{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:RU4QKMZ5BMK6IIG6BFG5BDU4MD","short_pith_number":"pith:RU4QKMZ5","canonical_record":{"source":{"id":"2210.16068","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-10-28T11:36:22Z","cross_cats_sorted":[],"title_canon_sha256":"6c9f0c13af45f7e8ced539806e2f6aa2e4d0969cb7c9b55505a55b305a24ec6e","abstract_canon_sha256":"da69b475e25f545322845ddb26e023c933985d5396f84b86e62d174b112fd5e5"},"schema_version":"1.0"},"canonical_sha256":"8d3905333d0b15e420de094dd08e9c60d083214c7fa920730fc6c159c896f676","source":{"kind":"arxiv","id":"2210.16068","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2210.16068","created_at":"2026-07-05T06:26:43Z"},{"alias_kind":"arxiv_version","alias_value":"2210.16068v2","created_at":"2026-07-05T06:26:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2210.16068","created_at":"2026-07-05T06:26:43Z"},{"alias_kind":"pith_short_12","alias_value":"RU4QKMZ5BMK6","created_at":"2026-07-05T06:26:43Z"},{"alias_kind":"pith_short_16","alias_value":"RU4QKMZ5BMK6IIG6","created_at":"2026-07-05T06:26:43Z"},{"alias_kind":"pith_short_8","alias_value":"RU4QKMZ5","created_at":"2026-07-05T06:26:43Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:RU4QKMZ5BMK6IIG6BFG5BDU4MD","target":"record","payload":{"canonical_record":{"source":{"id":"2210.16068","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-10-28T11:36:22Z","cross_cats_sorted":[],"title_canon_sha256":"6c9f0c13af45f7e8ced539806e2f6aa2e4d0969cb7c9b55505a55b305a24ec6e","abstract_canon_sha256":"da69b475e25f545322845ddb26e023c933985d5396f84b86e62d174b112fd5e5"},"schema_version":"1.0"},"canonical_sha256":"8d3905333d0b15e420de094dd08e9c60d083214c7fa920730fc6c159c896f676","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:26:43.532561Z","signature_b64":"fVwOZVv3pbvBY6fIMBZiQTDWgi8jdWycaONI0Pqp2iCHS72HbfimgniOZNW1AdYCFhrwsDlhoB/inUx0w7+UBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"8d3905333d0b15e420de094dd08e9c60d083214c7fa920730fc6c159c896f676","last_reissued_at":"2026-07-05T06:26:43.532081Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:26:43.532081Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2210.16068","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":"2026-07-05T06:26:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nOPNA9zaXNSsaJbsLLRkP2d/Vvqi1tQkJ68ArOH+OuPjsUlwwpKBMpliI5sU60987qcNOk0vyYh8cGtBosjfCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-17T01:31:28.395597Z"},"content_sha256":"5dd4a4f743a0ac463f98d30d1d0bb2c89a6b434d484d9d26a4cb2640cb007ef0","schema_version":"1.0","event_id":"sha256:5dd4a4f743a0ac463f98d30d1d0bb2c89a6b434d484d9d26a4cb2640cb007ef0"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:RU4QKMZ5BMK6IIG6BFG5BDU4MD","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Using Supervised Deep-Learning to Model Edge-FBG Shape Sensors","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Antal Huck-Horvath, Azhar Zam, Georg Rauter, Philippe C. Cattin, Samaneh Manavi Roodsari, Sara Freund, Wolfgang Schade","submitted_at":"2022-10-28T11:36:22Z","abstract_excerpt":"Continuum robots in robot-assisted minimally invasive surgeries provide adequate access to target anatomies that are not directly reachable through small incisions. Achieving precise and reliable motion control of such snake-like manipulators necessitates an accurate navigation system that requires no line-of-sight and is immune to electromagnetic noises. Fiber Bragg Grating (FBG) shape sensors, particularly edge-FBGs, are promising tools for this task. However, in edge-FBG sensors, the intensity ratio between Bragg wavelengths carries the strain information that can be affected by undesired b"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2210.16068","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/2210.16068/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":"2026-07-05T06:26:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wMVu8aSCXhgg+iX57oIFM3+9oBzXY9D15tI/wSK7W9BIWL3fTnce27bG/mwGg1tLcfz6VCvXWr+b3TWycfcJAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-17T01:31:28.395963Z"},"content_sha256":"56b4498a52e2391e0c664c93905bd0e14e8960bcb83f6d12b64b7c137b34e521","schema_version":"1.0","event_id":"sha256:56b4498a52e2391e0c664c93905bd0e14e8960bcb83f6d12b64b7c137b34e521"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/RU4QKMZ5BMK6IIG6BFG5BDU4MD/bundle.json","state_url":"https://pith.science/pith/RU4QKMZ5BMK6IIG6BFG5BDU4MD/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/RU4QKMZ5BMK6IIG6BFG5BDU4MD/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":"2026-08-17T01:31:28Z","links":{"resolver":"https://pith.science/pith/RU4QKMZ5BMK6IIG6BFG5BDU4MD","bundle":"https://pith.science/pith/RU4QKMZ5BMK6IIG6BFG5BDU4MD/bundle.json","state":"https://pith.science/pith/RU4QKMZ5BMK6IIG6BFG5BDU4MD/state.json","well_known_bundle":"https://pith.science/.well-known/pith/RU4QKMZ5BMK6IIG6BFG5BDU4MD/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:RU4QKMZ5BMK6IIG6BFG5BDU4MD","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":"da69b475e25f545322845ddb26e023c933985d5396f84b86e62d174b112fd5e5","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-10-28T11:36:22Z","title_canon_sha256":"6c9f0c13af45f7e8ced539806e2f6aa2e4d0969cb7c9b55505a55b305a24ec6e"},"schema_version":"1.0","source":{"id":"2210.16068","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2210.16068","created_at":"2026-07-05T06:26:43Z"},{"alias_kind":"arxiv_version","alias_value":"2210.16068v2","created_at":"2026-07-05T06:26:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2210.16068","created_at":"2026-07-05T06:26:43Z"},{"alias_kind":"pith_short_12","alias_value":"RU4QKMZ5BMK6","created_at":"2026-07-05T06:26:43Z"},{"alias_kind":"pith_short_16","alias_value":"RU4QKMZ5BMK6IIG6","created_at":"2026-07-05T06:26:43Z"},{"alias_kind":"pith_short_8","alias_value":"RU4QKMZ5","created_at":"2026-07-05T06:26:43Z"}],"graph_snapshots":[{"event_id":"sha256:56b4498a52e2391e0c664c93905bd0e14e8960bcb83f6d12b64b7c137b34e521","target":"graph","created_at":"2026-07-05T06:26:43Z","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/2210.16068/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Continuum robots in robot-assisted minimally invasive surgeries provide adequate access to target anatomies that are not directly reachable through small incisions. Achieving precise and reliable motion control of such snake-like manipulators necessitates an accurate navigation system that requires no line-of-sight and is immune to electromagnetic noises. Fiber Bragg Grating (FBG) shape sensors, particularly edge-FBGs, are promising tools for this task. However, in edge-FBG sensors, the intensity ratio between Bragg wavelengths carries the strain information that can be affected by undesired b","authors_text":"Antal Huck-Horvath, Azhar Zam, Georg Rauter, Philippe C. Cattin, Samaneh Manavi Roodsari, Sara Freund, Wolfgang Schade","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-10-28T11:36:22Z","title":"Using Supervised Deep-Learning to Model Edge-FBG Shape Sensors"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2210.16068","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":"sha256:5dd4a4f743a0ac463f98d30d1d0bb2c89a6b434d484d9d26a4cb2640cb007ef0","target":"record","created_at":"2026-07-05T06:26:43Z","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":"da69b475e25f545322845ddb26e023c933985d5396f84b86e62d174b112fd5e5","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-10-28T11:36:22Z","title_canon_sha256":"6c9f0c13af45f7e8ced539806e2f6aa2e4d0969cb7c9b55505a55b305a24ec6e"},"schema_version":"1.0","source":{"id":"2210.16068","kind":"arxiv","version":2}},"canonical_sha256":"8d3905333d0b15e420de094dd08e9c60d083214c7fa920730fc6c159c896f676","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8d3905333d0b15e420de094dd08e9c60d083214c7fa920730fc6c159c896f676","first_computed_at":"2026-07-05T06:26:43.532081Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:26:43.532081Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"fVwOZVv3pbvBY6fIMBZiQTDWgi8jdWycaONI0Pqp2iCHS72HbfimgniOZNW1AdYCFhrwsDlhoB/inUx0w7+UBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T06:26:43.532561Z","signed_message":"canonical_sha256_bytes"},"source_id":"2210.16068","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5dd4a4f743a0ac463f98d30d1d0bb2c89a6b434d484d9d26a4cb2640cb007ef0","sha256:56b4498a52e2391e0c664c93905bd0e14e8960bcb83f6d12b64b7c137b34e521"],"state_sha256":"07e94cd6ed70eb9801d1792359d565a067c42e53a647a65c2c22ea369be5a145"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2sdbelqog8gDT240xyipv/6DgIr8qJ+nDRqM1jFSkysSyE3n+HUX39LL/VqTEu/geJ5Hij5SHZDtV7m7XX4oAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-17T01:31:28.398223Z","bundle_sha256":"4ffba48efb0c136828e5dc89d2d02c61de9d29008aef1455a914b3a4f8682f30"}}