Pith Number

pith:KTSBNWQS

pith:2019:KTSBNWQSKMYWMJHHNHGATPKUK3

not attested not anchored not stored refs pending

Decentralized Impedance Control for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems under Lean Communication

Charalampos P. Bechlioulis, George C. Karras, Kostas J. Kyriakopoulos, Shahab Heshmati-Alamdari

arxiv:1905.04531 v1 · 2019-05-11 · cs.RO

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{KTSBNWQSKMYWMJHHNHGATPKUK3}

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	2026-05-17T23:46:24.518382Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

54e416da1253316624e769cc09bd5456cd74e53b6951363c7f08c375e9b3fec4

Aliases

arxiv: 1905.04531 · arxiv_version: 1905.04531v1 · doi: 10.48550/arxiv.1905.04531 · pith_short_12: KTSBNWQSKMYW · pith_short_16: KTSBNWQSKMYWMJHH · pith_short_8: KTSBNWQS

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/KTSBNWQSKMYWMJHHNHGATPKUK3 \
  | 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: 54e416da1253316624e769cc09bd5456cd74e53b6951363c7f08c375e9b3fec4

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "3f0e4cb74470690d3c081eb2e28ccb1d14b77a592710f4b83e53bc32a8a2bbae",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-05-11T14:25:34Z",
    "title_canon_sha256": "dd35e90273aca05e7b1cc17e80f719c6349d18333d61d307ac49be0eb03332c0"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1905.04531",
    "kind": "arxiv",
    "version": 1
  }
}