Pith Number

pith:CWRUJ47I

pith:2023:CWRUJ47IIRWFA4NIB7RGT7I2MQ

not attested not anchored not stored refs pending

Orientation Control with Variable Stiffness Dynamical Systems

Dongheui Lee, Fares J. Abu-Dakka, Matteo Saveriano, Youssef Michel

arxiv:2309.15624 v1 · 2023-09-27 · 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{CWRUJ47IIRWFA4NIB7RGT7I2MQ}

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	2026-07-05T06:54:55.782377Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

15a344f3e8446c5071a80fe269fd1a643bd836efb03138b214d6ca375af92867

Aliases

arxiv: 2309.15624 · arxiv_version: 2309.15624v1 · doi: 10.48550/arxiv.2309.15624 · pith_short_12: CWRUJ47IIRWF · pith_short_16: CWRUJ47IIRWFA4NI · pith_short_8: CWRUJ47I

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/CWRUJ47IIRWFA4NIB7RGT7I2MQ \
  | 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: 15a344f3e8446c5071a80fe269fd1a643bd836efb03138b214d6ca375af92867

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "2cc966b983e916afa705aa412a78c43d76b6d0a63bc4087fa4e6d755364689e0",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-09-27T12:48:54Z",
    "title_canon_sha256": "b7a9cb733226e39ce6148905feabd31cc730b0bd20a4304c4b0d3e75b3e6cc09"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2309.15624",
    "kind": "arxiv",
    "version": 1
  }
}