{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2013:RGPNEAWUJMB5I6YOUTYNUISXZG","short_pith_number":"pith:RGPNEAWU","canonical_record":{"source":{"id":"1312.1587","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math-ph","submitted_at":"2013-12-05T15:49:39Z","cross_cats_sorted":["math.MP","math.NA"],"title_canon_sha256":"4683f739141645a45cf4b30b70067244ed904514888d8532d806776416755012","abstract_canon_sha256":"ae9a0b3c9192a49254535b0faac224005e3b09e957a5220be39ff0b075eadcb7"},"schema_version":"1.0"},"canonical_sha256":"899ed202d44b03d47b0ea4f0da2257c98e27a86caf2e54a671e1d7d444ec66cf","source":{"kind":"arxiv","id":"1312.1587","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1312.1587","created_at":"2026-05-18T02:41:18Z"},{"alias_kind":"arxiv_version","alias_value":"1312.1587v2","created_at":"2026-05-18T02:41:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1312.1587","created_at":"2026-05-18T02:41:18Z"},{"alias_kind":"pith_short_12","alias_value":"RGPNEAWUJMB5","created_at":"2026-05-18T12:27:57Z"},{"alias_kind":"pith_short_16","alias_value":"RGPNEAWUJMB5I6YO","created_at":"2026-05-18T12:27:57Z"},{"alias_kind":"pith_short_8","alias_value":"RGPNEAWU","created_at":"2026-05-18T12:27:57Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2013:RGPNEAWUJMB5I6YOUTYNUISXZG","target":"record","payload":{"canonical_record":{"source":{"id":"1312.1587","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math-ph","submitted_at":"2013-12-05T15:49:39Z","cross_cats_sorted":["math.MP","math.NA"],"title_canon_sha256":"4683f739141645a45cf4b30b70067244ed904514888d8532d806776416755012","abstract_canon_sha256":"ae9a0b3c9192a49254535b0faac224005e3b09e957a5220be39ff0b075eadcb7"},"schema_version":"1.0"},"canonical_sha256":"899ed202d44b03d47b0ea4f0da2257c98e27a86caf2e54a671e1d7d444ec66cf","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T02:41:18.740785Z","signature_b64":"MI2bi16Qs4CR3UQhmM8LVwLgxH+5QsfeyFr0IwJ9I3bM8e/ZAG7/SWcq8W03tKDeT8dPZAKGvp23p7ld9qJlDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"899ed202d44b03d47b0ea4f0da2257c98e27a86caf2e54a671e1d7d444ec66cf","last_reissued_at":"2026-05-18T02:41:18.740411Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T02:41:18.740411Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1312.1587","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":"2026-05-18T02:41:18Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mr8AydWXR4ykjKTZ/GerUDHfvKwQL8eRkzr7GsmThbkv/VmSodZeQPtFGgu+3JN0sq/hJoY+Rwm0zNJjrFB3Dg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T23:35:34.998221Z"},"content_sha256":"2534855a002a1b954bc89abff15f75ab19fd0118f469c3d038008dfc5d5e569b","schema_version":"1.0","event_id":"sha256:2534855a002a1b954bc89abff15f75ab19fd0118f469c3d038008dfc5d5e569b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2013:RGPNEAWUJMB5I6YOUTYNUISXZG","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"New developments on the Geometric Nonholonomic Integrator","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["math.MP","math.NA"],"primary_cat":"math-ph","authors_text":"David Mart\\'in de Diego, Fernando Jim\\'enez, Sebasti\\'an Ferraro","submitted_at":"2013-12-05T15:49:39Z","abstract_excerpt":"In this paper, we will discuss new developments regarding the Geometric Nonholonomic Integrator (GNI) [23, 24]. GNI is a discretization scheme adapted to nonholonomic mechanical systems through a discrete geometric approach. This method was designed to account for some of the special geometric structures associated to a nonholonomic motion, like preservation of energy, preservation of constraints or the nonholonomic momentum equation. First, we study the GNI versions of the symplectic-Euler methods, paying special attention to their convergence behavior. Then, we construct an extension of the "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1312.1587","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":""},"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":"2026-05-18T02:41:18Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3RCvHSMXPTDsLL+VUqM81PAvZPLtLhlTZVaPXbVOGzEW1/+H1SPrvRlcVkAUKoo5FXU1zFPbmkZ6xQS6rRLBDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T23:35:34.998824Z"},"content_sha256":"893212602af62f60e72ac98ad36156626da6b052bda5c803a1eff211c159e7ce","schema_version":"1.0","event_id":"sha256:893212602af62f60e72ac98ad36156626da6b052bda5c803a1eff211c159e7ce"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/RGPNEAWUJMB5I6YOUTYNUISXZG/bundle.json","state_url":"https://pith.science/pith/RGPNEAWUJMB5I6YOUTYNUISXZG/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/RGPNEAWUJMB5I6YOUTYNUISXZG/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":"2026-05-30T23:35:35Z","links":{"resolver":"https://pith.science/pith/RGPNEAWUJMB5I6YOUTYNUISXZG","bundle":"https://pith.science/pith/RGPNEAWUJMB5I6YOUTYNUISXZG/bundle.json","state":"https://pith.science/pith/RGPNEAWUJMB5I6YOUTYNUISXZG/state.json","well_known_bundle":"https://pith.science/.well-known/pith/RGPNEAWUJMB5I6YOUTYNUISXZG/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2013:RGPNEAWUJMB5I6YOUTYNUISXZG","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":"ae9a0b3c9192a49254535b0faac224005e3b09e957a5220be39ff0b075eadcb7","cross_cats_sorted":["math.MP","math.NA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math-ph","submitted_at":"2013-12-05T15:49:39Z","title_canon_sha256":"4683f739141645a45cf4b30b70067244ed904514888d8532d806776416755012"},"schema_version":"1.0","source":{"id":"1312.1587","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1312.1587","created_at":"2026-05-18T02:41:18Z"},{"alias_kind":"arxiv_version","alias_value":"1312.1587v2","created_at":"2026-05-18T02:41:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1312.1587","created_at":"2026-05-18T02:41:18Z"},{"alias_kind":"pith_short_12","alias_value":"RGPNEAWUJMB5","created_at":"2026-05-18T12:27:57Z"},{"alias_kind":"pith_short_16","alias_value":"RGPNEAWUJMB5I6YO","created_at":"2026-05-18T12:27:57Z"},{"alias_kind":"pith_short_8","alias_value":"RGPNEAWU","created_at":"2026-05-18T12:27:57Z"}],"graph_snapshots":[{"event_id":"sha256:893212602af62f60e72ac98ad36156626da6b052bda5c803a1eff211c159e7ce","target":"graph","created_at":"2026-05-18T02:41:18Z","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"},"paper":{"abstract_excerpt":"In this paper, we will discuss new developments regarding the Geometric Nonholonomic Integrator (GNI) [23, 24]. GNI is a discretization scheme adapted to nonholonomic mechanical systems through a discrete geometric approach. This method was designed to account for some of the special geometric structures associated to a nonholonomic motion, like preservation of energy, preservation of constraints or the nonholonomic momentum equation. First, we study the GNI versions of the symplectic-Euler methods, paying special attention to their convergence behavior. Then, we construct an extension of the ","authors_text":"David Mart\\'in de Diego, Fernando Jim\\'enez, Sebasti\\'an Ferraro","cross_cats":["math.MP","math.NA"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math-ph","submitted_at":"2013-12-05T15:49:39Z","title":"New developments on the Geometric Nonholonomic Integrator"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1312.1587","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":"sha256:2534855a002a1b954bc89abff15f75ab19fd0118f469c3d038008dfc5d5e569b","target":"record","created_at":"2026-05-18T02:41:18Z","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":"ae9a0b3c9192a49254535b0faac224005e3b09e957a5220be39ff0b075eadcb7","cross_cats_sorted":["math.MP","math.NA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math-ph","submitted_at":"2013-12-05T15:49:39Z","title_canon_sha256":"4683f739141645a45cf4b30b70067244ed904514888d8532d806776416755012"},"schema_version":"1.0","source":{"id":"1312.1587","kind":"arxiv","version":2}},"canonical_sha256":"899ed202d44b03d47b0ea4f0da2257c98e27a86caf2e54a671e1d7d444ec66cf","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"899ed202d44b03d47b0ea4f0da2257c98e27a86caf2e54a671e1d7d444ec66cf","first_computed_at":"2026-05-18T02:41:18.740411Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T02:41:18.740411Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"MI2bi16Qs4CR3UQhmM8LVwLgxH+5QsfeyFr0IwJ9I3bM8e/ZAG7/SWcq8W03tKDeT8dPZAKGvp23p7ld9qJlDQ==","signature_status":"signed_v1","signed_at":"2026-05-18T02:41:18.740785Z","signed_message":"canonical_sha256_bytes"},"source_id":"1312.1587","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2534855a002a1b954bc89abff15f75ab19fd0118f469c3d038008dfc5d5e569b","sha256:893212602af62f60e72ac98ad36156626da6b052bda5c803a1eff211c159e7ce"],"state_sha256":"d18cd6c870259d00dbc8a47fe505c5045e95c654d5405007d4a011cd200c8b75"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Io3ECHxmsW57rZqj3qvXtrJ7SDuq55ujM/BKyz7h7ClsWQ0WRg9FQrqcsvLVWu1BlbUXs9vu3f/4EwNos2WXDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-30T23:35:35.002837Z","bundle_sha256":"361b68c241a8e1811135432ccaf0a297b824d1693910baa1a6a07e3875c0097c"}}