{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:RCUA234PMIZL4RUCD2X7KWG45M","short_pith_number":"pith:RCUA234P","canonical_record":{"source":{"id":"2407.17617","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-24T20:09:37Z","cross_cats_sorted":[],"title_canon_sha256":"34603b39031f7e5f1b3b84e2a09b1a89390d8487980ef76b6608a2a528c12e04","abstract_canon_sha256":"0fad9400a08a293ebeb6e5c458bfff8c8d177d51c4cbe0da8644ea7ce01bc0cb"},"schema_version":"1.0"},"canonical_sha256":"88a80d6f8f6232be46821eaff558dceb38493cc382b4afadc101dd91a9991ce6","source":{"kind":"arxiv","id":"2407.17617","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.17617","created_at":"2026-07-05T09:07:01Z"},{"alias_kind":"arxiv_version","alias_value":"2407.17617v2","created_at":"2026-07-05T09:07:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.17617","created_at":"2026-07-05T09:07:01Z"},{"alias_kind":"pith_short_12","alias_value":"RCUA234PMIZL","created_at":"2026-07-05T09:07:01Z"},{"alias_kind":"pith_short_16","alias_value":"RCUA234PMIZL4RUC","created_at":"2026-07-05T09:07:01Z"},{"alias_kind":"pith_short_8","alias_value":"RCUA234P","created_at":"2026-07-05T09:07:01Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:RCUA234PMIZL4RUCD2X7KWG45M","target":"record","payload":{"canonical_record":{"source":{"id":"2407.17617","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-24T20:09:37Z","cross_cats_sorted":[],"title_canon_sha256":"34603b39031f7e5f1b3b84e2a09b1a89390d8487980ef76b6608a2a528c12e04","abstract_canon_sha256":"0fad9400a08a293ebeb6e5c458bfff8c8d177d51c4cbe0da8644ea7ce01bc0cb"},"schema_version":"1.0"},"canonical_sha256":"88a80d6f8f6232be46821eaff558dceb38493cc382b4afadc101dd91a9991ce6","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:07:01.509623Z","signature_b64":"suQ8o8VuQfFjove2XixLKhHzQ2Y1zWe+ZAa7KZLq/5MzQiJNyKXyyqaiixMwV5mSgcTJd+nHcPgVwrJwLC1tBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"88a80d6f8f6232be46821eaff558dceb38493cc382b4afadc101dd91a9991ce6","last_reissued_at":"2026-07-05T09:07:01.509143Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:07:01.509143Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2407.17617","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T09:07:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"MMtIINaVgfpIKe0G6ECdlONJx37PsIx5Y8fjBuFQQnL4TFs97YsmlBFbfIMIrQxVpIp0lspvA/9caF8W2qmfCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T18:53:35.136731Z"},"content_sha256":"95d4048bcb0612ed26c184a78f29f6d2b15f9c35104eb2f7d6162c9760b57464","schema_version":"1.0","event_id":"sha256:95d4048bcb0612ed26c184a78f29f6d2b15f9c35104eb2f7d6162c9760b57464"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:RCUA234PMIZL4RUCD2X7KWG45M","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Adaptive Robot Detumbling of a Non-Rigid Satellite","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Claus Danielson, Longsen Gao, Rafael Fierro","submitted_at":"2024-07-24T20:09:37Z","abstract_excerpt":"The challenge of satellite stabilization, particularly those with uncertain flexible dynamics, has become a pressing concern in control and robotics. These uncertainties, especially the dynamics of a third-party client satellite, significantly complicate the stabilization task. This paper introduces a novel adaptive detumbling method to handle non-rigid satellites with unknown motion dynamics (translation and rotation). The distinctive feature of our approach is that we model the non-rigid tumbling satellite as a two-link serial chain with unknown stiffness and damping in contrast to previous "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.17617","kind":"arxiv","version":2},"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/2407.17617/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":"2026-07-05T09:07:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"BGPA+5ebrccENLD/102D3p+2ZeZs4d46tXERvEYM0P/r6whB/pcZ6Zavc57eLNOzdiaQ8u75O87xeRwLgZC9AQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T18:53:35.137743Z"},"content_sha256":"20a1d319f2ec132206c9aa31de4dcd15c9b969f369e002b8e1888046d0e056b9","schema_version":"1.0","event_id":"sha256:20a1d319f2ec132206c9aa31de4dcd15c9b969f369e002b8e1888046d0e056b9"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/RCUA234PMIZL4RUCD2X7KWG45M/bundle.json","state_url":"https://pith.science/pith/RCUA234PMIZL4RUCD2X7KWG45M/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/RCUA234PMIZL4RUCD2X7KWG45M/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":"2026-08-13T18:53:35Z","links":{"resolver":"https://pith.science/pith/RCUA234PMIZL4RUCD2X7KWG45M","bundle":"https://pith.science/pith/RCUA234PMIZL4RUCD2X7KWG45M/bundle.json","state":"https://pith.science/pith/RCUA234PMIZL4RUCD2X7KWG45M/state.json","well_known_bundle":"https://pith.science/.well-known/pith/RCUA234PMIZL4RUCD2X7KWG45M/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:RCUA234PMIZL4RUCD2X7KWG45M","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":"0fad9400a08a293ebeb6e5c458bfff8c8d177d51c4cbe0da8644ea7ce01bc0cb","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-24T20:09:37Z","title_canon_sha256":"34603b39031f7e5f1b3b84e2a09b1a89390d8487980ef76b6608a2a528c12e04"},"schema_version":"1.0","source":{"id":"2407.17617","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.17617","created_at":"2026-07-05T09:07:01Z"},{"alias_kind":"arxiv_version","alias_value":"2407.17617v2","created_at":"2026-07-05T09:07:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.17617","created_at":"2026-07-05T09:07:01Z"},{"alias_kind":"pith_short_12","alias_value":"RCUA234PMIZL","created_at":"2026-07-05T09:07:01Z"},{"alias_kind":"pith_short_16","alias_value":"RCUA234PMIZL4RUC","created_at":"2026-07-05T09:07:01Z"},{"alias_kind":"pith_short_8","alias_value":"RCUA234P","created_at":"2026-07-05T09:07:01Z"}],"graph_snapshots":[{"event_id":"sha256:20a1d319f2ec132206c9aa31de4dcd15c9b969f369e002b8e1888046d0e056b9","target":"graph","created_at":"2026-07-05T09:07:01Z","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/2407.17617/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The challenge of satellite stabilization, particularly those with uncertain flexible dynamics, has become a pressing concern in control and robotics. These uncertainties, especially the dynamics of a third-party client satellite, significantly complicate the stabilization task. This paper introduces a novel adaptive detumbling method to handle non-rigid satellites with unknown motion dynamics (translation and rotation). The distinctive feature of our approach is that we model the non-rigid tumbling satellite as a two-link serial chain with unknown stiffness and damping in contrast to previous ","authors_text":"Claus Danielson, Longsen Gao, Rafael Fierro","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-24T20:09:37Z","title":"Adaptive Robot Detumbling of a Non-Rigid Satellite"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.17617","kind":"arxiv","version":2},"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":"sha256:95d4048bcb0612ed26c184a78f29f6d2b15f9c35104eb2f7d6162c9760b57464","target":"record","created_at":"2026-07-05T09:07:01Z","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":"0fad9400a08a293ebeb6e5c458bfff8c8d177d51c4cbe0da8644ea7ce01bc0cb","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-07-24T20:09:37Z","title_canon_sha256":"34603b39031f7e5f1b3b84e2a09b1a89390d8487980ef76b6608a2a528c12e04"},"schema_version":"1.0","source":{"id":"2407.17617","kind":"arxiv","version":2}},"canonical_sha256":"88a80d6f8f6232be46821eaff558dceb38493cc382b4afadc101dd91a9991ce6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"88a80d6f8f6232be46821eaff558dceb38493cc382b4afadc101dd91a9991ce6","first_computed_at":"2026-07-05T09:07:01.509143Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:07:01.509143Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"suQ8o8VuQfFjove2XixLKhHzQ2Y1zWe+ZAa7KZLq/5MzQiJNyKXyyqaiixMwV5mSgcTJd+nHcPgVwrJwLC1tBA==","signature_status":"signed_v1","signed_at":"2026-07-05T09:07:01.509623Z","signed_message":"canonical_sha256_bytes"},"source_id":"2407.17617","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:95d4048bcb0612ed26c184a78f29f6d2b15f9c35104eb2f7d6162c9760b57464","sha256:20a1d319f2ec132206c9aa31de4dcd15c9b969f369e002b8e1888046d0e056b9"],"state_sha256":"0b3ddc852c8995ac0b078e8f578aef1e5ce66bb2c812d76965c606e6a3494d67"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JPv2jdvpJ1O+m/h0wpDnMS/bBebo7ewYbt9rgzxOFSfjwbyd92v0dYcqOmolOLHlkrPMukBORT5K74V5QOfMBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-13T18:53:35.168654Z","bundle_sha256":"ed7a1f083f3b015e472b57f0c7d4b821c95a37113f11b8b52fc34ec916313b5d"}}