{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:P4S6ULWDPLFI57XEMWNJWC3TNJ","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":"d2d00b73bc39cf75de8cd94ae3443a4877d8365a28ef53f088af26f8785ec6db","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-29T05:13:05Z","title_canon_sha256":"4abfc477b2533264d29da040134c50068d810a0bd0e1162847063bdac59ec3f3"},"schema_version":"1.0","source":{"id":"2605.30849","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.30849","created_at":"2026-06-01T01:03:20Z"},{"alias_kind":"arxiv_version","alias_value":"2605.30849v1","created_at":"2026-06-01T01:03:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.30849","created_at":"2026-06-01T01:03:20Z"},{"alias_kind":"pith_short_12","alias_value":"P4S6ULWDPLFI","created_at":"2026-06-01T01:03:20Z"},{"alias_kind":"pith_short_16","alias_value":"P4S6ULWDPLFI57XE","created_at":"2026-06-01T01:03:20Z"},{"alias_kind":"pith_short_8","alias_value":"P4S6ULWD","created_at":"2026-06-01T01:03:20Z"}],"graph_snapshots":[{"event_id":"sha256:914b837517bcc9cebab9d805595b24fc0e92ae69619a3c8141335428747b37dd","target":"graph","created_at":"2026-06-01T01:03:20Z","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/2605.30849/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"To enable reliable climbing locomotion of quadruped robots on ferromagnetic surfaces, this paper presents a high-load-density electro-permanent magnetic foot with controllable adhesion, featuring force-feedback circular Halbach-net electro-permanent magnet (CHN-EPM) adhesion units and a magnetization control system. Due to its three-dimensional magnetic circuit structure and flux-concentration effect, the CHN-EPM enables a distributed parallel magnetic flux path with enhanced flux utilization, resulting in reduced sensitivity to air-gap variations and allowing effective adhesion to be maintain","authors_text":"An Li, Bo Tao, Han Ding, I-Ming Chen","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-29T05:13:05Z","title":"High-Load-Density Electro-Permanent Magnetic Foot with Controllable Adhesion for Quadruped Wall-Climbing Robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.30849","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:e8a95b4b0020ffff932aca5a03de259cebffe4cfdbeaa019729e1953d5b33bd7","target":"record","created_at":"2026-06-01T01:03:20Z","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":"d2d00b73bc39cf75de8cd94ae3443a4877d8365a28ef53f088af26f8785ec6db","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-29T05:13:05Z","title_canon_sha256":"4abfc477b2533264d29da040134c50068d810a0bd0e1162847063bdac59ec3f3"},"schema_version":"1.0","source":{"id":"2605.30849","kind":"arxiv","version":1}},"canonical_sha256":"7f25ea2ec37aca8efee4659a9b0b736a722131a228da59fde8cb7a0cc321ec9f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7f25ea2ec37aca8efee4659a9b0b736a722131a228da59fde8cb7a0cc321ec9f","first_computed_at":"2026-06-01T01:03:20.917813Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-01T01:03:20.917813Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"x78W+FF+mP5cTiiaCMdnqEQ2AiJSmxCvV5mtRvHkRbRNXPqhk2TtwjmqSoN0zVlMrVYWRGWb+NirjTpTTnIvBQ==","signature_status":"signed_v1","signed_at":"2026-06-01T01:03:20.918603Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.30849","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e8a95b4b0020ffff932aca5a03de259cebffe4cfdbeaa019729e1953d5b33bd7","sha256:914b837517bcc9cebab9d805595b24fc0e92ae69619a3c8141335428747b37dd"],"state_sha256":"ba6a3cffe057e8e33f73a35857f3dab92c069f64876afe93590d9981f70171cb"}