{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:N5YJR74SUJKH7FV5CFWHB4DFU2","short_pith_number":"pith:N5YJR74S","canonical_record":{"source":{"id":"1809.09566","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CR","submitted_at":"2018-09-24T12:52:14Z","cross_cats_sorted":["cs.NI","cs.RO"],"title_canon_sha256":"2abe728394e20c03ae3d24dc40475c7fb8f778c17ba413f3a333facaba10310d","abstract_canon_sha256":"c2e67f24ec40249f6c40256e60839bff762928677a13ba2da6ad5f0e3d964bc8"},"schema_version":"1.0"},"canonical_sha256":"6f7098ff92a2547f96bd116c70f065a6a5576d4d27cb7053ade2339565ba2c03","source":{"kind":"arxiv","id":"1809.09566","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1809.09566","created_at":"2026-05-18T00:04:50Z"},{"alias_kind":"arxiv_version","alias_value":"1809.09566v1","created_at":"2026-05-18T00:04:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1809.09566","created_at":"2026-05-18T00:04:50Z"},{"alias_kind":"pith_short_12","alias_value":"N5YJR74SUJKH","created_at":"2026-05-18T12:32:40Z"},{"alias_kind":"pith_short_16","alias_value":"N5YJR74SUJKH7FV5","created_at":"2026-05-18T12:32:40Z"},{"alias_kind":"pith_short_8","alias_value":"N5YJR74S","created_at":"2026-05-18T12:32:40Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:N5YJR74SUJKH7FV5CFWHB4DFU2","target":"record","payload":{"canonical_record":{"source":{"id":"1809.09566","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CR","submitted_at":"2018-09-24T12:52:14Z","cross_cats_sorted":["cs.NI","cs.RO"],"title_canon_sha256":"2abe728394e20c03ae3d24dc40475c7fb8f778c17ba413f3a333facaba10310d","abstract_canon_sha256":"c2e67f24ec40249f6c40256e60839bff762928677a13ba2da6ad5f0e3d964bc8"},"schema_version":"1.0"},"canonical_sha256":"6f7098ff92a2547f96bd116c70f065a6a5576d4d27cb7053ade2339565ba2c03","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:04:50.740489Z","signature_b64":"i80kG3viRyLkOZFYq/ZCH/pyLpZYvlIAifMFmyxxOIliGdPDQEcREKIc4i/VV7IBnuFAs3yqVTV/c3T1J5aqAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6f7098ff92a2547f96bd116c70f065a6a5576d4d27cb7053ade2339565ba2c03","last_reissued_at":"2026-05-18T00:04:50.739724Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:04:50.739724Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1809.09566","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":"2026-05-18T00:04:50Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"npdaCVJ7wZQMpHe2Wcm+nploR2E6xDJfTI//5bWUwvPrV2e7huxpxkYHHDGnshoHv96xy+2iPAKj1tWUhLYaDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-02T03:37:02.953528Z"},"content_sha256":"a68bf74d9edf40caddb0df209bf433131ba1158ae0320344109ef3984626f495","schema_version":"1.0","event_id":"sha256:a68bf74d9edf40caddb0df209bf433131ba1158ae0320344109ef3984626f495"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:N5YJR74SUJKH7FV5CFWHB4DFU2","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Security and Performance Considerations in ROS 2: A Balancing Act","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.NI","cs.RO"],"primary_cat":"cs.CR","authors_text":"Calvin Cheung, Jonathon M. Smereka, Jongkil Kim, Marthie Grobler, Surya Nepal","submitted_at":"2018-09-24T12:52:14Z","abstract_excerpt":"Robot Operating System (ROS) 2 is a ground-up re-design of ROS 1 to support performance critical cyber-physical systems (CPSs) using the Data Distribution Service (DDS) middleware. Accordingly, the security of ROS 2 is highly reliant on the security of its DDS communication protocol. However, finding a balance between the performance and security is non-trivial task. Inappropriate security implementations may cause not only significant loss on performance of the system, but also security failures in the system. In this paper, we provide an analysis of the DDS security protocol as well as an ov"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1809.09566","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":"2026-05-18T00:04:50Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mabRX6vm4Lewes89qUQSiRJxi2D8K3F7j6AvQJzNzklAj7SrTogm7JAXmY3xo4llLYXtAN5JhUjgKAsSIx+QDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-02T03:37:02.953879Z"},"content_sha256":"ea87e31d6ac6bcf4124e761152fa7bc68b9af4afb8755fb89300ca8eaf9c4da3","schema_version":"1.0","event_id":"sha256:ea87e31d6ac6bcf4124e761152fa7bc68b9af4afb8755fb89300ca8eaf9c4da3"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/N5YJR74SUJKH7FV5CFWHB4DFU2/bundle.json","state_url":"https://pith.science/pith/N5YJR74SUJKH7FV5CFWHB4DFU2/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/N5YJR74SUJKH7FV5CFWHB4DFU2/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":"2026-06-02T03:37:02Z","links":{"resolver":"https://pith.science/pith/N5YJR74SUJKH7FV5CFWHB4DFU2","bundle":"https://pith.science/pith/N5YJR74SUJKH7FV5CFWHB4DFU2/bundle.json","state":"https://pith.science/pith/N5YJR74SUJKH7FV5CFWHB4DFU2/state.json","well_known_bundle":"https://pith.science/.well-known/pith/N5YJR74SUJKH7FV5CFWHB4DFU2/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:N5YJR74SUJKH7FV5CFWHB4DFU2","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":"c2e67f24ec40249f6c40256e60839bff762928677a13ba2da6ad5f0e3d964bc8","cross_cats_sorted":["cs.NI","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CR","submitted_at":"2018-09-24T12:52:14Z","title_canon_sha256":"2abe728394e20c03ae3d24dc40475c7fb8f778c17ba413f3a333facaba10310d"},"schema_version":"1.0","source":{"id":"1809.09566","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1809.09566","created_at":"2026-05-18T00:04:50Z"},{"alias_kind":"arxiv_version","alias_value":"1809.09566v1","created_at":"2026-05-18T00:04:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1809.09566","created_at":"2026-05-18T00:04:50Z"},{"alias_kind":"pith_short_12","alias_value":"N5YJR74SUJKH","created_at":"2026-05-18T12:32:40Z"},{"alias_kind":"pith_short_16","alias_value":"N5YJR74SUJKH7FV5","created_at":"2026-05-18T12:32:40Z"},{"alias_kind":"pith_short_8","alias_value":"N5YJR74S","created_at":"2026-05-18T12:32:40Z"}],"graph_snapshots":[{"event_id":"sha256:ea87e31d6ac6bcf4124e761152fa7bc68b9af4afb8755fb89300ca8eaf9c4da3","target":"graph","created_at":"2026-05-18T00:04:50Z","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":"Robot Operating System (ROS) 2 is a ground-up re-design of ROS 1 to support performance critical cyber-physical systems (CPSs) using the Data Distribution Service (DDS) middleware. Accordingly, the security of ROS 2 is highly reliant on the security of its DDS communication protocol. However, finding a balance between the performance and security is non-trivial task. Inappropriate security implementations may cause not only significant loss on performance of the system, but also security failures in the system. In this paper, we provide an analysis of the DDS security protocol as well as an ov","authors_text":"Calvin Cheung, Jonathon M. Smereka, Jongkil Kim, Marthie Grobler, Surya Nepal","cross_cats":["cs.NI","cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CR","submitted_at":"2018-09-24T12:52:14Z","title":"Security and Performance Considerations in ROS 2: A Balancing Act"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1809.09566","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:a68bf74d9edf40caddb0df209bf433131ba1158ae0320344109ef3984626f495","target":"record","created_at":"2026-05-18T00:04:50Z","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":"c2e67f24ec40249f6c40256e60839bff762928677a13ba2da6ad5f0e3d964bc8","cross_cats_sorted":["cs.NI","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CR","submitted_at":"2018-09-24T12:52:14Z","title_canon_sha256":"2abe728394e20c03ae3d24dc40475c7fb8f778c17ba413f3a333facaba10310d"},"schema_version":"1.0","source":{"id":"1809.09566","kind":"arxiv","version":1}},"canonical_sha256":"6f7098ff92a2547f96bd116c70f065a6a5576d4d27cb7053ade2339565ba2c03","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6f7098ff92a2547f96bd116c70f065a6a5576d4d27cb7053ade2339565ba2c03","first_computed_at":"2026-05-18T00:04:50.739724Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:04:50.739724Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"i80kG3viRyLkOZFYq/ZCH/pyLpZYvlIAifMFmyxxOIliGdPDQEcREKIc4i/VV7IBnuFAs3yqVTV/c3T1J5aqAg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:04:50.740489Z","signed_message":"canonical_sha256_bytes"},"source_id":"1809.09566","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a68bf74d9edf40caddb0df209bf433131ba1158ae0320344109ef3984626f495","sha256:ea87e31d6ac6bcf4124e761152fa7bc68b9af4afb8755fb89300ca8eaf9c4da3"],"state_sha256":"5cc101a701a9eac88a94624184c1ee176f70b9d7bffb5e9a72ef63a0f330d5bc"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"OfH6/h0clMel/4+7qPSij0djwr7ucFuJj5BnVhP8XEyg+9jm5sN+iNBRxjfzuaaBR3At1Lz6nNv/ou3si5JICA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-02T03:37:02.956044Z","bundle_sha256":"e4e6d227a267f7433f52873f3c6d08b6190693e88a14fb6a5ef9cdc76e56dde9"}}