{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:SZG65B7RFESP3G4IQB33ZUCXW3","short_pith_number":"pith:SZG65B7R","canonical_record":{"source":{"id":"1902.03112","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-02-08T14:44:27Z","cross_cats_sorted":[],"title_canon_sha256":"1adf1dfc677ad46047b5f81e0df455022457bc68babfc6c08eda4e21c4ff9a27","abstract_canon_sha256":"f126a7db2cd4200282fe210816a1ec1a64d0c873738bc3a404ef9444e95f83e3"},"schema_version":"1.0"},"canonical_sha256":"964dee87f12924fd9b888077bcd057b6d9d6f17f3437f96cac910338e43e2df6","source":{"kind":"arxiv","id":"1902.03112","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1902.03112","created_at":"2026-05-17T23:54:27Z"},{"alias_kind":"arxiv_version","alias_value":"1902.03112v1","created_at":"2026-05-17T23:54:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1902.03112","created_at":"2026-05-17T23:54:27Z"},{"alias_kind":"pith_short_12","alias_value":"SZG65B7RFESP","created_at":"2026-05-18T12:33:27Z"},{"alias_kind":"pith_short_16","alias_value":"SZG65B7RFESP3G4I","created_at":"2026-05-18T12:33:27Z"},{"alias_kind":"pith_short_8","alias_value":"SZG65B7R","created_at":"2026-05-18T12:33:27Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:SZG65B7RFESP3G4IQB33ZUCXW3","target":"record","payload":{"canonical_record":{"source":{"id":"1902.03112","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-02-08T14:44:27Z","cross_cats_sorted":[],"title_canon_sha256":"1adf1dfc677ad46047b5f81e0df455022457bc68babfc6c08eda4e21c4ff9a27","abstract_canon_sha256":"f126a7db2cd4200282fe210816a1ec1a64d0c873738bc3a404ef9444e95f83e3"},"schema_version":"1.0"},"canonical_sha256":"964dee87f12924fd9b888077bcd057b6d9d6f17f3437f96cac910338e43e2df6","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:54:27.938627Z","signature_b64":"Y6AV2QhVBns3mVtB3e1wOVNO+pVfPGkU/CRgg8KWPTzkET8rmvBsh8OwAfayZSmB/878c0bSvIEzXoAAHjCdCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"964dee87f12924fd9b888077bcd057b6d9d6f17f3437f96cac910338e43e2df6","last_reissued_at":"2026-05-17T23:54:27.938021Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:54:27.938021Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1902.03112","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":"2026-05-17T23:54:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"taE5sXVusLJiS8CpL+o9CC23GS9X92GWunasyR/E+ap5lr14xFO0G75XihPqzvBs5dmP95CZE4gLddDZ09WPAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-29T18:24:14.375666Z"},"content_sha256":"4930e78fd1790dd5aacd34245faf8d15a34735b1179b358b991a2aacfe98edc9","schema_version":"1.0","event_id":"sha256:4930e78fd1790dd5aacd34245faf8d15a34735b1179b358b991a2aacfe98edc9"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:SZG65B7RFESP3G4IQB33ZUCXW3","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Towards autonomous ocean observing systems using Miniature Underwater Gliders with UAV deployment and recovery capabilities","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alex Alcocer, Alfredo Carella, Artur Piotr Zolich, Bendik V{\\aa}gen, Erik Sollesnes, Ole Martin Brokstad, Rolf Kl{\\ae}boe, Tor Arne Johansen","submitted_at":"2019-02-08T14:44:27Z","abstract_excerpt":"This paper presents preliminary results towards the development of an autonomous ocean observing system using Miniature Underwater Gliders (MUGs) that can operate with the support of Unmanned Aerial Vehicles (UAVs) and Unmanned Surface Vessels (USVs) for deployment, recovery, battery charging, and communication relay. The system reduces human intervention to the minimum, revolutionizing the affordability of a broad range of surveillance and data collection operations. The MUGs are equipped with a small Variable Buoyancy System (VBS) composed of a gas filled piston and a linear actuator powered"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1902.03112","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":""},"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":"2026-05-17T23:54:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"VSo3b1lHun5bSJro6q/dnmkxikMHhnSNVoW3zdzeRyPuTOGM3E+vcZ60v1llTCTZQKdE9f0t1SydI5p5mOcKAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-29T18:24:14.376305Z"},"content_sha256":"a3a7199b173c1ee3ee9702be3966c3411dd29e64bcc588b39014791fcc4524a5","schema_version":"1.0","event_id":"sha256:a3a7199b173c1ee3ee9702be3966c3411dd29e64bcc588b39014791fcc4524a5"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/SZG65B7RFESP3G4IQB33ZUCXW3/bundle.json","state_url":"https://pith.science/pith/SZG65B7RFESP3G4IQB33ZUCXW3/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/SZG65B7RFESP3G4IQB33ZUCXW3/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":"2026-05-29T18:24:14Z","links":{"resolver":"https://pith.science/pith/SZG65B7RFESP3G4IQB33ZUCXW3","bundle":"https://pith.science/pith/SZG65B7RFESP3G4IQB33ZUCXW3/bundle.json","state":"https://pith.science/pith/SZG65B7RFESP3G4IQB33ZUCXW3/state.json","well_known_bundle":"https://pith.science/.well-known/pith/SZG65B7RFESP3G4IQB33ZUCXW3/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:SZG65B7RFESP3G4IQB33ZUCXW3","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":"f126a7db2cd4200282fe210816a1ec1a64d0c873738bc3a404ef9444e95f83e3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-02-08T14:44:27Z","title_canon_sha256":"1adf1dfc677ad46047b5f81e0df455022457bc68babfc6c08eda4e21c4ff9a27"},"schema_version":"1.0","source":{"id":"1902.03112","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1902.03112","created_at":"2026-05-17T23:54:27Z"},{"alias_kind":"arxiv_version","alias_value":"1902.03112v1","created_at":"2026-05-17T23:54:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1902.03112","created_at":"2026-05-17T23:54:27Z"},{"alias_kind":"pith_short_12","alias_value":"SZG65B7RFESP","created_at":"2026-05-18T12:33:27Z"},{"alias_kind":"pith_short_16","alias_value":"SZG65B7RFESP3G4I","created_at":"2026-05-18T12:33:27Z"},{"alias_kind":"pith_short_8","alias_value":"SZG65B7R","created_at":"2026-05-18T12:33:27Z"}],"graph_snapshots":[{"event_id":"sha256:a3a7199b173c1ee3ee9702be3966c3411dd29e64bcc588b39014791fcc4524a5","target":"graph","created_at":"2026-05-17T23:54:27Z","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":"This paper presents preliminary results towards the development of an autonomous ocean observing system using Miniature Underwater Gliders (MUGs) that can operate with the support of Unmanned Aerial Vehicles (UAVs) and Unmanned Surface Vessels (USVs) for deployment, recovery, battery charging, and communication relay. The system reduces human intervention to the minimum, revolutionizing the affordability of a broad range of surveillance and data collection operations. The MUGs are equipped with a small Variable Buoyancy System (VBS) composed of a gas filled piston and a linear actuator powered","authors_text":"Alex Alcocer, Alfredo Carella, Artur Piotr Zolich, Bendik V{\\aa}gen, Erik Sollesnes, Ole Martin Brokstad, Rolf Kl{\\ae}boe, Tor Arne Johansen","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-02-08T14:44:27Z","title":"Towards autonomous ocean observing systems using Miniature Underwater Gliders with UAV deployment and recovery capabilities"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1902.03112","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":"sha256:4930e78fd1790dd5aacd34245faf8d15a34735b1179b358b991a2aacfe98edc9","target":"record","created_at":"2026-05-17T23:54:27Z","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":"f126a7db2cd4200282fe210816a1ec1a64d0c873738bc3a404ef9444e95f83e3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-02-08T14:44:27Z","title_canon_sha256":"1adf1dfc677ad46047b5f81e0df455022457bc68babfc6c08eda4e21c4ff9a27"},"schema_version":"1.0","source":{"id":"1902.03112","kind":"arxiv","version":1}},"canonical_sha256":"964dee87f12924fd9b888077bcd057b6d9d6f17f3437f96cac910338e43e2df6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"964dee87f12924fd9b888077bcd057b6d9d6f17f3437f96cac910338e43e2df6","first_computed_at":"2026-05-17T23:54:27.938021Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:54:27.938021Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Y6AV2QhVBns3mVtB3e1wOVNO+pVfPGkU/CRgg8KWPTzkET8rmvBsh8OwAfayZSmB/878c0bSvIEzXoAAHjCdCg==","signature_status":"signed_v1","signed_at":"2026-05-17T23:54:27.938627Z","signed_message":"canonical_sha256_bytes"},"source_id":"1902.03112","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4930e78fd1790dd5aacd34245faf8d15a34735b1179b358b991a2aacfe98edc9","sha256:a3a7199b173c1ee3ee9702be3966c3411dd29e64bcc588b39014791fcc4524a5"],"state_sha256":"5bf5608791f9df5b7b36c33cc4137a55b4388c3a67d7d940e0099e908031fe11"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"iNCFTexnj2rEv1WQvs3n17IMA06yW4Bp19WDgS5Hq5e2d+NVWNfHKbOoL6XUgvppAtSJO9x94z04aBVGr49pDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-29T18:24:14.380058Z","bundle_sha256":"a7a2ae555e2271b52092ac38461137c16195e685304d9a60397e21f3b8c2a068"}}