Pith Number

pith:FC6QYNBK

pith:2021:FC6QYNBKW6UDAMA7JFVJGFGT6L

not attested not anchored not stored refs pending

Feedback-based Digital Higher-order Terminal Sliding Mode for 6-DOF Industrial Manipulators

Huijun Gao, Liting Sun, Masayoshi Tomizuka, Xiang Zhang, Zhian Kuang

arxiv:2102.03531 v1 · 2021-02-06 · cs.RO · cs.SY · eess.SY

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{FC6QYNBKW6UDAMA7JFVJGFGT6L}

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	2026-07-05T02:13:24.666537Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

28bd0c342ab7a830301f496a9314d3f2eea6bc03dcc6c1649aea76d411298419

Aliases

arxiv: 2102.03531 · arxiv_version: 2102.03531v1 · doi: 10.48550/arxiv.2102.03531 · pith_short_12: FC6QYNBKW6UD · pith_short_16: FC6QYNBKW6UDAMA7 · pith_short_8: FC6QYNBK

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/FC6QYNBKW6UDAMA7JFVJGFGT6L \
  | 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: 28bd0c342ab7a830301f496a9314d3f2eea6bc03dcc6c1649aea76d411298419

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b5dc2fd3fbd800f19c8fee27d5a9741229125698d58e2374a84bac35fdea06b6",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-02-06T07:42:54Z",
    "title_canon_sha256": "a4c1d981a8c3681260d7de79dd0b8aee8bbbc7ab0ba35c456c93b0345eec8695"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2102.03531",
    "kind": "arxiv",
    "version": 1
  }
}