{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:JQTPIRO3AAIKFCAQAY25ACYOMO","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":"7557e5ce680010053f120f3ab28aa56777df3d59cc41f81db557fb8418ce2956","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2018-10-28T09:50:22Z","title_canon_sha256":"56f5de7cf354f237f4cbf34113637f0b87c170da99ef4d688784a1cef33965d2"},"schema_version":"1.0","source":{"id":"1810.11789","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1810.11789","created_at":"2026-07-05T00:02:24Z"},{"alias_kind":"arxiv_version","alias_value":"1810.11789v2","created_at":"2026-07-05T00:02:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1810.11789","created_at":"2026-07-05T00:02:24Z"},{"alias_kind":"pith_short_12","alias_value":"JQTPIRO3AAIK","created_at":"2026-07-05T00:02:24Z"},{"alias_kind":"pith_short_16","alias_value":"JQTPIRO3AAIKFCAQ","created_at":"2026-07-05T00:02:24Z"},{"alias_kind":"pith_short_8","alias_value":"JQTPIRO3","created_at":"2026-07-05T00:02:24Z"}],"graph_snapshots":[{"event_id":"sha256:b195d2828feffc08223abaace1abf67029e5f89bb5cce5e66f8096397c7b189b","target":"graph","created_at":"2026-07-05T00:02:24Z","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/1810.11789/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Over the last years, the development of Autonomous Underwater Vehicles (AUV) with attached robotic manipulators, the so-called Underwater Vehicle Manipulator System (UVMS), has gained significant research attention, due to the ability of interaction with underwater environments. In such applications, force/torque controllers which guarantee that the end-effector of the UVMS applies desired forces/torques towards the environment, should be designed in a way that state and input constraints are taken into consideration. Furthermore, due to their complicated structure, unmodeled dynamics as well ","authors_text":"Alexandros Nikou, Christos K. Verginis, Dimos V. Dimarogonas","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2018-10-28T09:50:22Z","title":"A Tube-based MPC Scheme for Interaction Control of Underwater Vehicle Manipulator Systems"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1810.11789","kind":"arxiv","version":2},"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":"sha256:34ac84ce9491057e716f7e8ae44b62560f4ac7450395051c919617966ae2f493","target":"record","created_at":"2026-07-05T00:02:24Z","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":"7557e5ce680010053f120f3ab28aa56777df3d59cc41f81db557fb8418ce2956","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2018-10-28T09:50:22Z","title_canon_sha256":"56f5de7cf354f237f4cbf34113637f0b87c170da99ef4d688784a1cef33965d2"},"schema_version":"1.0","source":{"id":"1810.11789","kind":"arxiv","version":2}},"canonical_sha256":"4c26f445db0010a288100635d00b0e63a3ce03723a7fd8d3bdd3163045c59634","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4c26f445db0010a288100635d00b0e63a3ce03723a7fd8d3bdd3163045c59634","first_computed_at":"2026-07-05T00:02:24.093443Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:02:24.093443Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"9HasfAa2e5INYKdN5xpr8Egfz3x0OuO2qfrzFancd2cNJvFhhxp0XXVbjdLdjLg/bhakE9A52Ksm/YBYS6OcBA==","signature_status":"signed_v1","signed_at":"2026-07-05T00:02:24.093911Z","signed_message":"canonical_sha256_bytes"},"source_id":"1810.11789","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:34ac84ce9491057e716f7e8ae44b62560f4ac7450395051c919617966ae2f493","sha256:b195d2828feffc08223abaace1abf67029e5f89bb5cce5e66f8096397c7b189b"],"state_sha256":"ab7fd08f8d4388cc3da0bc20387498c636e83c4702057341adfc23d00641d781"}