{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:N632ENZEZBWQ3SWYQKA5S7PDIJ","short_pith_number":"pith:N632ENZE","canonical_record":{"source":{"id":"2207.01214","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-07-04T05:46:32Z","cross_cats_sorted":[],"title_canon_sha256":"ec72f116c1bc95763e3b23c651c1ad0f530b4e9105832242e8b496fd6fae969d","abstract_canon_sha256":"c09157b298a903e05b1103394a54a49e8adb413e220b1e1d3230143c8fdeed10"},"schema_version":"1.0"},"canonical_sha256":"6fb7a23724c86d0dcad88281d97de3425e2be38d858df3bbfe07490c5244afaa","source":{"kind":"arxiv","id":"2207.01214","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2207.01214","created_at":"2026-07-05T04:37:09Z"},{"alias_kind":"arxiv_version","alias_value":"2207.01214v1","created_at":"2026-07-05T04:37:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2207.01214","created_at":"2026-07-05T04:37:09Z"},{"alias_kind":"pith_short_12","alias_value":"N632ENZEZBWQ","created_at":"2026-07-05T04:37:09Z"},{"alias_kind":"pith_short_16","alias_value":"N632ENZEZBWQ3SWY","created_at":"2026-07-05T04:37:09Z"},{"alias_kind":"pith_short_8","alias_value":"N632ENZE","created_at":"2026-07-05T04:37:09Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:N632ENZEZBWQ3SWYQKA5S7PDIJ","target":"record","payload":{"canonical_record":{"source":{"id":"2207.01214","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-07-04T05:46:32Z","cross_cats_sorted":[],"title_canon_sha256":"ec72f116c1bc95763e3b23c651c1ad0f530b4e9105832242e8b496fd6fae969d","abstract_canon_sha256":"c09157b298a903e05b1103394a54a49e8adb413e220b1e1d3230143c8fdeed10"},"schema_version":"1.0"},"canonical_sha256":"6fb7a23724c86d0dcad88281d97de3425e2be38d858df3bbfe07490c5244afaa","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:37:09.431110Z","signature_b64":"XG3RFjIBFB+iF+VOw+f4A97cjdGIcBTR8cXwMN4F7LqRHbQdQOIqk3v3rRIDl3da6huGrvhc7w7Z1fdV4vuABQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6fb7a23724c86d0dcad88281d97de3425e2be38d858df3bbfe07490c5244afaa","last_reissued_at":"2026-07-05T04:37:09.430607Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:37:09.430607Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2207.01214","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":"2026-07-05T04:37:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zPRxeAnjkz9uE3gZFERnYNzOIaHJkZhvDvcSdwpdw5QYosgj8xr3TKthhORhWGqRaGmFvKE1pbOIjw3MZYkSAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T09:16:47.912367Z"},"content_sha256":"1ee367dd09308bdc4c3039f32529a544315978e5a24c517554101e657815d83b","schema_version":"1.0","event_id":"sha256:1ee367dd09308bdc4c3039f32529a544315978e5a24c517554101e657815d83b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:N632ENZEZBWQ3SWYQKA5S7PDIJ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Integrating a Manual Pipette into a Collaborative Robot Manipulator for Flexible Liquid Dispensing","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Junbo Zhang, Kensuke Harada, Miki Fujita, Nobuyuki Tanaka, Weiwei Wan","submitted_at":"2022-07-04T05:46:32Z","abstract_excerpt":"This paper presents a system integration approach for a 6-DoF (Degree of Freedom) collaborative robot to operate a pipette for liquid dispensing. Its technical development is threefold. First, we designed an end-effector for holding and triggering manual pipettes. Second, we took advantage of a collaborative robot to recognize labware poses and planned robotic motion based on the recognized poses. Third, we developed vision-based classifiers to predict and correct positioning errors and thus precisely attached pipettes to disposable tips. Through experiments and analysis, we confirmed that the"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2207.01214","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/2207.01214/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":"2026-07-05T04:37:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IVu7UIr2KJuflVIDJntYew3MayJZ3lB1OrLYI/V2onlB/gM7a3GSbOVhsX7UTMUH17q1BWBqng80JpI3FSpfAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T09:16:47.913278Z"},"content_sha256":"dc4e52921feb4b23b66a74a185cdb930274428b5b12c1d81d2b3710d2ead597e","schema_version":"1.0","event_id":"sha256:dc4e52921feb4b23b66a74a185cdb930274428b5b12c1d81d2b3710d2ead597e"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/N632ENZEZBWQ3SWYQKA5S7PDIJ/bundle.json","state_url":"https://pith.science/pith/N632ENZEZBWQ3SWYQKA5S7PDIJ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/N632ENZEZBWQ3SWYQKA5S7PDIJ/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":"2026-08-05T09:16:47Z","links":{"resolver":"https://pith.science/pith/N632ENZEZBWQ3SWYQKA5S7PDIJ","bundle":"https://pith.science/pith/N632ENZEZBWQ3SWYQKA5S7PDIJ/bundle.json","state":"https://pith.science/pith/N632ENZEZBWQ3SWYQKA5S7PDIJ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/N632ENZEZBWQ3SWYQKA5S7PDIJ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:N632ENZEZBWQ3SWYQKA5S7PDIJ","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":"c09157b298a903e05b1103394a54a49e8adb413e220b1e1d3230143c8fdeed10","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-07-04T05:46:32Z","title_canon_sha256":"ec72f116c1bc95763e3b23c651c1ad0f530b4e9105832242e8b496fd6fae969d"},"schema_version":"1.0","source":{"id":"2207.01214","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2207.01214","created_at":"2026-07-05T04:37:09Z"},{"alias_kind":"arxiv_version","alias_value":"2207.01214v1","created_at":"2026-07-05T04:37:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2207.01214","created_at":"2026-07-05T04:37:09Z"},{"alias_kind":"pith_short_12","alias_value":"N632ENZEZBWQ","created_at":"2026-07-05T04:37:09Z"},{"alias_kind":"pith_short_16","alias_value":"N632ENZEZBWQ3SWY","created_at":"2026-07-05T04:37:09Z"},{"alias_kind":"pith_short_8","alias_value":"N632ENZE","created_at":"2026-07-05T04:37:09Z"}],"graph_snapshots":[{"event_id":"sha256:dc4e52921feb4b23b66a74a185cdb930274428b5b12c1d81d2b3710d2ead597e","target":"graph","created_at":"2026-07-05T04:37:09Z","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/2207.01214/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a system integration approach for a 6-DoF (Degree of Freedom) collaborative robot to operate a pipette for liquid dispensing. Its technical development is threefold. First, we designed an end-effector for holding and triggering manual pipettes. Second, we took advantage of a collaborative robot to recognize labware poses and planned robotic motion based on the recognized poses. Third, we developed vision-based classifiers to predict and correct positioning errors and thus precisely attached pipettes to disposable tips. Through experiments and analysis, we confirmed that the","authors_text":"Junbo Zhang, Kensuke Harada, Miki Fujita, Nobuyuki Tanaka, Weiwei Wan","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-07-04T05:46:32Z","title":"Integrating a Manual Pipette into a Collaborative Robot Manipulator for Flexible Liquid Dispensing"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2207.01214","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":"sha256:1ee367dd09308bdc4c3039f32529a544315978e5a24c517554101e657815d83b","target":"record","created_at":"2026-07-05T04:37:09Z","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":"c09157b298a903e05b1103394a54a49e8adb413e220b1e1d3230143c8fdeed10","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-07-04T05:46:32Z","title_canon_sha256":"ec72f116c1bc95763e3b23c651c1ad0f530b4e9105832242e8b496fd6fae969d"},"schema_version":"1.0","source":{"id":"2207.01214","kind":"arxiv","version":1}},"canonical_sha256":"6fb7a23724c86d0dcad88281d97de3425e2be38d858df3bbfe07490c5244afaa","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6fb7a23724c86d0dcad88281d97de3425e2be38d858df3bbfe07490c5244afaa","first_computed_at":"2026-07-05T04:37:09.430607Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:37:09.430607Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"XG3RFjIBFB+iF+VOw+f4A97cjdGIcBTR8cXwMN4F7LqRHbQdQOIqk3v3rRIDl3da6huGrvhc7w7Z1fdV4vuABQ==","signature_status":"signed_v1","signed_at":"2026-07-05T04:37:09.431110Z","signed_message":"canonical_sha256_bytes"},"source_id":"2207.01214","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1ee367dd09308bdc4c3039f32529a544315978e5a24c517554101e657815d83b","sha256:dc4e52921feb4b23b66a74a185cdb930274428b5b12c1d81d2b3710d2ead597e"],"state_sha256":"f17dd96875c4dbba18e9cca32a81ec1248a1b9f2c6bb427b502e0ff04652ccc1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"RhoHJKSPpoe69ML1eqImvnvp9qIOTXA5mbzUnWAps1KKTcpecHVnpEWG6IqgiPzugLiIx7bixdpoJl3Ks/lrBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T09:16:47.921695Z","bundle_sha256":"9def1e6ec92d2d0b9bf7518e458abea7dd128e3667493a1ba1b749247d99c69e"}}