{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:G7UYVO4TZEREQ7PTZOTGDLKBSI","short_pith_number":"pith:G7UYVO4T","canonical_record":{"source":{"id":"1908.03046","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-08T12:58:33Z","cross_cats_sorted":[],"title_canon_sha256":"a9670ba4ec97ad3985946ec673fc36dc11948c9d617930238d449ee5bf2b40f6","abstract_canon_sha256":"38de90e11e2f1128274ce91b6e2afade3f138aa04c9e0aff7c7e5f1409a43ce3"},"schema_version":"1.0"},"canonical_sha256":"37e98abb93c922487df3cba661ad41921aed3c6d26e696ec30234322f37bf42f","source":{"kind":"arxiv","id":"1908.03046","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1908.03046","created_at":"2026-07-05T01:31:21Z"},{"alias_kind":"arxiv_version","alias_value":"1908.03046v2","created_at":"2026-07-05T01:31:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1908.03046","created_at":"2026-07-05T01:31:21Z"},{"alias_kind":"pith_short_12","alias_value":"G7UYVO4TZERE","created_at":"2026-07-05T01:31:21Z"},{"alias_kind":"pith_short_16","alias_value":"G7UYVO4TZEREQ7PT","created_at":"2026-07-05T01:31:21Z"},{"alias_kind":"pith_short_8","alias_value":"G7UYVO4T","created_at":"2026-07-05T01:31:21Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:G7UYVO4TZEREQ7PTZOTGDLKBSI","target":"record","payload":{"canonical_record":{"source":{"id":"1908.03046","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-08T12:58:33Z","cross_cats_sorted":[],"title_canon_sha256":"a9670ba4ec97ad3985946ec673fc36dc11948c9d617930238d449ee5bf2b40f6","abstract_canon_sha256":"38de90e11e2f1128274ce91b6e2afade3f138aa04c9e0aff7c7e5f1409a43ce3"},"schema_version":"1.0"},"canonical_sha256":"37e98abb93c922487df3cba661ad41921aed3c6d26e696ec30234322f37bf42f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:31:21.667116Z","signature_b64":"I2P1HdOFOXr58y3RE83r2bCeFYdPbhMLgKGFaX5teWWKTY1ZVwhPWIYQQxGq0Xm5xxmaT2vWKrAVMq2ieF+BCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"37e98abb93c922487df3cba661ad41921aed3c6d26e696ec30234322f37bf42f","last_reissued_at":"2026-07-05T01:31:21.666337Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:31:21.666337Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1908.03046","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T01:31:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"SepdZzrA7aJrknx04M9/5x9msSepxuuW2qJBhDLWdVoorCbd8hVM/tVa9IYQEKrVYcUXmloRvTOph3I2tBEmDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T19:04:55.285473Z"},"content_sha256":"5a4a8ff8b501df4ff6ffd0aae732687a8e4b9408d06eff2b1ce418b2927e89b4","schema_version":"1.0","event_id":"sha256:5a4a8ff8b501df4ff6ffd0aae732687a8e4b9408d06eff2b1ce418b2927e89b4"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:G7UYVO4TZEREQ7PTZOTGDLKBSI","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Safe physical HRI: Toward a unified treatment of speed and separation monitoring together with power and force limiting","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jan Kristof Behrens, Matej Hoffmann, Michael Tesar, Petr Svarny","submitted_at":"2019-08-08T12:58:33Z","abstract_excerpt":"So-called collaborative robots are a current trend in industrial robotics. However, they still face many problems in practical application such as reduced speed to ascertain their collaborativeness. The standards prescribe two regimes: (i) speed and separation monitoring and (ii) power and force limiting, where the former requires reliable estimation of distances between the robot and human body parts and the latter imposes constraints on the energy absorbed during collisions prior to robot stopping. Following the standards, we deploy the two collaborative regimes in a single application and s"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1908.03046","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/1908.03046/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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T01:31:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WFMPEVYdbwLQy/HPbj31atTlJEHExDsmq99eL1AzH8RfFmZ9vQDBphvM3reFmuU3MScUtlvMVACBdiwIMiv/DA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T19:04:55.285978Z"},"content_sha256":"c5b6f31ffa7951cdf2bb1a7849c4b4d9f2dda5403f975150263fbab97c885827","schema_version":"1.0","event_id":"sha256:c5b6f31ffa7951cdf2bb1a7849c4b4d9f2dda5403f975150263fbab97c885827"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/G7UYVO4TZEREQ7PTZOTGDLKBSI/bundle.json","state_url":"https://pith.science/pith/G7UYVO4TZEREQ7PTZOTGDLKBSI/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/G7UYVO4TZEREQ7PTZOTGDLKBSI/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":"2026-08-14T19:04:55Z","links":{"resolver":"https://pith.science/pith/G7UYVO4TZEREQ7PTZOTGDLKBSI","bundle":"https://pith.science/pith/G7UYVO4TZEREQ7PTZOTGDLKBSI/bundle.json","state":"https://pith.science/pith/G7UYVO4TZEREQ7PTZOTGDLKBSI/state.json","well_known_bundle":"https://pith.science/.well-known/pith/G7UYVO4TZEREQ7PTZOTGDLKBSI/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:G7UYVO4TZEREQ7PTZOTGDLKBSI","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":"38de90e11e2f1128274ce91b6e2afade3f138aa04c9e0aff7c7e5f1409a43ce3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-08T12:58:33Z","title_canon_sha256":"a9670ba4ec97ad3985946ec673fc36dc11948c9d617930238d449ee5bf2b40f6"},"schema_version":"1.0","source":{"id":"1908.03046","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1908.03046","created_at":"2026-07-05T01:31:21Z"},{"alias_kind":"arxiv_version","alias_value":"1908.03046v2","created_at":"2026-07-05T01:31:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1908.03046","created_at":"2026-07-05T01:31:21Z"},{"alias_kind":"pith_short_12","alias_value":"G7UYVO4TZERE","created_at":"2026-07-05T01:31:21Z"},{"alias_kind":"pith_short_16","alias_value":"G7UYVO4TZEREQ7PT","created_at":"2026-07-05T01:31:21Z"},{"alias_kind":"pith_short_8","alias_value":"G7UYVO4T","created_at":"2026-07-05T01:31:21Z"}],"graph_snapshots":[{"event_id":"sha256:c5b6f31ffa7951cdf2bb1a7849c4b4d9f2dda5403f975150263fbab97c885827","target":"graph","created_at":"2026-07-05T01:31:21Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/1908.03046/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"So-called collaborative robots are a current trend in industrial robotics. However, they still face many problems in practical application such as reduced speed to ascertain their collaborativeness. The standards prescribe two regimes: (i) speed and separation monitoring and (ii) power and force limiting, where the former requires reliable estimation of distances between the robot and human body parts and the latter imposes constraints on the energy absorbed during collisions prior to robot stopping. Following the standards, we deploy the two collaborative regimes in a single application and s","authors_text":"Jan Kristof Behrens, Matej Hoffmann, Michael Tesar, Petr Svarny","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-08T12:58:33Z","title":"Safe physical HRI: Toward a unified treatment of speed and separation monitoring together with power and force limiting"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1908.03046","kind":"arxiv","version":2},"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":"sha256:5a4a8ff8b501df4ff6ffd0aae732687a8e4b9408d06eff2b1ce418b2927e89b4","target":"record","created_at":"2026-07-05T01:31:21Z","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":"38de90e11e2f1128274ce91b6e2afade3f138aa04c9e0aff7c7e5f1409a43ce3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-08T12:58:33Z","title_canon_sha256":"a9670ba4ec97ad3985946ec673fc36dc11948c9d617930238d449ee5bf2b40f6"},"schema_version":"1.0","source":{"id":"1908.03046","kind":"arxiv","version":2}},"canonical_sha256":"37e98abb93c922487df3cba661ad41921aed3c6d26e696ec30234322f37bf42f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"37e98abb93c922487df3cba661ad41921aed3c6d26e696ec30234322f37bf42f","first_computed_at":"2026-07-05T01:31:21.666337Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:31:21.666337Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"I2P1HdOFOXr58y3RE83r2bCeFYdPbhMLgKGFaX5teWWKTY1ZVwhPWIYQQxGq0Xm5xxmaT2vWKrAVMq2ieF+BCg==","signature_status":"signed_v1","signed_at":"2026-07-05T01:31:21.667116Z","signed_message":"canonical_sha256_bytes"},"source_id":"1908.03046","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5a4a8ff8b501df4ff6ffd0aae732687a8e4b9408d06eff2b1ce418b2927e89b4","sha256:c5b6f31ffa7951cdf2bb1a7849c4b4d9f2dda5403f975150263fbab97c885827"],"state_sha256":"e9f566f12d2baafdd35196614156c9b72860a9bbf54d38b12c377abb635ac654"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7hoG66w4XnvWDtHubTuyAYLkyP79dA6aw2y6gyAg4EfXPt4cgTulLS6kHOtYYrHHy2NbRzLQr8U7w3QuoNlfAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-14T19:04:55.327151Z","bundle_sha256":"bba78984706120844fd0ea4859f2be113fccbba3411868844befe331f2ca7d5d"}}