d993"},"schema_version":"1.0","source":{"id":"1409.6234","kind":"arxiv","version":1}},"canonical_sha256":"11427ce694455fbc3f0ee9063f94759a8af3082293c26419baa78a6661297df4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"11427ce694455fbc3f0ee9063f94759a8af3082293c26419baa78a6661297df4","first_computed_at":"2026-05-18T02:42:13.550237Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T02:42:13.550237Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"E75NNlqb1l6r4S6ceAFeHqf8sKc/1qQgP7m9EmbIvnvhAvQKHrTNzS9RKWt2+9dxZdvpMjL7iQQZ95CdUVvHCA==","signature_status":"signed_v1","signed_at":"2026-05-18T02:42:13.550796Z","signed_message":"canonical_sha256_bytes"},"source_id":"1409.6234","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:620d23bdd9d4ef170fcf7efd6dc4326a35da9ecbb75dd66397ef83f0c4cf7a79","sha256:6c84ca1e4f67050409f49c9baf331b5d907fa58d0b7af36a4b27202640376791"],"state_sha256":"73bf21dbb096f7a086ae05b93b835ba957584cf02bdeb9cbe2a985057dfc1787"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"HhJgEAradogineH7rnF+L9UPiIVmGn/hzddicTp4qd++xEOisxwDjlwkU3VFKrVuTSeuhzRk+JkLHKoF/79xDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-05T19:42:03.279658Z","bundle_sha256":"286013277fef9dfa8e62913a8d039fa5cd6da5e49fa5fef2f2e4747883fead77"}}