{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:KJKFGKC7OTSERH5IG2VEPADPP2","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":"20ae915737b97961a2d9ca7136c309cd7694280dc4a57c9f2cb308471580cea2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-24T08:08:01Z","title_canon_sha256":"ffe049ada9de12146cb1230298fa940ef168a8ff3ea7b5e019ac6b9fb9f06992"},"schema_version":"1.0","source":{"id":"2011.11951","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2011.11951","created_at":"2026-07-05T01:54:06Z"},{"alias_kind":"arxiv_version","alias_value":"2011.11951v1","created_at":"2026-07-05T01:54:06Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2011.11951","created_at":"2026-07-05T01:54:06Z"},{"alias_kind":"pith_short_12","alias_value":"KJKFGKC7OTSE","created_at":"2026-07-05T01:54:06Z"},{"alias_kind":"pith_short_16","alias_value":"KJKFGKC7OTSERH5I","created_at":"2026-07-05T01:54:06Z"},{"alias_kind":"pith_short_8","alias_value":"KJKFGKC7","created_at":"2026-07-05T01:54:06Z"}],"graph_snapshots":[{"event_id":"sha256:75ca2c351decb9c464be3c1ecd4569adb3e5979a50cd4c517340b945ff3fdade","target":"graph","created_at":"2026-07-05T01:54:06Z","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/2011.11951/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a point cloud based robotic system for arc welding. Using hand gesture controls, the system scans partial point cloud views of workpiece and reconstructs them into a complete 3D model by a linear iterative closest point algorithm. Then, a bilateral filter is extended to denoise the workpiece model and preserve important geometrical information. To extract the welding seam from the model, a novel intensity-based algorithm is proposed that detects edge points and generates a smooth 6-DOF welding path. The methods are tested on multiple workpieces with different joint types an","authors_text":"David Navarro-Alarcon, Maggie Xu, Peng Zhou, Rui Peng, Victor Wu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-24T08:08:01Z","title":"Path Planning with Automatic Seam Extraction over Point Cloud Models for Robotic Arc Welding"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2011.11951","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":"sha256:13356eb1432908cc3dea0d2fc83b73a8bdbca8e0f7c922b86621a3444c733831","target":"record","created_at":"2026-07-05T01:54:06Z","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":"20ae915737b97961a2d9ca7136c309cd7694280dc4a57c9f2cb308471580cea2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-24T08:08:01Z","title_canon_sha256":"ffe049ada9de12146cb1230298fa940ef168a8ff3ea7b5e019ac6b9fb9f06992"},"schema_version":"1.0","source":{"id":"2011.11951","kind":"arxiv","version":1}},"canonical_sha256":"525453285f74e4489fa836aa47806f7eba7abd6641be19ecc4502663f8bc45c2","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"525453285f74e4489fa836aa47806f7eba7abd6641be19ecc4502663f8bc45c2","first_computed_at":"2026-07-05T01:54:06.657100Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:54:06.657100Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"EhSMuDJD3+5icdAKdTvmRxmIrA4Qn4HxXYahrEFRjrjNTI9nPcGyWnVxaAq/aDJzbo2vmcpUyKNx2uFbUFBhCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T01:54:06.657591Z","signed_message":"canonical_sha256_bytes"},"source_id":"2011.11951","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:13356eb1432908cc3dea0d2fc83b73a8bdbca8e0f7c922b86621a3444c733831","sha256:75ca2c351decb9c464be3c1ecd4569adb3e5979a50cd4c517340b945ff3fdade"],"state_sha256":"cbbcd39b134ae3ec295afc7280c1cc24c0b0478f8440fe0b5488d13d6143837a"}