{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:IT3YSJEZKHJ7IKMQ5JTMKAJIHP","short_pith_number":"pith:IT3YSJEZ","canonical_record":{"source":{"id":"2407.00217","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-06-28T19:59:39Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"ad383dbfc3219af85c8a2c7abdd9e41f6d8d41cb91ee4964c76a3894a14ea701","abstract_canon_sha256":"acbe512a9f50fa7a11082aec577bc22f5bb89a9992240dce23db6293cf5983f2"},"schema_version":"1.0"},"canonical_sha256":"44f789249951d3f42990ea66c501283be490ec7339400d37c4a097f54e2adf67","source":{"kind":"arxiv","id":"2407.00217","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.00217","created_at":"2026-07-05T09:23:53Z"},{"alias_kind":"arxiv_version","alias_value":"2407.00217v1","created_at":"2026-07-05T09:23:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.00217","created_at":"2026-07-05T09:23:53Z"},{"alias_kind":"pith_short_12","alias_value":"IT3YSJEZKHJ7","created_at":"2026-07-05T09:23:53Z"},{"alias_kind":"pith_short_16","alias_value":"IT3YSJEZKHJ7IKMQ","created_at":"2026-07-05T09:23:53Z"},{"alias_kind":"pith_short_8","alias_value":"IT3YSJEZ","created_at":"2026-07-05T09:23:53Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:IT3YSJEZKHJ7IKMQ5JTMKAJIHP","target":"record","payload":{"canonical_record":{"source":{"id":"2407.00217","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-06-28T19:59:39Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"ad383dbfc3219af85c8a2c7abdd9e41f6d8d41cb91ee4964c76a3894a14ea701","abstract_canon_sha256":"acbe512a9f50fa7a11082aec577bc22f5bb89a9992240dce23db6293cf5983f2"},"schema_version":"1.0"},"canonical_sha256":"44f789249951d3f42990ea66c501283be490ec7339400d37c4a097f54e2adf67","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:23:53.456987Z","signature_b64":"mZ4iscvy9jclaTSIdz3DF0PoHC/HixUmplTV9X15scwqGXnS1tGszzYQq8BVT2L/u2IzbcZsG7ZQgxj2YROLCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"44f789249951d3f42990ea66c501283be490ec7339400d37c4a097f54e2adf67","last_reissued_at":"2026-07-05T09:23:53.456487Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:23:53.456487Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2407.00217","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":"2026-07-05T09:23:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5cAi6cawccqlUxEMRclegyaikaCg92Pc+BbqWlLBMPTj8VBD1rEuaIopTViwm/h2ju6s8pH5dPYLsXmRscrBDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-19T09:54:04.523982Z"},"content_sha256":"ec5283dd8048cdb3341a176e00dd8d5064e43b6e58626197ad8a98ed4332a8f1","schema_version":"1.0","event_id":"sha256:ec5283dd8048cdb3341a176e00dd8d5064e43b6e58626197ad8a98ed4332a8f1"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:IT3YSJEZKHJ7IKMQ5JTMKAJIHP","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A flexured-gimbal 3-axis force-torque sensor reveals minimal cross-axis coupling in an insect-sized flapping-wing robot","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Aaron Weber, Daksh Dhingra, Sawyer B. Fuller","submitted_at":"2024-06-28T19:59:39Z","abstract_excerpt":"The mechanical complexity of flapping wings, their unsteady aerodynamic flow, and challenge of making measurements at the scale of a sub-gram flapping-wing flying insect robot (FIR) make its behavior hard to predict. Knowing the precise mapping from voltage input to torque output, however, can be used to improve their mechanical and flight controller design. To address this challenge, we created a sensitive force-torque sensor based on a flexured gimbal that only requires a standard motion capture system or accelerometer for readout. Our device precisely and accurately measures pitch and roll "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.00217","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/2407.00217/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":"2026-07-05T09:23:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ILPzYJyskQAsbvhyZJxxPR8pfzzZwI95AsVAVxZ3D3VS4Y69RenbqqU85Nmmfh7MTj0gcyhIsYrFvordRdHUDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-19T09:54:04.524487Z"},"content_sha256":"1cdb59964741f9523e235760cdc0398c496ab4f8fbe3c867e4c78c6662f67f07","schema_version":"1.0","event_id":"sha256:1cdb59964741f9523e235760cdc0398c496ab4f8fbe3c867e4c78c6662f67f07"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/IT3YSJEZKHJ7IKMQ5JTMKAJIHP/bundle.json","state_url":"https://pith.science/pith/IT3YSJEZKHJ7IKMQ5JTMKAJIHP/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/IT3YSJEZKHJ7IKMQ5JTMKAJIHP/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":"2026-08-19T09:54:04Z","links":{"resolver":"https://pith.science/pith/IT3YSJEZKHJ7IKMQ5JTMKAJIHP","bundle":"https://pith.science/pith/IT3YSJEZKHJ7IKMQ5JTMKAJIHP/bundle.json","state":"https://pith.science/pith/IT3YSJEZKHJ7IKMQ5JTMKAJIHP/state.json","well_known_bundle":"https://pith.science/.well-known/pith/IT3YSJEZKHJ7IKMQ5JTMKAJIHP/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:IT3YSJEZKHJ7IKMQ5JTMKAJIHP","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":"acbe512a9f50fa7a11082aec577bc22f5bb89a9992240dce23db6293cf5983f2","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-06-28T19:59:39Z","title_canon_sha256":"ad383dbfc3219af85c8a2c7abdd9e41f6d8d41cb91ee4964c76a3894a14ea701"},"schema_version":"1.0","source":{"id":"2407.00217","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.00217","created_at":"2026-07-05T09:23:53Z"},{"alias_kind":"arxiv_version","alias_value":"2407.00217v1","created_at":"2026-07-05T09:23:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.00217","created_at":"2026-07-05T09:23:53Z"},{"alias_kind":"pith_short_12","alias_value":"IT3YSJEZKHJ7","created_at":"2026-07-05T09:23:53Z"},{"alias_kind":"pith_short_16","alias_value":"IT3YSJEZKHJ7IKMQ","created_at":"2026-07-05T09:23:53Z"},{"alias_kind":"pith_short_8","alias_value":"IT3YSJEZ","created_at":"2026-07-05T09:23:53Z"}],"graph_snapshots":[{"event_id":"sha256:1cdb59964741f9523e235760cdc0398c496ab4f8fbe3c867e4c78c6662f67f07","target":"graph","created_at":"2026-07-05T09:23:53Z","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/2407.00217/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The mechanical complexity of flapping wings, their unsteady aerodynamic flow, and challenge of making measurements at the scale of a sub-gram flapping-wing flying insect robot (FIR) make its behavior hard to predict. Knowing the precise mapping from voltage input to torque output, however, can be used to improve their mechanical and flight controller design. To address this challenge, we created a sensitive force-torque sensor based on a flexured gimbal that only requires a standard motion capture system or accelerometer for readout. Our device precisely and accurately measures pitch and roll ","authors_text":"Aaron Weber, Daksh Dhingra, Sawyer B. Fuller","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-06-28T19:59:39Z","title":"A flexured-gimbal 3-axis force-torque sensor reveals minimal cross-axis coupling in an insect-sized flapping-wing robot"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.00217","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:ec5283dd8048cdb3341a176e00dd8d5064e43b6e58626197ad8a98ed4332a8f1","target":"record","created_at":"2026-07-05T09:23:53Z","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":"acbe512a9f50fa7a11082aec577bc22f5bb89a9992240dce23db6293cf5983f2","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-06-28T19:59:39Z","title_canon_sha256":"ad383dbfc3219af85c8a2c7abdd9e41f6d8d41cb91ee4964c76a3894a14ea701"},"schema_version":"1.0","source":{"id":"2407.00217","kind":"arxiv","version":1}},"canonical_sha256":"44f789249951d3f42990ea66c501283be490ec7339400d37c4a097f54e2adf67","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"44f789249951d3f42990ea66c501283be490ec7339400d37c4a097f54e2adf67","first_computed_at":"2026-07-05T09:23:53.456487Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:23:53.456487Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"mZ4iscvy9jclaTSIdz3DF0PoHC/HixUmplTV9X15scwqGXnS1tGszzYQq8BVT2L/u2IzbcZsG7ZQgxj2YROLCg==","signature_status":"signed_v1","signed_at":"2026-07-05T09:23:53.456987Z","signed_message":"canonical_sha256_bytes"},"source_id":"2407.00217","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ec5283dd8048cdb3341a176e00dd8d5064e43b6e58626197ad8a98ed4332a8f1","sha256:1cdb59964741f9523e235760cdc0398c496ab4f8fbe3c867e4c78c6662f67f07"],"state_sha256":"c3e05916516eb38eeb832d4aaccc55da41f11955d639621ccd5c26bc8bfe836b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fSwH0pnAd4AItndJfl/dtk67fSEL3ji61knX9jCxwY5OT7E3IUV8TiWO9S49nyhxAxj+K2EYBZp2m3l1MNStCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-19T09:54:04.529653Z","bundle_sha256":"56922eaa8ff689f6938d6c8a8ad05e6e0ca522f288a14d263554741c4bca7891"}}