Pith Number

pith:OUINL7WJ

pith:2021:OUINL7WJHITMGH7F2II2VENPNH

not attested not anchored not stored refs pending

Optimal Multi-Manipulator Arm Placement for Maximal Dexterity during Robotics Surgery

James Di, Michael C. Yip, Mingwei Xu, Nikhil Das

arxiv:2104.06348 v1 · 2021-04-13 · 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{OUINL7WJHITMGH7F2II2VENPNH}

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	2026-07-05T02:31:31.486685Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

7510d5fec93a26c31fe5d211aa91af69e203b135ff7a2d3006c013fae412ab71

Aliases

arxiv: 2104.06348 · arxiv_version: 2104.06348v1 · doi: 10.48550/arxiv.2104.06348 · pith_short_12: OUINL7WJHITM · pith_short_16: OUINL7WJHITMGH7F · pith_short_8: OUINL7WJ

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/OUINL7WJHITMGH7F2II2VENPNH \
  | 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: 7510d5fec93a26c31fe5d211aa91af69e203b135ff7a2d3006c013fae412ab71

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "2184bf3e31aa812edbc2934d6eb27453f8b30f350ade0349b95c379138d96025",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-04-13T16:45:34Z",
    "title_canon_sha256": "9ac70cf9489ccbe775bd6a0c5d9afac44fb63a1dd1f9a1f9b3874820aef3ad15"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2104.06348",
    "kind": "arxiv",
    "version": 1
  }
}