Pith Number

pith:JZDMKHK7

pith:2026:JZDMKHK7YIQTUSGIRU3B6VVPF4

not attested not anchored not stored refs pending

Safety-Critical Adaptive Impedance Control via Nonsmooth Control Barrier Functions under State and Input Constraints

Barry Lennox, Faisal Lawan, Joaquin Carrasco, Xiaoran Han, Xiaoxiao Cheng

arxiv:2605.28367 v1 · 2026-05-27 · cs.RO · cs.SY · eess.SY

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{JZDMKHK7YIQTUSGIRU3B6VVPF4}

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	2026-05-28T01:05:16.139222Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

4e46c51d5fc2213a48c88d361f56af2f26dae57ca848ea917e0bbe639ce0ae1e

Aliases

arxiv: 2605.28367 · arxiv_version: 2605.28367v1 · doi: 10.48550/arxiv.2605.28367 · pith_short_12: JZDMKHK7YIQT · pith_short_16: JZDMKHK7YIQTUSGI · pith_short_8: JZDMKHK7

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/JZDMKHK7YIQTUSGIRU3B6VVPF4 \
  | 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: 4e46c51d5fc2213a48c88d361f56af2f26dae57ca848ea917e0bbe639ce0ae1e

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "876adb0937fdf8ce88501bbca9ae8a6c8bb5ce86b77b3024b63b06fa3d6522ed",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-27T12:04:03Z",
    "title_canon_sha256": "aaa93b5903339f92c72cfd0b8f0124176483379a0fcfd1d82f85216b6fe581b2"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.28367",
    "kind": "arxiv",
    "version": 1
  }
}