Pith Number

pith:PIMAKTRM

pith:2026:PIMAKTRMG4VR6EJHRUUOXAPKRC

not attested not anchored not stored refs pending

Dynamic Constraint Reconstruction Based Control Barrier Functions for Safety-Critical Control of High-Dimensional Manipulators

Bingsheng Zhang, Donghai Shi, Muguo Du, Qiang Wang, Shen Wang, Xiaofeng Tao

arxiv:2607.15961 v1 · 2026-07-17 · eess.SY · cs.SY

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{PIMAKTRMG4VR6EJHRUUOXAPKRC}

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	2026-07-20T02:19:22.819734Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

7a18054e2c372b1f11278d28eb81ea888e17f927e091b9d3501a834212411bd8

Aliases

arxiv: 2607.15961 · arxiv_version: 2607.15961v1 · doi: 10.48550/arxiv.2607.15961 · pith_short_12: PIMAKTRMG4VR · pith_short_16: PIMAKTRMG4VR6EJH · pith_short_8: PIMAKTRM

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/PIMAKTRMG4VR6EJHRUUOXAPKRC \
  | 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: 7a18054e2c372b1f11278d28eb81ea888e17f927e091b9d3501a834212411bd8

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "7c0db1ead967c1fdd124975b1fec908cddf8948c686446cba689d7f3ebad2a30",
    "cross_cats_sorted": [
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2026-07-17T13:49:38Z",
    "title_canon_sha256": "4ec8e964822eeb65d9228bf7a6ccaf3fefa493d87e9e3d7d48a2289a03a177b6"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2607.15961",
    "kind": "arxiv",
    "version": 1
  }
}