{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2012:KFFDFQQ4QAVETQF6JPFTUDSLG5","short_pith_number":"pith:KFFDFQQ4","canonical_record":{"source":{"id":"1208.4335","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.DS","submitted_at":"2012-08-21T18:32:47Z","cross_cats_sorted":[],"title_canon_sha256":"029fe6ddb42213c4b39aba91b386fe3cccbc165f06dd9e8f41a8eb17b1bbcf36","abstract_canon_sha256":"f6494601e4319333bbecdc11a032c560452a0ef97cd93fa0b565955fc9d22cad"},"schema_version":"1.0"},"canonical_sha256":"514a32c21c802a49c0be4bcb3a0e4b37518f0a1b69f03ce4591a96470720300a","source":{"kind":"arxiv","id":"1208.4335","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1208.4335","created_at":"2026-05-18T03:48:23Z"},{"alias_kind":"arxiv_version","alias_value":"1208.4335v1","created_at":"2026-05-18T03:48:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1208.4335","created_at":"2026-05-18T03:48:23Z"},{"alias_kind":"pith_short_12","alias_value":"KFFDFQQ4QAVE","created_at":"2026-05-18T12:27:11Z"},{"alias_kind":"pith_short_16","alias_value":"KFFDFQQ4QAVETQF6","created_at":"2026-05-18T12:27:11Z"},{"alias_kind":"pith_short_8","alias_value":"KFFDFQQ4","created_at":"2026-05-18T12:27:11Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2012:KFFDFQQ4QAVETQF6JPFTUDSLG5","target":"record","payload":{"canonical_record":{"source":{"id":"1208.4335","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.DS","submitted_at":"2012-08-21T18:32:47Z","cross_cats_sorted":[],"title_canon_sha256":"029fe6ddb42213c4b39aba91b386fe3cccbc165f06dd9e8f41a8eb17b1bbcf36","abstract_canon_sha256":"f6494601e4319333bbecdc11a032c560452a0ef97cd93fa0b565955fc9d22cad"},"schema_version":"1.0"},"canonical_sha256":"514a32c21c802a49c0be4bcb3a0e4b37518f0a1b69f03ce4591a96470720300a","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T03:48:23.870955Z","signature_b64":"TVkGd4BvHia9+6nJarwyXt75Rjlu6KRTm4k7hAvQ8b71o63mPVrPEWka2PXXiAGJkVWEbEC+kwDiTzS+lgi4Dg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"514a32c21c802a49c0be4bcb3a0e4b37518f0a1b69f03ce4591a96470720300a","last_reissued_at":"2026-05-18T03:48:23.870082Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T03:48:23.870082Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1208.4335","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":"2026-05-18T03:48:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"s5WUr9WW4RRvUWVxQd70C7ZSybUYJGgwqrH0MQM9MaLe5TShHwH99zMs65HQGYM03AjnZpXAKRDW2u4jRmTHBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T14:24:44.250678Z"},"content_sha256":"6508b01d9f673b261557e77743b7ca9cba62dc5d9ab1a909d3e9ce75f58b487b","schema_version":"1.0","event_id":"sha256:6508b01d9f673b261557e77743b7ca9cba62dc5d9ab1a909d3e9ce75f58b487b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2012:KFFDFQQ4QAVETQF6JPFTUDSLG5","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"On the Control of Non Holonomic Systems by Active Constraints","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"math.DS","authors_text":"Alberto Bressan, Franco Rampazzo, Ke Han","submitted_at":"2012-08-21T18:32:47Z","abstract_excerpt":"The paper is concerned with mechanical systems which are controlled by implementing a number of time-dependent, frictionless holonomic constraints. The main novelty is due to the presence of additional non-holonomic constraints. We develop a general framework to analyze these problems, deriving the equations of motion and studying the continuity properties of the \"control-to-trajectory\" maps. Various geometric characterizations are provided, in order that the equations be affine w.r.t. the time derivative of the control. In this case the system is fit for jumps, and the evolution is well defin"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1208.4335","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":""},"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":"2026-05-18T03:48:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"qWvrPXbW794cjMUq8YiVF1QdzTi8rNgu76fnRnFqdX3UYFUjkqhWq4EWDTQWNPb7HODmsmmR6VWG8fUAIpfdCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T14:24:44.251367Z"},"content_sha256":"9b1ea407a4ead24bd2b615ec5e313728654b4e84afe21b805717d71a4a12b2fb","schema_version":"1.0","event_id":"sha256:9b1ea407a4ead24bd2b615ec5e313728654b4e84afe21b805717d71a4a12b2fb"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/KFFDFQQ4QAVETQF6JPFTUDSLG5/bundle.json","state_url":"https://pith.science/pith/KFFDFQQ4QAVETQF6JPFTUDSLG5/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/KFFDFQQ4QAVETQF6JPFTUDSLG5/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":"2026-05-30T14:24:44Z","links":{"resolver":"https://pith.science/pith/KFFDFQQ4QAVETQF6JPFTUDSLG5","bundle":"https://pith.science/pith/KFFDFQQ4QAVETQF6JPFTUDSLG5/bundle.json","state":"https://pith.science/pith/KFFDFQQ4QAVETQF6JPFTUDSLG5/state.json","well_known_bundle":"https://pith.science/.well-known/pith/KFFDFQQ4QAVETQF6JPFTUDSLG5/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2012:KFFDFQQ4QAVETQF6JPFTUDSLG5","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":"f6494601e4319333bbecdc11a032c560452a0ef97cd93fa0b565955fc9d22cad","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.DS","submitted_at":"2012-08-21T18:32:47Z","title_canon_sha256":"029fe6ddb42213c4b39aba91b386fe3cccbc165f06dd9e8f41a8eb17b1bbcf36"},"schema_version":"1.0","source":{"id":"1208.4335","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1208.4335","created_at":"2026-05-18T03:48:23Z"},{"alias_kind":"arxiv_version","alias_value":"1208.4335v1","created_at":"2026-05-18T03:48:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1208.4335","created_at":"2026-05-18T03:48:23Z"},{"alias_kind":"pith_short_12","alias_value":"KFFDFQQ4QAVE","created_at":"2026-05-18T12:27:11Z"},{"alias_kind":"pith_short_16","alias_value":"KFFDFQQ4QAVETQF6","created_at":"2026-05-18T12:27:11Z"},{"alias_kind":"pith_short_8","alias_value":"KFFDFQQ4","created_at":"2026-05-18T12:27:11Z"}],"graph_snapshots":[{"event_id":"sha256:9b1ea407a4ead24bd2b615ec5e313728654b4e84afe21b805717d71a4a12b2fb","target":"graph","created_at":"2026-05-18T03:48:23Z","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"},"paper":{"abstract_excerpt":"The paper is concerned with mechanical systems which are controlled by implementing a number of time-dependent, frictionless holonomic constraints. The main novelty is due to the presence of additional non-holonomic constraints. We develop a general framework to analyze these problems, deriving the equations of motion and studying the continuity properties of the \"control-to-trajectory\" maps. Various geometric characterizations are provided, in order that the equations be affine w.r.t. the time derivative of the control. In this case the system is fit for jumps, and the evolution is well defin","authors_text":"Alberto Bressan, Franco Rampazzo, Ke Han","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.DS","submitted_at":"2012-08-21T18:32:47Z","title":"On the Control of Non Holonomic Systems by Active Constraints"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1208.4335","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":"sha256:6508b01d9f673b261557e77743b7ca9cba62dc5d9ab1a909d3e9ce75f58b487b","target":"record","created_at":"2026-05-18T03:48:23Z","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":"f6494601e4319333bbecdc11a032c560452a0ef97cd93fa0b565955fc9d22cad","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.DS","submitted_at":"2012-08-21T18:32:47Z","title_canon_sha256":"029fe6ddb42213c4b39aba91b386fe3cccbc165f06dd9e8f41a8eb17b1bbcf36"},"schema_version":"1.0","source":{"id":"1208.4335","kind":"arxiv","version":1}},"canonical_sha256":"514a32c21c802a49c0be4bcb3a0e4b37518f0a1b69f03ce4591a96470720300a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"514a32c21c802a49c0be4bcb3a0e4b37518f0a1b69f03ce4591a96470720300a","first_computed_at":"2026-05-18T03:48:23.870082Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T03:48:23.870082Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"TVkGd4BvHia9+6nJarwyXt75Rjlu6KRTm4k7hAvQ8b71o63mPVrPEWka2PXXiAGJkVWEbEC+kwDiTzS+lgi4Dg==","signature_status":"signed_v1","signed_at":"2026-05-18T03:48:23.870955Z","signed_message":"canonical_sha256_bytes"},"source_id":"1208.4335","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6508b01d9f673b261557e77743b7ca9cba62dc5d9ab1a909d3e9ce75f58b487b","sha256:9b1ea407a4ead24bd2b615ec5e313728654b4e84afe21b805717d71a4a12b2fb"],"state_sha256":"893eadece5d6233c3e45c5782ea56b32241ccef86b1fa87bf1ddf47bde659abf"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"HWwN0eEmBQ5Ud9+1ooRewH0zBWEWdcU0bhQfC7hiWeps0KtUoLT/+2JVi2z+X9nZfETe8UELsKdAM4qxMQnzAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-30T14:24:44.254697Z","bundle_sha256":"272874f82050a89fee788103dd5c07175aeeff10f35e18428b1dcf08981d64e1"}}