{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2013:CRWBHK3MR6MSA5EO2BOXGK2MPF","short_pith_number":"pith:CRWBHK3M","canonical_record":{"source":{"id":"1307.0276","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2013-07-01T06:37:25Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"966ffa6aa25a7ae8b7ef9d7b9fd48041c9dc26d4ab9bb0000984b3dada2b88d9","abstract_canon_sha256":"6a08b3bc5ec7d32ad83e46daccb848bb836449d21eb3eebd1018066a047db1be"},"schema_version":"1.0"},"canonical_sha256":"146c13ab6c8f9920748ed05d732b4c7964e6bb78c496b8666a8d07a566c09a87","source":{"kind":"arxiv","id":"1307.0276","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1307.0276","created_at":"2026-05-18T00:46:56Z"},{"alias_kind":"arxiv_version","alias_value":"1307.0276v3","created_at":"2026-05-18T00:46:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1307.0276","created_at":"2026-05-18T00:46:56Z"},{"alias_kind":"pith_short_12","alias_value":"CRWBHK3MR6MS","created_at":"2026-05-18T12:27:40Z"},{"alias_kind":"pith_short_16","alias_value":"CRWBHK3MR6MSA5EO","created_at":"2026-05-18T12:27:40Z"},{"alias_kind":"pith_short_8","alias_value":"CRWBHK3M","created_at":"2026-05-18T12:27:40Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2013:CRWBHK3MR6MSA5EO2BOXGK2MPF","target":"record","payload":{"canonical_record":{"source":{"id":"1307.0276","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2013-07-01T06:37:25Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"966ffa6aa25a7ae8b7ef9d7b9fd48041c9dc26d4ab9bb0000984b3dada2b88d9","abstract_canon_sha256":"6a08b3bc5ec7d32ad83e46daccb848bb836449d21eb3eebd1018066a047db1be"},"schema_version":"1.0"},"canonical_sha256":"146c13ab6c8f9920748ed05d732b4c7964e6bb78c496b8666a8d07a566c09a87","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:46:56.047094Z","signature_b64":"BrEGhV8NLCwt/GNIUTeKd+cmb72TPMai6nyGxTILe+PCgkh460ay3dH6FlldKYsKC/Fzg0FrsGPTFeHlF9gRCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"146c13ab6c8f9920748ed05d732b4c7964e6bb78c496b8666a8d07a566c09a87","last_reissued_at":"2026-05-18T00:46:56.046646Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:46:56.046646Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1307.0276","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:46:56Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"neHtSfENxd2K2fk/Rzk9c/lMtJTwkY8LzonHLnaAHamK+9mHSeTkEv3Htxn3M7aEW/iC0NSRkGpeLOkYweHwAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-31T15:40:00.149748Z"},"content_sha256":"f73e3447830c8d4c539113907a69c60a23ba5c6282f8ec5c5aa27eb09afb1b78","schema_version":"1.0","event_id":"sha256:f73e3447830c8d4c539113907a69c60a23ba5c6282f8ec5c5aa27eb09afb1b78"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2013:CRWBHK3MR6MSA5EO2BOXGK2MPF","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Controllability Analysis and Degraded Control for a Class of Hexacopters Subject to Rotor Failures","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.SY","authors_text":"Guang-Xun Du, Kai-Yuan Cai, Quan Quan","submitted_at":"2013-07-01T06:37:25Z","abstract_excerpt":"This paper considers the controllability analysis and fault tolerant control problem for a class of hexacopters. It is shown that the considered hexacopter is uncontrollable when one rotor fails, even though the hexacopter is over-actuated and its controllability matrix is row full rank. According to this, a fault tolerant control strategy is proposed to control a degraded system, where the yaw states of the considered hexacopter are ignored. Theoretical analysis indicates that the degraded system is controllable if and only if the maximum lift of each rotor is greater than a certain value. Th"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1307.0276","kind":"arxiv","version":3},"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":"2026-05-18T00:46:56Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KYRsqLnKhv8E0M2vC5RnnPWKLyihZRggIXIQEHMHO4G3hkQzzza6S9q4C76ag2jizFz/NsaTmqp0PTAz+euUDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-31T15:40:00.150113Z"},"content_sha256":"c10b99a71b085e06fe59ca79310743aaa45805b4b70279b41945e83272091f56","schema_version":"1.0","event_id":"sha256:c10b99a71b085e06fe59ca79310743aaa45805b4b70279b41945e83272091f56"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/CRWBHK3MR6MSA5EO2BOXGK2MPF/bundle.json","state_url":"https://pith.science/pith/CRWBHK3MR6MSA5EO2BOXGK2MPF/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/CRWBHK3MR6MSA5EO2BOXGK2MPF/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":"2026-05-31T15:40:00Z","links":{"resolver":"https://pith.science/pith/CRWBHK3MR6MSA5EO2BOXGK2MPF","bundle":"https://pith.science/pith/CRWBHK3MR6MSA5EO2BOXGK2MPF/bundle.json","state":"https://pith.science/pith/CRWBHK3MR6MSA5EO2BOXGK2MPF/state.json","well_known_bundle":"https://pith.science/.well-known/pith/CRWBHK3MR6MSA5EO2BOXGK2MPF/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2013:CRWBHK3MR6MSA5EO2BOXGK2MPF","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":"6a08b3bc5ec7d32ad83e46daccb848bb836449d21eb3eebd1018066a047db1be","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2013-07-01T06:37:25Z","title_canon_sha256":"966ffa6aa25a7ae8b7ef9d7b9fd48041c9dc26d4ab9bb0000984b3dada2b88d9"},"schema_version":"1.0","source":{"id":"1307.0276","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1307.0276","created_at":"2026-05-18T00:46:56Z"},{"alias_kind":"arxiv_version","alias_value":"1307.0276v3","created_at":"2026-05-18T00:46:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1307.0276","created_at":"2026-05-18T00:46:56Z"},{"alias_kind":"pith_short_12","alias_value":"CRWBHK3MR6MS","created_at":"2026-05-18T12:27:40Z"},{"alias_kind":"pith_short_16","alias_value":"CRWBHK3MR6MSA5EO","created_at":"2026-05-18T12:27:40Z"},{"alias_kind":"pith_short_8","alias_value":"CRWBHK3M","created_at":"2026-05-18T12:27:40Z"}],"graph_snapshots":[{"event_id":"sha256:c10b99a71b085e06fe59ca79310743aaa45805b4b70279b41945e83272091f56","target":"graph","created_at":"2026-05-18T00:46:56Z","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":"This paper considers the controllability analysis and fault tolerant control problem for a class of hexacopters. It is shown that the considered hexacopter is uncontrollable when one rotor fails, even though the hexacopter is over-actuated and its controllability matrix is row full rank. According to this, a fault tolerant control strategy is proposed to control a degraded system, where the yaw states of the considered hexacopter are ignored. Theoretical analysis indicates that the degraded system is controllable if and only if the maximum lift of each rotor is greater than a certain value. Th","authors_text":"Guang-Xun Du, Kai-Yuan Cai, Quan Quan","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2013-07-01T06:37:25Z","title":"Controllability Analysis and Degraded Control for a Class of Hexacopters Subject to Rotor Failures"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1307.0276","kind":"arxiv","version":3},"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:f73e3447830c8d4c539113907a69c60a23ba5c6282f8ec5c5aa27eb09afb1b78","target":"record","created_at":"2026-05-18T00:46:56Z","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":"6a08b3bc5ec7d32ad83e46daccb848bb836449d21eb3eebd1018066a047db1be","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2013-07-01T06:37:25Z","title_canon_sha256":"966ffa6aa25a7ae8b7ef9d7b9fd48041c9dc26d4ab9bb0000984b3dada2b88d9"},"schema_version":"1.0","source":{"id":"1307.0276","kind":"arxiv","version":3}},"canonical_sha256":"146c13ab6c8f9920748ed05d732b4c7964e6bb78c496b8666a8d07a566c09a87","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"146c13ab6c8f9920748ed05d732b4c7964e6bb78c496b8666a8d07a566c09a87","first_computed_at":"2026-05-18T00:46:56.046646Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:46:56.046646Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"BrEGhV8NLCwt/GNIUTeKd+cmb72TPMai6nyGxTILe+PCgkh460ay3dH6FlldKYsKC/Fzg0FrsGPTFeHlF9gRCg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:46:56.047094Z","signed_message":"canonical_sha256_bytes"},"source_id":"1307.0276","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f73e3447830c8d4c539113907a69c60a23ba5c6282f8ec5c5aa27eb09afb1b78","sha256:c10b99a71b085e06fe59ca79310743aaa45805b4b70279b41945e83272091f56"],"state_sha256":"6316515e3163d7827bfde038c769e274629f89c06e9da4bb5f02744504d19d4b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"CbbHyKJk02nOee9wcH7DE3301Dt4OcXYipinhPJvRGV/f8ShU//rAr+CwlifOJGfEcD4mLYALu+t9w60//Y4AQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-31T15:40:00.153671Z","bundle_sha256":"5091831bc005ae673745ba4fe0b98840ad2cfa02fd4c904fbbbe5a9a4cdcfe9f"}}