{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:HC6LXXOAOPC3Q7FEWKSUCVYA2O","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":"13840d79b93c0d2a06d9d613a3a79bf484ad76350e3bfa4a17a5cb880b86c15d","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-05-24T14:05:14Z","title_canon_sha256":"b10625b1cb0740c3b70e0e4e52de846f0e2a8fe5432bd790e2bc9fbedb5749bd"},"schema_version":"1.0","source":{"id":"1705.08775","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1705.08775","created_at":"2026-05-18T00:30:28Z"},{"alias_kind":"arxiv_version","alias_value":"1705.08775v2","created_at":"2026-05-18T00:30:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1705.08775","created_at":"2026-05-18T00:30:28Z"},{"alias_kind":"pith_short_12","alias_value":"HC6LXXOAOPC3","created_at":"2026-05-18T12:31:18Z"},{"alias_kind":"pith_short_16","alias_value":"HC6LXXOAOPC3Q7FE","created_at":"2026-05-18T12:31:18Z"},{"alias_kind":"pith_short_8","alias_value":"HC6LXXOA","created_at":"2026-05-18T12:31:18Z"}],"graph_snapshots":[{"event_id":"sha256:918b5627bcc450c21d56c95ec6d988b93ce8ccfc6d8ece3e7159873a5a74b4df","target":"graph","created_at":"2026-05-18T00:30:28Z","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":"In order to prevent loss of control (LOC) accidents,the real-time control performance monitoring problem is studied for multicopters. Different from the existing work, this paper does not try to monitor the performance of the controllers directly. In turn, the disturbances of multicopters under off-nominal conditions are estimated to affect a proposed index to tell the user whether the multicopter will be LOC or not. Firstly, a new degree of controllability (DoC) will be proposed for multicopters subject to control constrains and off-nominal conditions. Then a control performance index (CPI) i","authors_text":"Guang-Xun Du, Kai-Yuan Cai, Quan Quan, Yang Liu, Zhiyu Xi","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-05-24T14:05:14Z","title":"A Control Performance Index for Multicopters Under Off-nominal Conditions"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1705.08775","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":"sha256:2a7d67f0b9250aaed1829ed221b206ffba675fb0ed12a904e53ea311ad64a9b7","target":"record","created_at":"2026-05-18T00:30:28Z","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":"13840d79b93c0d2a06d9d613a3a79bf484ad76350e3bfa4a17a5cb880b86c15d","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-05-24T14:05:14Z","title_canon_sha256":"b10625b1cb0740c3b70e0e4e52de846f0e2a8fe5432bd790e2bc9fbedb5749bd"},"schema_version":"1.0","source":{"id":"1705.08775","kind":"arxiv","version":2}},"canonical_sha256":"38bcbbddc073c5b87ca4b2a5415700d3b66ff51bba0c14ea28a807020a6491ca","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"38bcbbddc073c5b87ca4b2a5415700d3b66ff51bba0c14ea28a807020a6491ca","first_computed_at":"2026-05-18T00:30:28.247900Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:30:28.247900Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"NcTCP5oaPOspCXqBPcDXBSt5hJkdqGhOcWUsW0VH9YDklZWpy9fw14IR6WoJakTsFn0BnSTVtcRSc7apCJ2jCg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:30:28.248505Z","signed_message":"canonical_sha256_bytes"},"source_id":"1705.08775","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2a7d67f0b9250aaed1829ed221b206ffba675fb0ed12a904e53ea311ad64a9b7","sha256:918b5627bcc450c21d56c95ec6d988b93ce8ccfc6d8ece3e7159873a5a74b4df"],"state_sha256":"b82b522ac25ad5fdd3645c499ac47a01b8b18773d0313fd8d084f36db89eb8d1"}