{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:IX4DQWRPFWB2ZDADZROWANOXXR","short_pith_number":"pith:IX4DQWRP","canonical_record":{"source":{"id":"2103.00595","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-02-28T19:21:34Z","cross_cats_sorted":[],"title_canon_sha256":"28c5700984596709a89fdfd142392651389b9d9c7a593d951a9d07c8870b3dcd","abstract_canon_sha256":"c06cbdc69a02b2786b3e067eb2a190d5941da9870cfb260540ed728e7ffb0150"},"schema_version":"1.0"},"canonical_sha256":"45f8385a2f2d83ac8c03cc5d6035d7bc659f3146179e8b6eb56fe23dccd5df2c","source":{"kind":"arxiv","id":"2103.00595","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2103.00595","created_at":"2026-07-05T02:19:07Z"},{"alias_kind":"arxiv_version","alias_value":"2103.00595v1","created_at":"2026-07-05T02:19:07Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2103.00595","created_at":"2026-07-05T02:19:07Z"},{"alias_kind":"pith_short_12","alias_value":"IX4DQWRPFWB2","created_at":"2026-07-05T02:19:07Z"},{"alias_kind":"pith_short_16","alias_value":"IX4DQWRPFWB2ZDAD","created_at":"2026-07-05T02:19:07Z"},{"alias_kind":"pith_short_8","alias_value":"IX4DQWRP","created_at":"2026-07-05T02:19:07Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:IX4DQWRPFWB2ZDADZROWANOXXR","target":"record","payload":{"canonical_record":{"source":{"id":"2103.00595","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-02-28T19:21:34Z","cross_cats_sorted":[],"title_canon_sha256":"28c5700984596709a89fdfd142392651389b9d9c7a593d951a9d07c8870b3dcd","abstract_canon_sha256":"c06cbdc69a02b2786b3e067eb2a190d5941da9870cfb260540ed728e7ffb0150"},"schema_version":"1.0"},"canonical_sha256":"45f8385a2f2d83ac8c03cc5d6035d7bc659f3146179e8b6eb56fe23dccd5df2c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:19:07.394081Z","signature_b64":"yGWFuUS/onnEnpcMOvMrpXwA1cRhocmxX87EOv8mx0RnBlieqKVgMH+4MmuS0SY+YAGNFlcXDd5kFDaKLyOmAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"45f8385a2f2d83ac8c03cc5d6035d7bc659f3146179e8b6eb56fe23dccd5df2c","last_reissued_at":"2026-07-05T02:19:07.393635Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:19:07.393635Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2103.00595","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":"2026-07-05T02:19:07Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+SeDuZNolTjpQpIM3Jk+JF0gUMs/EpcQC6tDBhntLEqm7giE0bSHeVsH7XSc5wREfpVryTVaWnri5MQpbm8TAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T17:40:57.269317Z"},"content_sha256":"6dfb9ae5025cbd673313885a4ba1f226d788e7bfb903d0be0429d23fc25a3214","schema_version":"1.0","event_id":"sha256:6dfb9ae5025cbd673313885a4ba1f226d788e7bfb903d0be0429d23fc25a3214"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:IX4DQWRPFWB2ZDADZROWANOXXR","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"TouchRoller: A Rolling Optical Tactile Sensor for Rapid Assessment of Large Surfaces","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chen Lu, Daniel Fernandes Gomes, Guanqun Cao, Jiaqi Jiang, Shan Luo","submitted_at":"2021-02-28T19:21:34Z","abstract_excerpt":"Tactile sensing is important for robots to perceive the world as it captures the texture and hardness of the object in contact and is robust to illumination and colour variances. However, due to the limited sensing area and the resistance of the fixed surface, current tactile sensors have to tap the tactile sensor on target object many times when assessing a large surface, i.e., pressing, lifting up and shifting to another region. This process is ineffective and time consuming. It is also undesirable to drag such sensors as this often damages the sensitive membrane of the sensor or the object."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2103.00595","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/2103.00595/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":"2026-07-05T02:19:07Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Wfe6aOT2BjbEVn5qPbbTfVjgGZBiBCXfoYzo2F1lBCKLYAXEBaIsHt+WEDx+uWX/vxZ2QHkc/Oi56zDvILF2BA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T17:40:57.269865Z"},"content_sha256":"e8eee3cb07223ed1d6e66961b9346e5a4d97be452ecce0a8dfebfb9124c34b51","schema_version":"1.0","event_id":"sha256:e8eee3cb07223ed1d6e66961b9346e5a4d97be452ecce0a8dfebfb9124c34b51"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/IX4DQWRPFWB2ZDADZROWANOXXR/bundle.json","state_url":"https://pith.science/pith/IX4DQWRPFWB2ZDADZROWANOXXR/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/IX4DQWRPFWB2ZDADZROWANOXXR/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":"2026-08-08T17:40:57Z","links":{"resolver":"https://pith.science/pith/IX4DQWRPFWB2ZDADZROWANOXXR","bundle":"https://pith.science/pith/IX4DQWRPFWB2ZDADZROWANOXXR/bundle.json","state":"https://pith.science/pith/IX4DQWRPFWB2ZDADZROWANOXXR/state.json","well_known_bundle":"https://pith.science/.well-known/pith/IX4DQWRPFWB2ZDADZROWANOXXR/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:IX4DQWRPFWB2ZDADZROWANOXXR","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":"c06cbdc69a02b2786b3e067eb2a190d5941da9870cfb260540ed728e7ffb0150","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-02-28T19:21:34Z","title_canon_sha256":"28c5700984596709a89fdfd142392651389b9d9c7a593d951a9d07c8870b3dcd"},"schema_version":"1.0","source":{"id":"2103.00595","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2103.00595","created_at":"2026-07-05T02:19:07Z"},{"alias_kind":"arxiv_version","alias_value":"2103.00595v1","created_at":"2026-07-05T02:19:07Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2103.00595","created_at":"2026-07-05T02:19:07Z"},{"alias_kind":"pith_short_12","alias_value":"IX4DQWRPFWB2","created_at":"2026-07-05T02:19:07Z"},{"alias_kind":"pith_short_16","alias_value":"IX4DQWRPFWB2ZDAD","created_at":"2026-07-05T02:19:07Z"},{"alias_kind":"pith_short_8","alias_value":"IX4DQWRP","created_at":"2026-07-05T02:19:07Z"}],"graph_snapshots":[{"event_id":"sha256:e8eee3cb07223ed1d6e66961b9346e5a4d97be452ecce0a8dfebfb9124c34b51","target":"graph","created_at":"2026-07-05T02:19:07Z","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/2103.00595/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Tactile sensing is important for robots to perceive the world as it captures the texture and hardness of the object in contact and is robust to illumination and colour variances. However, due to the limited sensing area and the resistance of the fixed surface, current tactile sensors have to tap the tactile sensor on target object many times when assessing a large surface, i.e., pressing, lifting up and shifting to another region. This process is ineffective and time consuming. It is also undesirable to drag such sensors as this often damages the sensitive membrane of the sensor or the object.","authors_text":"Chen Lu, Daniel Fernandes Gomes, Guanqun Cao, Jiaqi Jiang, Shan Luo","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-02-28T19:21:34Z","title":"TouchRoller: A Rolling Optical Tactile Sensor for Rapid Assessment of Large Surfaces"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2103.00595","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":"sha256:6dfb9ae5025cbd673313885a4ba1f226d788e7bfb903d0be0429d23fc25a3214","target":"record","created_at":"2026-07-05T02:19:07Z","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":"c06cbdc69a02b2786b3e067eb2a190d5941da9870cfb260540ed728e7ffb0150","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-02-28T19:21:34Z","title_canon_sha256":"28c5700984596709a89fdfd142392651389b9d9c7a593d951a9d07c8870b3dcd"},"schema_version":"1.0","source":{"id":"2103.00595","kind":"arxiv","version":1}},"canonical_sha256":"45f8385a2f2d83ac8c03cc5d6035d7bc659f3146179e8b6eb56fe23dccd5df2c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"45f8385a2f2d83ac8c03cc5d6035d7bc659f3146179e8b6eb56fe23dccd5df2c","first_computed_at":"2026-07-05T02:19:07.393635Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:19:07.393635Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"yGWFuUS/onnEnpcMOvMrpXwA1cRhocmxX87EOv8mx0RnBlieqKVgMH+4MmuS0SY+YAGNFlcXDd5kFDaKLyOmAg==","signature_status":"signed_v1","signed_at":"2026-07-05T02:19:07.394081Z","signed_message":"canonical_sha256_bytes"},"source_id":"2103.00595","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6dfb9ae5025cbd673313885a4ba1f226d788e7bfb903d0be0429d23fc25a3214","sha256:e8eee3cb07223ed1d6e66961b9346e5a4d97be452ecce0a8dfebfb9124c34b51"],"state_sha256":"b782ecb0e11d6d40fb79ff244bb25aa480ccb11a2b67a5f8cbff8017620b7775"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"W1nGHBI1sO5i6QvD4ZKGhsfRyYHxK0v4y9uGvDcZjsi+xwijJSARRSc7ZzWgRVIf18bdU0j2qoLtjsum6QQ5AA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-08T17:40:57.274171Z","bundle_sha256":"a3fa7762b1681a58e2f2812a66fc4920e2c02287f936097cd90e8704f342d546"}}