{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:MB6M4VG4I74QRXBHTAFQZSLEB5","short_pith_number":"pith:MB6M4VG4","canonical_record":{"source":{"id":"1911.05639","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-11-13T17:16:51Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"15d8e28d83abfc1ac4c939bf14f5ca94dbb655c540fabdba82e112762a64deaf","abstract_canon_sha256":"7fe957ecc7f8899842fb470fe406f92d1aba51fada19a43b6270a8210eb21c2b"},"schema_version":"1.0"},"canonical_sha256":"607cce54dc47f908dc27980b0cc9640f470d0e20ca4ca017857aa9605c08714e","source":{"kind":"arxiv","id":"1911.05639","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1911.05639","created_at":"2026-07-05T00:49:00Z"},{"alias_kind":"arxiv_version","alias_value":"1911.05639v1","created_at":"2026-07-05T00:49:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1911.05639","created_at":"2026-07-05T00:49:00Z"},{"alias_kind":"pith_short_12","alias_value":"MB6M4VG4I74Q","created_at":"2026-07-05T00:49:00Z"},{"alias_kind":"pith_short_16","alias_value":"MB6M4VG4I74QRXBH","created_at":"2026-07-05T00:49:00Z"},{"alias_kind":"pith_short_8","alias_value":"MB6M4VG4","created_at":"2026-07-05T00:49:00Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:MB6M4VG4I74QRXBHTAFQZSLEB5","target":"record","payload":{"canonical_record":{"source":{"id":"1911.05639","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-11-13T17:16:51Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"15d8e28d83abfc1ac4c939bf14f5ca94dbb655c540fabdba82e112762a64deaf","abstract_canon_sha256":"7fe957ecc7f8899842fb470fe406f92d1aba51fada19a43b6270a8210eb21c2b"},"schema_version":"1.0"},"canonical_sha256":"607cce54dc47f908dc27980b0cc9640f470d0e20ca4ca017857aa9605c08714e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:49:00.996366Z","signature_b64":"jvWRP1AJnvfPOB0I8BtjsQ3lI8lrymiL8Vn9Y1ZV8gpA4+EMMYhmlTOjQiv2FNSzp+gOx+23eRv5z22s/mOgDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"607cce54dc47f908dc27980b0cc9640f470d0e20ca4ca017857aa9605c08714e","last_reissued_at":"2026-07-05T00:49:00.995885Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:49:00.995885Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1911.05639","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":"2026-07-05T00:49:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"GqwxGPBcg1n2SG4nmrbb/TRKhL3xUlhvGg1Nv8EkeRlQNbf8dUBvz/jlgGpxQEGJDy8wMi6uhcSpgX+1ZFDRCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T23:26:46.326658Z"},"content_sha256":"f49b079a55a7f2eaa62e703f0adc187a5be0389b0bc374a76fe09618b4864dc9","schema_version":"1.0","event_id":"sha256:f49b079a55a7f2eaa62e703f0adc187a5be0389b0bc374a76fe09618b4864dc9"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:MB6M4VG4I74QRXBHTAFQZSLEB5","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Design of a Ballistically-Launched Foldable Multirotor","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Amanda Bouman, Brett Kennedy, Daniel Pastor, Jacob Izraelevitz, Joel Burdick, Paul Nadan","submitted_at":"2019-11-13T17:16:51Z","abstract_excerpt":"The operation of multirotors in crowded environments requires a highly reliable takeoff method, as failures during takeoff can damage more valuable assets nearby. The addition of a ballistic launch system imposes a deterministic path for the multirotor to prevent collisions with its environment, as well as increases the multirotor's range of operation and allows deployment from an unsteady platform. In addition, outfitting planetary rovers or entry vehicles with such deployable multirotors has the potential to greatly extend the data collection capabilities of a mission. A proof-of-concept mul"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1911.05639","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/1911.05639/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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":"2026-07-05T00:49:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IAW3ocrMivpvA32xXrVGxEp0wnQxpF3+zU2dNS69rUyYJp6x/nc8FIHDM6Lu87DEK6mpIDENnkoVX7OzZUazAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T23:26:46.327038Z"},"content_sha256":"63e72d9add90775f56127064d67a912d06a6825fcbccb95642e83161c0230037","schema_version":"1.0","event_id":"sha256:63e72d9add90775f56127064d67a912d06a6825fcbccb95642e83161c0230037"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/MB6M4VG4I74QRXBHTAFQZSLEB5/bundle.json","state_url":"https://pith.science/pith/MB6M4VG4I74QRXBHTAFQZSLEB5/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/MB6M4VG4I74QRXBHTAFQZSLEB5/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":"2026-07-06T23:26:46Z","links":{"resolver":"https://pith.science/pith/MB6M4VG4I74QRXBHTAFQZSLEB5","bundle":"https://pith.science/pith/MB6M4VG4I74QRXBHTAFQZSLEB5/bundle.json","state":"https://pith.science/pith/MB6M4VG4I74QRXBHTAFQZSLEB5/state.json","well_known_bundle":"https://pith.science/.well-known/pith/MB6M4VG4I74QRXBHTAFQZSLEB5/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:MB6M4VG4I74QRXBHTAFQZSLEB5","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":"7fe957ecc7f8899842fb470fe406f92d1aba51fada19a43b6270a8210eb21c2b","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-11-13T17:16:51Z","title_canon_sha256":"15d8e28d83abfc1ac4c939bf14f5ca94dbb655c540fabdba82e112762a64deaf"},"schema_version":"1.0","source":{"id":"1911.05639","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1911.05639","created_at":"2026-07-05T00:49:00Z"},{"alias_kind":"arxiv_version","alias_value":"1911.05639v1","created_at":"2026-07-05T00:49:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1911.05639","created_at":"2026-07-05T00:49:00Z"},{"alias_kind":"pith_short_12","alias_value":"MB6M4VG4I74Q","created_at":"2026-07-05T00:49:00Z"},{"alias_kind":"pith_short_16","alias_value":"MB6M4VG4I74QRXBH","created_at":"2026-07-05T00:49:00Z"},{"alias_kind":"pith_short_8","alias_value":"MB6M4VG4","created_at":"2026-07-05T00:49:00Z"}],"graph_snapshots":[{"event_id":"sha256:63e72d9add90775f56127064d67a912d06a6825fcbccb95642e83161c0230037","target":"graph","created_at":"2026-07-05T00:49:00Z","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/1911.05639/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The operation of multirotors in crowded environments requires a highly reliable takeoff method, as failures during takeoff can damage more valuable assets nearby. The addition of a ballistic launch system imposes a deterministic path for the multirotor to prevent collisions with its environment, as well as increases the multirotor's range of operation and allows deployment from an unsteady platform. In addition, outfitting planetary rovers or entry vehicles with such deployable multirotors has the potential to greatly extend the data collection capabilities of a mission. A proof-of-concept mul","authors_text":"Amanda Bouman, Brett Kennedy, Daniel Pastor, Jacob Izraelevitz, Joel Burdick, Paul Nadan","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-11-13T17:16:51Z","title":"Design of a Ballistically-Launched Foldable Multirotor"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1911.05639","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:f49b079a55a7f2eaa62e703f0adc187a5be0389b0bc374a76fe09618b4864dc9","target":"record","created_at":"2026-07-05T00:49:00Z","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":"7fe957ecc7f8899842fb470fe406f92d1aba51fada19a43b6270a8210eb21c2b","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-11-13T17:16:51Z","title_canon_sha256":"15d8e28d83abfc1ac4c939bf14f5ca94dbb655c540fabdba82e112762a64deaf"},"schema_version":"1.0","source":{"id":"1911.05639","kind":"arxiv","version":1}},"canonical_sha256":"607cce54dc47f908dc27980b0cc9640f470d0e20ca4ca017857aa9605c08714e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"607cce54dc47f908dc27980b0cc9640f470d0e20ca4ca017857aa9605c08714e","first_computed_at":"2026-07-05T00:49:00.995885Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:49:00.995885Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"jvWRP1AJnvfPOB0I8BtjsQ3lI8lrymiL8Vn9Y1ZV8gpA4+EMMYhmlTOjQiv2FNSzp+gOx+23eRv5z22s/mOgDw==","signature_status":"signed_v1","signed_at":"2026-07-05T00:49:00.996366Z","signed_message":"canonical_sha256_bytes"},"source_id":"1911.05639","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f49b079a55a7f2eaa62e703f0adc187a5be0389b0bc374a76fe09618b4864dc9","sha256:63e72d9add90775f56127064d67a912d06a6825fcbccb95642e83161c0230037"],"state_sha256":"031cf29551751c9637d4a2d3b18000b2112296398c43a7ac17ec493e51a88ee7"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"OJb8z4OvpEMpo2stFjQytZB94ywZvciJHydGOas7RTfrmG5biTkHAfv6VH8h04TveCzj10yDyQ1vyB6r2w9YBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T23:26:46.329053Z","bundle_sha256":"adffbb8ea60040c481456a32488fead222f913ce989950a97e27a5d1c05e2ab4"}}