Pith Number

pith:IIYI37TE

pith:2021:IIYI37TEA2OICXXIBJSD5RUUZ6

not attested not anchored not stored refs pending

Optimization on Planning of Trajectory and Control of Autonomous Berthing and Unberthing for the Realistic Port Geometry

Atsuo Maki, Naoya Umeda, Ryohei Sawada, Yoshiki Miyauchi, Youhei Akimoto

arxiv:2106.02459 v2 · 2021-06-04 · math.OC

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{IIYI37TEA2OICXXIBJSD5RUUZ6}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Receipt and verification

First computed	2026-07-05T03:48:06.369849Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

42308dfe64069c815ee80a643ec694cf8f879ff33bcf6abb8d623f2d78f61554

Aliases

arxiv: 2106.02459 · arxiv_version: 2106.02459v2 · doi: 10.48550/arxiv.2106.02459 · pith_short_12: IIYI37TEA2OI · pith_short_16: IIYI37TEA2OICXXI · pith_short_8: IIYI37TE

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/IIYI37TEA2OICXXIBJSD5RUUZ6 \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 42308dfe64069c815ee80a643ec694cf8f879ff33bcf6abb8d623f2d78f61554

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "dd46ab89ef628381d3ea76684735267dbe6c5d1a3954a811745c853ec65d6b8b",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "math.OC",
    "submitted_at": "2021-06-04T13:02:08Z",
    "title_canon_sha256": "e5f333b9954ced2712ca6b48fc12562128c8a7d82c40c370f4fb7e7bf5c32178"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2106.02459",
    "kind": "arxiv",
    "version": 2
  }
}