{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:P775CO3U74RNEAV7R5OI5SWZQA","short_pith_number":"pith:P775CO3U","canonical_record":{"source":{"id":"2111.11143","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-11-22T12:10:12Z","cross_cats_sorted":[],"title_canon_sha256":"ef9f37e4acc04a12206b590bcd6b801bfa480818275382aa5ad784f5a6a836af","abstract_canon_sha256":"e9ddaa9e8387322f54725019e9cbc7bd870bc0f03e7efa4197eb89eff3ff7964"},"schema_version":"1.0"},"canonical_sha256":"7fffd13b74ff22d202bf8f5c8ecad98027db9a04a3d9e193caeb2ff61b60a9f0","source":{"kind":"arxiv","id":"2111.11143","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2111.11143","created_at":"2026-07-05T04:30:19Z"},{"alias_kind":"arxiv_version","alias_value":"2111.11143v1","created_at":"2026-07-05T04:30:19Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2111.11143","created_at":"2026-07-05T04:30:19Z"},{"alias_kind":"pith_short_12","alias_value":"P775CO3U74RN","created_at":"2026-07-05T04:30:19Z"},{"alias_kind":"pith_short_16","alias_value":"P775CO3U74RNEAV7","created_at":"2026-07-05T04:30:19Z"},{"alias_kind":"pith_short_8","alias_value":"P775CO3U","created_at":"2026-07-05T04:30:19Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:P775CO3U74RNEAV7R5OI5SWZQA","target":"record","payload":{"canonical_record":{"source":{"id":"2111.11143","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-11-22T12:10:12Z","cross_cats_sorted":[],"title_canon_sha256":"ef9f37e4acc04a12206b590bcd6b801bfa480818275382aa5ad784f5a6a836af","abstract_canon_sha256":"e9ddaa9e8387322f54725019e9cbc7bd870bc0f03e7efa4197eb89eff3ff7964"},"schema_version":"1.0"},"canonical_sha256":"7fffd13b74ff22d202bf8f5c8ecad98027db9a04a3d9e193caeb2ff61b60a9f0","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:30:19.969674Z","signature_b64":"Y0YdX9SN5PO18DKVXKWmvypsz4PDojXXG5AJ4j2B2Jc+Z9njv75yntaJX/r+WlnYVaRm0sCxYOcCHdvvovrpCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7fffd13b74ff22d202bf8f5c8ecad98027db9a04a3d9e193caeb2ff61b60a9f0","last_reissued_at":"2026-07-05T04:30:19.969180Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:30:19.969180Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2111.11143","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":"2026-07-05T04:30:19Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/m4iyGPxxxO16B6AeT4wRjKAkpl7pLuaflJGxm/yA+xsK6b2R9aKd8Ze3YImnB//33GI1rSDdKGXdCyp1VjGAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-17T02:10:26.397466Z"},"content_sha256":"4e07d3cc83d9b3c6438d750369ee4e11c0d3efbb4d35bc7c12357edf486305e1","schema_version":"1.0","event_id":"sha256:4e07d3cc83d9b3c6438d750369ee4e11c0d3efbb4d35bc7c12357edf486305e1"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:P775CO3U74RNEAV7R5OI5SWZQA","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Unified Modeling of Unconventional Modular and Reconfigurable Manipulation System","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Anubhav Dogra, Ekta Singla, Sakshay Mahna, Srikant Sekhar Padhee","submitted_at":"2021-11-22T12:10:12Z","abstract_excerpt":"Customization of manipulator configurations using modularity and reconfigurability aspects is receiving much attention. Modules presented so far in literature deals with the conventional and standard configurations. This paper presents the 3D printable, light-weight and unconventional modules: MOIRs' Mark-2, to develop any custom `n'-Degrees-of-Freedom (DoF) serial manipulator even with the non-parallel and non-perpendicular jointed configuration. These unconventional designs of modular configurations seek an easy adaptable solution for both modular assembly and software interfaces for automat"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2111.11143","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/2111.11143/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":"2026-07-05T04:30:19Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"BNZY39m5tL4ODBvCNuDkBjYw41FGTqv3WakB0fm1IcqEdP5PZZYPxBuVwZtGUmJy5vi/ccHWhAT5+f8pn2axAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-17T02:10:26.397843Z"},"content_sha256":"4a2fc0d37035d8717136ba02f5a461ec1ba2ac7efe33350482bf508dd9269c02","schema_version":"1.0","event_id":"sha256:4a2fc0d37035d8717136ba02f5a461ec1ba2ac7efe33350482bf508dd9269c02"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/P775CO3U74RNEAV7R5OI5SWZQA/bundle.json","state_url":"https://pith.science/pith/P775CO3U74RNEAV7R5OI5SWZQA/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/P775CO3U74RNEAV7R5OI5SWZQA/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":"2026-07-17T02:10:26Z","links":{"resolver":"https://pith.science/pith/P775CO3U74RNEAV7R5OI5SWZQA","bundle":"https://pith.science/pith/P775CO3U74RNEAV7R5OI5SWZQA/bundle.json","state":"https://pith.science/pith/P775CO3U74RNEAV7R5OI5SWZQA/state.json","well_known_bundle":"https://pith.science/.well-known/pith/P775CO3U74RNEAV7R5OI5SWZQA/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:P775CO3U74RNEAV7R5OI5SWZQA","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":"e9ddaa9e8387322f54725019e9cbc7bd870bc0f03e7efa4197eb89eff3ff7964","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-11-22T12:10:12Z","title_canon_sha256":"ef9f37e4acc04a12206b590bcd6b801bfa480818275382aa5ad784f5a6a836af"},"schema_version":"1.0","source":{"id":"2111.11143","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2111.11143","created_at":"2026-07-05T04:30:19Z"},{"alias_kind":"arxiv_version","alias_value":"2111.11143v1","created_at":"2026-07-05T04:30:19Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2111.11143","created_at":"2026-07-05T04:30:19Z"},{"alias_kind":"pith_short_12","alias_value":"P775CO3U74RN","created_at":"2026-07-05T04:30:19Z"},{"alias_kind":"pith_short_16","alias_value":"P775CO3U74RNEAV7","created_at":"2026-07-05T04:30:19Z"},{"alias_kind":"pith_short_8","alias_value":"P775CO3U","created_at":"2026-07-05T04:30:19Z"}],"graph_snapshots":[{"event_id":"sha256:4a2fc0d37035d8717136ba02f5a461ec1ba2ac7efe33350482bf508dd9269c02","target":"graph","created_at":"2026-07-05T04:30:19Z","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/2111.11143/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Customization of manipulator configurations using modularity and reconfigurability aspects is receiving much attention. Modules presented so far in literature deals with the conventional and standard configurations. This paper presents the 3D printable, light-weight and unconventional modules: MOIRs' Mark-2, to develop any custom `n'-Degrees-of-Freedom (DoF) serial manipulator even with the non-parallel and non-perpendicular jointed configuration. These unconventional designs of modular configurations seek an easy adaptable solution for both modular assembly and software interfaces for automat","authors_text":"Anubhav Dogra, Ekta Singla, Sakshay Mahna, Srikant Sekhar Padhee","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-11-22T12:10:12Z","title":"Unified Modeling of Unconventional Modular and Reconfigurable Manipulation System"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2111.11143","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":"sha256:4e07d3cc83d9b3c6438d750369ee4e11c0d3efbb4d35bc7c12357edf486305e1","target":"record","created_at":"2026-07-05T04:30:19Z","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":"e9ddaa9e8387322f54725019e9cbc7bd870bc0f03e7efa4197eb89eff3ff7964","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-11-22T12:10:12Z","title_canon_sha256":"ef9f37e4acc04a12206b590bcd6b801bfa480818275382aa5ad784f5a6a836af"},"schema_version":"1.0","source":{"id":"2111.11143","kind":"arxiv","version":1}},"canonical_sha256":"7fffd13b74ff22d202bf8f5c8ecad98027db9a04a3d9e193caeb2ff61b60a9f0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7fffd13b74ff22d202bf8f5c8ecad98027db9a04a3d9e193caeb2ff61b60a9f0","first_computed_at":"2026-07-05T04:30:19.969180Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:30:19.969180Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Y0YdX9SN5PO18DKVXKWmvypsz4PDojXXG5AJ4j2B2Jc+Z9njv75yntaJX/r+WlnYVaRm0sCxYOcCHdvvovrpCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T04:30:19.969674Z","signed_message":"canonical_sha256_bytes"},"source_id":"2111.11143","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4e07d3cc83d9b3c6438d750369ee4e11c0d3efbb4d35bc7c12357edf486305e1","sha256:4a2fc0d37035d8717136ba02f5a461ec1ba2ac7efe33350482bf508dd9269c02"],"state_sha256":"a74851e71569c520b9ae7afc9ed25bdc323046c0fa51c9c21604288867c551ca"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"XUQQy+vbr0gaV+0gsa6iHuOwzfgeBbdaQO7tXHOxR3Dcut8COxViR1centB8DmDsZrYN4BuKY22o4ajBfP3WBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-17T02:10:26.399903Z","bundle_sha256":"115768ea21f347bc42aba4b1747a64d5ad45727f694211e512138bf5654127c6"}}