{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:HCZGNJEQ7I45R4XO2DQDAUVAXK","short_pith_number":"pith:HCZGNJEQ","canonical_record":{"source":{"id":"1907.08428","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-07-19T09:41:06Z","cross_cats_sorted":[],"title_canon_sha256":"b3f0635ba259926e280469ce8ea69c2c4e348b3a710e5ed25c21763d1f9251c6","abstract_canon_sha256":"f62a3fe7cd5c58fddf73ee8d620babd2bb8b1b22d373ee120069d2614a299dd3"},"schema_version":"1.0"},"canonical_sha256":"38b266a490fa39d8f2eed0e03052a0ba80a06cd15d0d06dbb1e41814d15fc008","source":{"kind":"arxiv","id":"1907.08428","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1907.08428","created_at":"2026-05-17T23:40:09Z"},{"alias_kind":"arxiv_version","alias_value":"1907.08428v1","created_at":"2026-05-17T23:40:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1907.08428","created_at":"2026-05-17T23:40:09Z"},{"alias_kind":"pith_short_12","alias_value":"HCZGNJEQ7I45","created_at":"2026-05-18T12:33:18Z"},{"alias_kind":"pith_short_16","alias_value":"HCZGNJEQ7I45R4XO","created_at":"2026-05-18T12:33:18Z"},{"alias_kind":"pith_short_8","alias_value":"HCZGNJEQ","created_at":"2026-05-18T12:33:18Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:HCZGNJEQ7I45R4XO2DQDAUVAXK","target":"record","payload":{"canonical_record":{"source":{"id":"1907.08428","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-07-19T09:41:06Z","cross_cats_sorted":[],"title_canon_sha256":"b3f0635ba259926e280469ce8ea69c2c4e348b3a710e5ed25c21763d1f9251c6","abstract_canon_sha256":"f62a3fe7cd5c58fddf73ee8d620babd2bb8b1b22d373ee120069d2614a299dd3"},"schema_version":"1.0"},"canonical_sha256":"38b266a490fa39d8f2eed0e03052a0ba80a06cd15d0d06dbb1e41814d15fc008","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:40:09.875680Z","signature_b64":"BYY926ZsEDj3gz3WrQCfa88FBc11Ih0waMfO/+qtOewHM1Z8gdxf1gWIXg0ZIiaBH0vQR7GDrcHL7shWEFqOAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"38b266a490fa39d8f2eed0e03052a0ba80a06cd15d0d06dbb1e41814d15fc008","last_reissued_at":"2026-05-17T23:40:09.875208Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:40:09.875208Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1907.08428","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":"2026-05-17T23:40:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bfuUDl7DPgeGV7M5jahmu8gCFNhjba2xjGVuGFPzp/iL7Z/xxRL6x7lwUPYYuKiiYuLsQ4u89t7cSX2xf3iTCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-11T13:18:29.217311Z"},"content_sha256":"7c02b6274acfa7bab8edcf4cb5536dcabc53847add148a285ae6cbc7a489e69f","schema_version":"1.0","event_id":"sha256:7c02b6274acfa7bab8edcf4cb5536dcabc53847add148a285ae6cbc7a489e69f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:HCZGNJEQ7I45R4XO2DQDAUVAXK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Automatic mobility analysis of parallel mechanisms: an algorithm approach based on position and orientation characteristic equations","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chengqi Wu, Damien Chablat (LS2N, Huiping Shen, ReV), Tingli Yang, Xiaorong Zhu","submitted_at":"2019-07-19T09:41:06Z","abstract_excerpt":"The determination of the mobility of parallel mechanisms (PM) is a fundamental problem. An automatic and intelligent analysis platform will be a significant tool for the design and optimization of mechanical systems. Based on the theory of position and orientation characteristics (POC) equations, a systematic approach to computer-aided mobility analysis of PMs is presented in this paper. First, a digital model for topological structures which has a mapping relationship with position and orientation characteristics of mechanism is proposed. It describes not only the dimension of the motion outp"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1907.08428","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":""},"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":"2026-05-17T23:40:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"sN7OMa/GGE9+rQGHkQz59jONblP1j0WLnbkk6vHY8XadmjCGsNJGW3a9AL2WPyyxP7cLvHziHGmtld2U39XYCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-11T13:18:29.217710Z"},"content_sha256":"825d8e21cb605946003683fe1e57e63da14440ac487d626601725ded9ad50d9a","schema_version":"1.0","event_id":"sha256:825d8e21cb605946003683fe1e57e63da14440ac487d626601725ded9ad50d9a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HCZGNJEQ7I45R4XO2DQDAUVAXK/bundle.json","state_url":"https://pith.science/pith/HCZGNJEQ7I45R4XO2DQDAUVAXK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HCZGNJEQ7I45R4XO2DQDAUVAXK/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":"2026-06-11T13:18:29Z","links":{"resolver":"https://pith.science/pith/HCZGNJEQ7I45R4XO2DQDAUVAXK","bundle":"https://pith.science/pith/HCZGNJEQ7I45R4XO2DQDAUVAXK/bundle.json","state":"https://pith.science/pith/HCZGNJEQ7I45R4XO2DQDAUVAXK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HCZGNJEQ7I45R4XO2DQDAUVAXK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:HCZGNJEQ7I45R4XO2DQDAUVAXK","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":"f62a3fe7cd5c58fddf73ee8d620babd2bb8b1b22d373ee120069d2614a299dd3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-07-19T09:41:06Z","title_canon_sha256":"b3f0635ba259926e280469ce8ea69c2c4e348b3a710e5ed25c21763d1f9251c6"},"schema_version":"1.0","source":{"id":"1907.08428","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1907.08428","created_at":"2026-05-17T23:40:09Z"},{"alias_kind":"arxiv_version","alias_value":"1907.08428v1","created_at":"2026-05-17T23:40:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1907.08428","created_at":"2026-05-17T23:40:09Z"},{"alias_kind":"pith_short_12","alias_value":"HCZGNJEQ7I45","created_at":"2026-05-18T12:33:18Z"},{"alias_kind":"pith_short_16","alias_value":"HCZGNJEQ7I45R4XO","created_at":"2026-05-18T12:33:18Z"},{"alias_kind":"pith_short_8","alias_value":"HCZGNJEQ","created_at":"2026-05-18T12:33:18Z"}],"graph_snapshots":[{"event_id":"sha256:825d8e21cb605946003683fe1e57e63da14440ac487d626601725ded9ad50d9a","target":"graph","created_at":"2026-05-17T23:40:09Z","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":"The determination of the mobility of parallel mechanisms (PM) is a fundamental problem. An automatic and intelligent analysis platform will be a significant tool for the design and optimization of mechanical systems. Based on the theory of position and orientation characteristics (POC) equations, a systematic approach to computer-aided mobility analysis of PMs is presented in this paper. First, a digital model for topological structures which has a mapping relationship with position and orientation characteristics of mechanism is proposed. It describes not only the dimension of the motion outp","authors_text":"Chengqi Wu, Damien Chablat (LS2N, Huiping Shen, ReV), Tingli Yang, Xiaorong Zhu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-07-19T09:41:06Z","title":"Automatic mobility analysis of parallel mechanisms: an algorithm approach based on position and orientation characteristic equations"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1907.08428","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":"sha256:7c02b6274acfa7bab8edcf4cb5536dcabc53847add148a285ae6cbc7a489e69f","target":"record","created_at":"2026-05-17T23:40:09Z","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":"f62a3fe7cd5c58fddf73ee8d620babd2bb8b1b22d373ee120069d2614a299dd3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-07-19T09:41:06Z","title_canon_sha256":"b3f0635ba259926e280469ce8ea69c2c4e348b3a710e5ed25c21763d1f9251c6"},"schema_version":"1.0","source":{"id":"1907.08428","kind":"arxiv","version":1}},"canonical_sha256":"38b266a490fa39d8f2eed0e03052a0ba80a06cd15d0d06dbb1e41814d15fc008","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"38b266a490fa39d8f2eed0e03052a0ba80a06cd15d0d06dbb1e41814d15fc008","first_computed_at":"2026-05-17T23:40:09.875208Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:40:09.875208Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"BYY926ZsEDj3gz3WrQCfa88FBc11Ih0waMfO/+qtOewHM1Z8gdxf1gWIXg0ZIiaBH0vQR7GDrcHL7shWEFqOAg==","signature_status":"signed_v1","signed_at":"2026-05-17T23:40:09.875680Z","signed_message":"canonical_sha256_bytes"},"source_id":"1907.08428","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7c02b6274acfa7bab8edcf4cb5536dcabc53847add148a285ae6cbc7a489e69f","sha256:825d8e21cb605946003683fe1e57e63da14440ac487d626601725ded9ad50d9a"],"state_sha256":"b92c0d5f2b77d9d652abb588fe00a53aa757af905ce17f23d6e811ed8ebcc797"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0dteY2oFLs5p4FD4/axm9UinwoLBH1e3MT1XuYKy98MdtuuUuQY8DFZQm4CIJU25uwkou3vwo+WgUxu9jB2pDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-11T13:18:29.219656Z","bundle_sha256":"3df60d9b43309d2f512328b40b81e0cbfd27114250d699be591de3271ded2cf8"}}