{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2013:LDMBUPGH2WDA23CPMJCXSXA7OJ","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":"ce6dac231f7d79d8c1021ad4d886555d9d4c6eb6b12e27c327947cc4b7dc3613","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2013-09-09T09:20:04Z","title_canon_sha256":"52c29b990ec13e87ee4554282441801a32a2362a4d5298eac213e76fd3735534"},"schema_version":"1.0","source":{"id":"1309.2077","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1309.2077","created_at":"2026-05-18T03:13:47Z"},{"alias_kind":"arxiv_version","alias_value":"1309.2077v1","created_at":"2026-05-18T03:13:47Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1309.2077","created_at":"2026-05-18T03:13:47Z"},{"alias_kind":"pith_short_12","alias_value":"LDMBUPGH2WDA","created_at":"2026-05-18T12:27:51Z"},{"alias_kind":"pith_short_16","alias_value":"LDMBUPGH2WDA23CP","created_at":"2026-05-18T12:27:51Z"},{"alias_kind":"pith_short_8","alias_value":"LDMBUPGH","created_at":"2026-05-18T12:27:51Z"}],"graph_snapshots":[{"event_id":"sha256:9ed38c2a8798136dd592bf465c65dee240ecabf431ec15ec1d7cb17cdffb0681","target":"graph","created_at":"2026-05-18T03:13:47Z","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":"This paper presents a method for robot self-recognition and self-adaptation through the analysis of the contact between the robot end effector and its surrounding environment. Often, in off-line robot programming, the idealized robotic environment (the virtual one) does not reflect accurately the real one. In this situation, we are in the presence of a partially unknown environment (PUE). Thus, robotic systems must have some degree of autonomy to overcome this situation, especially when contact exists. The proposed force/motion control system has an external control loop based on forces and to","authors_text":"Altino Loureiro, J. Norberto Pires, Nuno Mendes, Pedro Neto","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2013-09-09T09:20:04Z","title":"An optimal fuzzy-PI force/motion controller to increase industrial robot autonomy"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1309.2077","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":"sha256:2983426b7c51e26057a3bd2de42358773ea34977e6cc34ce5944605861a2d9e3","target":"record","created_at":"2026-05-18T03:13:47Z","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":"ce6dac231f7d79d8c1021ad4d886555d9d4c6eb6b12e27c327947cc4b7dc3613","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2013-09-09T09:20:04Z","title_canon_sha256":"52c29b990ec13e87ee4554282441801a32a2362a4d5298eac213e76fd3735534"},"schema_version":"1.0","source":{"id":"1309.2077","kind":"arxiv","version":1}},"canonical_sha256":"58d81a3cc7d5860d6c4f6245795c1f724bfe9687892ac8a347bd8a2b96f42a87","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"58d81a3cc7d5860d6c4f6245795c1f724bfe9687892ac8a347bd8a2b96f42a87","first_computed_at":"2026-05-18T03:13:47.283421Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T03:13:47.283421Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"w6uIA1gCSww/Yg13KvNXvWg8+dvMd7vwQUS+b7XHSy3h7cPBzmDr6sF8cA8jzrLgZ3b7sAEdA/wbFGLGugltBg==","signature_status":"signed_v1","signed_at":"2026-05-18T03:13:47.284085Z","signed_message":"canonical_sha256_bytes"},"source_id":"1309.2077","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2983426b7c51e26057a3bd2de42358773ea34977e6cc34ce5944605861a2d9e3","sha256:9ed38c2a8798136dd592bf465c65dee240ecabf431ec15ec1d7cb17cdffb0681"],"state_sha256":"7dc8ade7258a1520c471db6a553fd07916a48a1e6ad302948b0f104e326e4b60"}