{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:GHENEASSWWUB6VUL4GQWDRJKRW","short_pith_number":"pith:GHENEASS","canonical_record":{"source":{"id":"2309.11020","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-20T02:48:54Z","cross_cats_sorted":[],"title_canon_sha256":"e594b711460d9fe9fb694f720b399073fba077039a4d1db1433220ba535df8ab","abstract_canon_sha256":"3a3f8b3d1b4984b2e9d9c2f91508443962f5a8f9b25743ebd73402966f87f7b9"},"schema_version":"1.0"},"canonical_sha256":"31c8d20252b5a81f568be1a161c52a8db84e80580d088d2a4cfb9f9ab8254224","source":{"kind":"arxiv","id":"2309.11020","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.11020","created_at":"2026-07-05T06:52:29Z"},{"alias_kind":"arxiv_version","alias_value":"2309.11020v1","created_at":"2026-07-05T06:52:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.11020","created_at":"2026-07-05T06:52:29Z"},{"alias_kind":"pith_short_12","alias_value":"GHENEASSWWUB","created_at":"2026-07-05T06:52:29Z"},{"alias_kind":"pith_short_16","alias_value":"GHENEASSWWUB6VUL","created_at":"2026-07-05T06:52:29Z"},{"alias_kind":"pith_short_8","alias_value":"GHENEASS","created_at":"2026-07-05T06:52:29Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:GHENEASSWWUB6VUL4GQWDRJKRW","target":"record","payload":{"canonical_record":{"source":{"id":"2309.11020","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-20T02:48:54Z","cross_cats_sorted":[],"title_canon_sha256":"e594b711460d9fe9fb694f720b399073fba077039a4d1db1433220ba535df8ab","abstract_canon_sha256":"3a3f8b3d1b4984b2e9d9c2f91508443962f5a8f9b25743ebd73402966f87f7b9"},"schema_version":"1.0"},"canonical_sha256":"31c8d20252b5a81f568be1a161c52a8db84e80580d088d2a4cfb9f9ab8254224","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:52:29.941497Z","signature_b64":"YNAL/se4wvtOJR9hqqfds6cEt61WQDmKBrnTHLdS2GcrvIGf+nNb6SGk60oiGBwjRf6e50pHqALVMiQZlIVzDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"31c8d20252b5a81f568be1a161c52a8db84e80580d088d2a4cfb9f9ab8254224","last_reissued_at":"2026-07-05T06:52:29.940943Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:52:29.940943Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2309.11020","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":"2026-07-05T06:52:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KP5TYsDfeadDKtMo1tThQPwZ+yjrjLtOSuk7LUItJ3ybTf8o2856mDOYrp2fsLkNTGFugFVo6LYA5Ts3UGc7AA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T14:32:53.969320Z"},"content_sha256":"e9786deb8d1a7583530a7d303ed51bd27022fa57a2832d23ed55d58414524588","schema_version":"1.0","event_id":"sha256:e9786deb8d1a7583530a7d303ed51bd27022fa57a2832d23ed55d58414524588"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:GHENEASSWWUB6VUL4GQWDRJKRW","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"An Amphibious Fully-Soft Miniature Crawling Robot Powered by Electrohydraulic Fluid Kinetic Energy","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jonathan William Ambrose, Quan Xiong, Raye Chen-Hua Yeow, Xuanyi Zhou","submitted_at":"2023-09-20T02:48:54Z","abstract_excerpt":"Miniature locomotion robots with the ability to navigate confined environments show great promise for a wide range of tasks, including search and rescue operations. Soft miniature locomotion robots, as a burgeoning field, have attracted significant research interest due to their exceptional terrain adaptability and safety features. In this paper, we introduce a fully-soft miniature crawling robot directly powered by fluid kinetic energy generated by an electrohydraulic actuator. Through optimization of the operating voltage and design parameters, the crawling velocity of the robot is dramatica"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.11020","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2309.11020/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":"2026-07-05T06:52:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"aSG6r3KNKXGIJxfLK6NJbRY0Q4QxQz3gCiCGSxMEL+o9YMKToffL2aHXS6YqoxKuPkmmV0oS2g+n7cDbbAV4AA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T14:32:53.970286Z"},"content_sha256":"feaa1fd27a77e93461ef8ffd142598c85c58eb50bd44dcc9a3f44f95613fe400","schema_version":"1.0","event_id":"sha256:feaa1fd27a77e93461ef8ffd142598c85c58eb50bd44dcc9a3f44f95613fe400"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/GHENEASSWWUB6VUL4GQWDRJKRW/bundle.json","state_url":"https://pith.science/pith/GHENEASSWWUB6VUL4GQWDRJKRW/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/GHENEASSWWUB6VUL4GQWDRJKRW/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":"2026-08-20T14:32:53Z","links":{"resolver":"https://pith.science/pith/GHENEASSWWUB6VUL4GQWDRJKRW","bundle":"https://pith.science/pith/GHENEASSWWUB6VUL4GQWDRJKRW/bundle.json","state":"https://pith.science/pith/GHENEASSWWUB6VUL4GQWDRJKRW/state.json","well_known_bundle":"https://pith.science/.well-known/pith/GHENEASSWWUB6VUL4GQWDRJKRW/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:GHENEASSWWUB6VUL4GQWDRJKRW","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":"3a3f8b3d1b4984b2e9d9c2f91508443962f5a8f9b25743ebd73402966f87f7b9","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-20T02:48:54Z","title_canon_sha256":"e594b711460d9fe9fb694f720b399073fba077039a4d1db1433220ba535df8ab"},"schema_version":"1.0","source":{"id":"2309.11020","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.11020","created_at":"2026-07-05T06:52:29Z"},{"alias_kind":"arxiv_version","alias_value":"2309.11020v1","created_at":"2026-07-05T06:52:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.11020","created_at":"2026-07-05T06:52:29Z"},{"alias_kind":"pith_short_12","alias_value":"GHENEASSWWUB","created_at":"2026-07-05T06:52:29Z"},{"alias_kind":"pith_short_16","alias_value":"GHENEASSWWUB6VUL","created_at":"2026-07-05T06:52:29Z"},{"alias_kind":"pith_short_8","alias_value":"GHENEASS","created_at":"2026-07-05T06:52:29Z"}],"graph_snapshots":[{"event_id":"sha256:feaa1fd27a77e93461ef8ffd142598c85c58eb50bd44dcc9a3f44f95613fe400","target":"graph","created_at":"2026-07-05T06:52:29Z","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/2309.11020/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Miniature locomotion robots with the ability to navigate confined environments show great promise for a wide range of tasks, including search and rescue operations. Soft miniature locomotion robots, as a burgeoning field, have attracted significant research interest due to their exceptional terrain adaptability and safety features. In this paper, we introduce a fully-soft miniature crawling robot directly powered by fluid kinetic energy generated by an electrohydraulic actuator. Through optimization of the operating voltage and design parameters, the crawling velocity of the robot is dramatica","authors_text":"Jonathan William Ambrose, Quan Xiong, Raye Chen-Hua Yeow, Xuanyi Zhou","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-20T02:48:54Z","title":"An Amphibious Fully-Soft Miniature Crawling Robot Powered by Electrohydraulic Fluid Kinetic Energy"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.11020","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:e9786deb8d1a7583530a7d303ed51bd27022fa57a2832d23ed55d58414524588","target":"record","created_at":"2026-07-05T06:52:29Z","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":"3a3f8b3d1b4984b2e9d9c2f91508443962f5a8f9b25743ebd73402966f87f7b9","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-20T02:48:54Z","title_canon_sha256":"e594b711460d9fe9fb694f720b399073fba077039a4d1db1433220ba535df8ab"},"schema_version":"1.0","source":{"id":"2309.11020","kind":"arxiv","version":1}},"canonical_sha256":"31c8d20252b5a81f568be1a161c52a8db84e80580d088d2a4cfb9f9ab8254224","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"31c8d20252b5a81f568be1a161c52a8db84e80580d088d2a4cfb9f9ab8254224","first_computed_at":"2026-07-05T06:52:29.940943Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:52:29.940943Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"YNAL/se4wvtOJR9hqqfds6cEt61WQDmKBrnTHLdS2GcrvIGf+nNb6SGk60oiGBwjRf6e50pHqALVMiQZlIVzDw==","signature_status":"signed_v1","signed_at":"2026-07-05T06:52:29.941497Z","signed_message":"canonical_sha256_bytes"},"source_id":"2309.11020","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e9786deb8d1a7583530a7d303ed51bd27022fa57a2832d23ed55d58414524588","sha256:feaa1fd27a77e93461ef8ffd142598c85c58eb50bd44dcc9a3f44f95613fe400"],"state_sha256":"4b817381accf8d0af0c88bdbd0c4ba6bb9fc8b51bf5ab7d34237db02705691aa"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"LMgpjrSW6AvednVvCw5wUgJrSIjwGzjRl4hihgq28qfHgsCbDqH3GzziqrL3ngDk4XEmorD9he7rsWYrdgdEAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-20T14:32:53.976181Z","bundle_sha256":"e11ae12ad4a354ee4b00ba9989d2965b79421ab77549a9db20fc4b6cf55b176f"}}