{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:HULLAJ4PT4FI6KKC7F5DUNF2AQ","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":"e062b0ce98e7635b5e34d802c42d5c7895b74f3012777ebff72e76aea6a24f93","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-07T12:15:59Z","title_canon_sha256":"e86f823d676b0a423ecd974cbc62c3c6ba281f9a6de6194061f17295d90dc467"},"schema_version":"1.0","source":{"id":"2508.08303","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.08303","created_at":"2026-07-05T11:52:25Z"},{"alias_kind":"arxiv_version","alias_value":"2508.08303v1","created_at":"2026-07-05T11:52:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.08303","created_at":"2026-07-05T11:52:25Z"},{"alias_kind":"pith_short_12","alias_value":"HULLAJ4PT4FI","created_at":"2026-07-05T11:52:25Z"},{"alias_kind":"pith_short_16","alias_value":"HULLAJ4PT4FI6KKC","created_at":"2026-07-05T11:52:25Z"},{"alias_kind":"pith_short_8","alias_value":"HULLAJ4P","created_at":"2026-07-05T11:52:25Z"}],"graph_snapshots":[{"event_id":"sha256:617567aecfe3b177aeb1a2cfb97fed02684b8f6b7d08375de87f520a6cf92350","target":"graph","created_at":"2026-07-05T11:52:25Z","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/2508.08303/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Efficient mobility and power consumption are critical for autonomous water surface robots in long-term water environmental monitoring. This study develops and evaluates a transformable mobility mechanism for a water surface robot with two control modes: station-keeping and traveling to improve energy efficiency and maneuverability. Field experiments show that, in a round-trip task between two points, the traveling mode reduces power consumption by 10\\% and decreases the total time required for travel by 5\\% compared to the station-keeping mode. These results confirm the effectiveness of the tr","authors_text":"Dinh Tuan Tran, Joo-Ho Lee, Yasuyuki Fujii","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-07T12:15:59Z","title":"Evaluation of an Autonomous Surface Robot Equipped with a Transformable Mobility Mechanism for Efficient Mobility Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.08303","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":"sha256:20c4ef6193b7ffea001a722fce7faa6c5d108c99c27cbd35f3f4535e847a6b81","target":"record","created_at":"2026-07-05T11:52:25Z","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":"e062b0ce98e7635b5e34d802c42d5c7895b74f3012777ebff72e76aea6a24f93","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-07T12:15:59Z","title_canon_sha256":"e86f823d676b0a423ecd974cbc62c3c6ba281f9a6de6194061f17295d90dc467"},"schema_version":"1.0","source":{"id":"2508.08303","kind":"arxiv","version":1}},"canonical_sha256":"3d16b0278f9f0a8f2942f97a3a34ba041f05ffd311304207e2c5694dac57e855","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3d16b0278f9f0a8f2942f97a3a34ba041f05ffd311304207e2c5694dac57e855","first_computed_at":"2026-07-05T11:52:25.592069Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:52:25.592069Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"k+pqzB1J5/wGnnPI9OSC+pmnD44xbPZh0rO3pxCjOC0oXIcOaR4dSKI4ldYRjLCjYD/UkAijFqCcU3sMTEQDDw==","signature_status":"signed_v1","signed_at":"2026-07-05T11:52:25.592674Z","signed_message":"canonical_sha256_bytes"},"source_id":"2508.08303","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:20c4ef6193b7ffea001a722fce7faa6c5d108c99c27cbd35f3f4535e847a6b81","sha256:617567aecfe3b177aeb1a2cfb97fed02684b8f6b7d08375de87f520a6cf92350"],"state_sha256":"5fbab8f388a6f3e1ac43b93edc1e1d741bcfe1b223973f67a92df581a7be5056"}