{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:KLYJIV2UCY7IREMVMEKO6WWJDK","short_pith_number":"pith:KLYJIV2U","canonical_record":{"source":{"id":"1809.07940","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-21T04:28:49Z","cross_cats_sorted":[],"title_canon_sha256":"582e60483b00dc6fb3dd5aea7efcfabcd5658cbf729260da5562008ed394bf1d","abstract_canon_sha256":"3839e488e652ed8b90e9ee9353cd8cea803811df62501fcfa7d339dea716a148"},"schema_version":"1.0"},"canonical_sha256":"52f0945754163e8891956114ef5ac91a8eb629b7f4ff83e17edf4934bb40c632","source":{"kind":"arxiv","id":"1809.07940","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1809.07940","created_at":"2026-05-18T00:05:10Z"},{"alias_kind":"arxiv_version","alias_value":"1809.07940v1","created_at":"2026-05-18T00:05:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1809.07940","created_at":"2026-05-18T00:05:10Z"},{"alias_kind":"pith_short_12","alias_value":"KLYJIV2UCY7I","created_at":"2026-05-18T12:32:33Z"},{"alias_kind":"pith_short_16","alias_value":"KLYJIV2UCY7IREMV","created_at":"2026-05-18T12:32:33Z"},{"alias_kind":"pith_short_8","alias_value":"KLYJIV2U","created_at":"2026-05-18T12:32:33Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:KLYJIV2UCY7IREMVMEKO6WWJDK","target":"record","payload":{"canonical_record":{"source":{"id":"1809.07940","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-21T04:28:49Z","cross_cats_sorted":[],"title_canon_sha256":"582e60483b00dc6fb3dd5aea7efcfabcd5658cbf729260da5562008ed394bf1d","abstract_canon_sha256":"3839e488e652ed8b90e9ee9353cd8cea803811df62501fcfa7d339dea716a148"},"schema_version":"1.0"},"canonical_sha256":"52f0945754163e8891956114ef5ac91a8eb629b7f4ff83e17edf4934bb40c632","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:05:10.843496Z","signature_b64":"5Mpc5fQ00D9GvERUCp9R0l/bROye127hELwxoHQqylAIIc7/SY9Dy1HoU9wG3mLJ+whnmBe2tAf0D5MmeRKBBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"52f0945754163e8891956114ef5ac91a8eb629b7f4ff83e17edf4934bb40c632","last_reissued_at":"2026-05-18T00:05:10.842866Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:05:10.842866Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1809.07940","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":"2026-05-18T00:05:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Hm05cYFuRbA0zjGjm3C4H+r/udp4qpCgz79yklH25SnsbG3IodsVxREUuk0vQenXBqUKt6f6yhKYXsJrFk5fCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-25T23:22:28.894930Z"},"content_sha256":"c1587e3c10ff542e43cce3bfb5b5599c09233e4ee181eaab72c320cf44612ff1","schema_version":"1.0","event_id":"sha256:c1587e3c10ff542e43cce3bfb5b5599c09233e4ee181eaab72c320cf44612ff1"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:KLYJIV2UCY7IREMVMEKO6WWJDK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Printing-while-moving: a new paradigm for large-scale robotic 3D Printing","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Mehmet Efe Tiryaki, Quang-Cuong Pham, Xu Zhang","submitted_at":"2018-09-21T04:28:49Z","abstract_excerpt":"Building and Construction have recently become an exciting application ground for robotics. In particular, rapid progress in materials formulation and in robotics technology has made robotic 3D Printing of concrete a promising technique for in-situ construction. Yet, scalability remains an important hurdle to widespread adoption: the printing systems (gantry- based or arm-based) are often much larger than the structure to be printed, hence cumbersome. Recently, a mobile printing system - a manipulator mounted on a mobile base - was proposed to alleviate this issue: such a system, by moving its"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1809.07940","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":"2026-05-18T00:05:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"p57n+2usbeii7yGweGkEoArqg+oMvsvOGi2+o6MVPgNXnkrfyBK3QaVumBB/clqPPANX8JwPc4fbdfDITK2kBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-25T23:22:28.895653Z"},"content_sha256":"e8c0d73d66488322d5e3ad64f0512a5ec4fd9a1dbebd9115078e10e34446c28a","schema_version":"1.0","event_id":"sha256:e8c0d73d66488322d5e3ad64f0512a5ec4fd9a1dbebd9115078e10e34446c28a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/KLYJIV2UCY7IREMVMEKO6WWJDK/bundle.json","state_url":"https://pith.science/pith/KLYJIV2UCY7IREMVMEKO6WWJDK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/KLYJIV2UCY7IREMVMEKO6WWJDK/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":"2026-05-25T23:22:28Z","links":{"resolver":"https://pith.science/pith/KLYJIV2UCY7IREMVMEKO6WWJDK","bundle":"https://pith.science/pith/KLYJIV2UCY7IREMVMEKO6WWJDK/bundle.json","state":"https://pith.science/pith/KLYJIV2UCY7IREMVMEKO6WWJDK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/KLYJIV2UCY7IREMVMEKO6WWJDK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:KLYJIV2UCY7IREMVMEKO6WWJDK","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":"3839e488e652ed8b90e9ee9353cd8cea803811df62501fcfa7d339dea716a148","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-21T04:28:49Z","title_canon_sha256":"582e60483b00dc6fb3dd5aea7efcfabcd5658cbf729260da5562008ed394bf1d"},"schema_version":"1.0","source":{"id":"1809.07940","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1809.07940","created_at":"2026-05-18T00:05:10Z"},{"alias_kind":"arxiv_version","alias_value":"1809.07940v1","created_at":"2026-05-18T00:05:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1809.07940","created_at":"2026-05-18T00:05:10Z"},{"alias_kind":"pith_short_12","alias_value":"KLYJIV2UCY7I","created_at":"2026-05-18T12:32:33Z"},{"alias_kind":"pith_short_16","alias_value":"KLYJIV2UCY7IREMV","created_at":"2026-05-18T12:32:33Z"},{"alias_kind":"pith_short_8","alias_value":"KLYJIV2U","created_at":"2026-05-18T12:32:33Z"}],"graph_snapshots":[{"event_id":"sha256:e8c0d73d66488322d5e3ad64f0512a5ec4fd9a1dbebd9115078e10e34446c28a","target":"graph","created_at":"2026-05-18T00:05:10Z","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":"Building and Construction have recently become an exciting application ground for robotics. In particular, rapid progress in materials formulation and in robotics technology has made robotic 3D Printing of concrete a promising technique for in-situ construction. Yet, scalability remains an important hurdle to widespread adoption: the printing systems (gantry- based or arm-based) are often much larger than the structure to be printed, hence cumbersome. Recently, a mobile printing system - a manipulator mounted on a mobile base - was proposed to alleviate this issue: such a system, by moving its","authors_text":"Mehmet Efe Tiryaki, Quang-Cuong Pham, Xu Zhang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-21T04:28:49Z","title":"Printing-while-moving: a new paradigm for large-scale robotic 3D Printing"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1809.07940","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:c1587e3c10ff542e43cce3bfb5b5599c09233e4ee181eaab72c320cf44612ff1","target":"record","created_at":"2026-05-18T00:05:10Z","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":"3839e488e652ed8b90e9ee9353cd8cea803811df62501fcfa7d339dea716a148","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-21T04:28:49Z","title_canon_sha256":"582e60483b00dc6fb3dd5aea7efcfabcd5658cbf729260da5562008ed394bf1d"},"schema_version":"1.0","source":{"id":"1809.07940","kind":"arxiv","version":1}},"canonical_sha256":"52f0945754163e8891956114ef5ac91a8eb629b7f4ff83e17edf4934bb40c632","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"52f0945754163e8891956114ef5ac91a8eb629b7f4ff83e17edf4934bb40c632","first_computed_at":"2026-05-18T00:05:10.842866Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:05:10.842866Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"5Mpc5fQ00D9GvERUCp9R0l/bROye127hELwxoHQqylAIIc7/SY9Dy1HoU9wG3mLJ+whnmBe2tAf0D5MmeRKBBA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:05:10.843496Z","signed_message":"canonical_sha256_bytes"},"source_id":"1809.07940","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c1587e3c10ff542e43cce3bfb5b5599c09233e4ee181eaab72c320cf44612ff1","sha256:e8c0d73d66488322d5e3ad64f0512a5ec4fd9a1dbebd9115078e10e34446c28a"],"state_sha256":"9bc6d48994874c55187087995d4957a206dcb478d06ce7b1163b5ae7c547714c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6aPQiubCsz7EtUJnWoci0hn6+4T8RnjDy19WZmbexjQlibr1hACPmIZpqDv6aQIPcnidE+rsx684XERPUzNzCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-25T23:22:28.899650Z","bundle_sha256":"416fb7d1d7679a97999ef999d80c844d56d749203413a3d1d345c343b579d503"}}